CN113063437B - Satellite sight pointing simulation method and system suitable for full physical simulation - Google Patents
Satellite sight pointing simulation method and system suitable for full physical simulation Download PDFInfo
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- CN113063437B CN113063437B CN202110217939.3A CN202110217939A CN113063437B CN 113063437 B CN113063437 B CN 113063437B CN 202110217939 A CN202110217939 A CN 202110217939A CN 113063437 B CN113063437 B CN 113063437B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention provides a satellite sight pointing simulation method and a satellite sight pointing simulation system suitable for full physical simulation, wherein the method comprises the following steps: step S1: simulating a load imaging mode and an optical axis pointing characteristic; step S2: eliminating the sight line measurement error caused by the translational motion, and acquiring the information of the result of eliminating the sight line measurement error caused by the translational motion; and step S3: and according to the result information of the sight line measurement error elimination caused by the translational motion, compensating the dynamic influence of the motion of the scanning mirror on the platform, and acquiring the dynamic influence compensation result information of the motion of the scanning mirror on the platform. The invention can truly simulate the satellite sight pointing process during the whole satellite maneuver scanning, and verify the working mode of the load and the accuracy of the sight navigation compensation method.
Description
Technical Field
The invention relates to the general technology of a spacecraft, in particular to a satellite sight pointing simulation method and system suitable for full physical simulation.
Background
The image positioning and registration are key indexes influencing the quality of meteorological satellite remote sensing image products, and directly reflect the spatial correspondence between the remote sensing image information and the target. The method has important effects on quantitative application of meteorological satellite service image product positioning, such as accurate positioning of regional complex weather conditions, accurate tracking of severe weather, generation of cloud picture animation and the like. In order to ensure the accuracy of the satellite image positioning and registering technical scheme, a full physical simulation test needs to be carried out on the ground, and the image positioning and registering performance is obtained through the directional change of the satellite sight. The method for correcting the measurement error of the satellite for realizing the pointing direction is suitable for full physical simulation, and the test precision is improved.
Patent document CN201810617228.3 discloses a full physical simulation test system and method for attitude dynamics of a liquid-filled spacecraft, the system comprises a set of liquid shaking moment simulation system, and introduces a full physical simulation method based on a triaxial air bearing platform, but only verifies the dynamic characteristics of a satellite, and a beam pointing simulation scheme of a load is not considered.
Patent document CN201510954766.8 discloses a satellite image navigation and registration full-physical testing apparatus. The method is only limited to image navigation and registration tests of optical remote sensing satellites, does not relate to a satellite sight line pointing simulation method, and has obvious difference with the method.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a satellite sight pointing simulation method and a satellite sight pointing simulation system suitable for full physical simulation.
The invention provides a satellite sight line pointing simulation method suitable for full physical simulation, which comprises the following steps:
step S1: simulating a load imaging mode and an optical axis pointing characteristic according to the load imaging mode simulation control information and the optical axis pointing characteristic control information, and acquiring load imaging mode simulation result information and optical axis pointing characteristic result information;
step S2: according to the load imaging mode simulation result information and the optical axis pointing characteristic result information, eliminating the sight line measurement error caused by the translational motion, and acquiring the sight line measurement error elimination result information caused by the translational motion;
and step S3: according to the result information of the sight line measurement error elimination caused by the translation motion, the dynamic influence of the motion of the scanning mirror on the platform is compensated, and the dynamic influence compensation result information of the motion of the scanning mirror on the platform is obtained.
Preferably, the step S1 includes:
step S1.1: simulating the load sight line pointing characteristic by the cooperative work of the two reflectors; the change of the pointing direction of the sight line is realized by driving the rotation angles of the two reflectors.
Preferably, the step S2 includes:
step S2.1: and performing rotation compensation on the two-dimensional scanning mirror, and eliminating the sight line measurement error caused by the movement of the laser on the plane of the scanning mirror.
Preferably, the step S3 includes:
step S3.1: and according to the result information of the elimination of the sight line measurement error caused by the translational motion, performing feedforward torque compensation, compensating the dynamic influence of the motion of the scanning mirror on the platform, and acquiring the result information of the dynamic influence compensation of the motion of the scanning mirror on the platform.
The invention provides a satellite sight line pointing simulation system suitable for full physical simulation, which comprises:
a module M1: simulating a load imaging mode and an optical axis pointing characteristic according to the load imaging mode simulation control information and the optical axis pointing characteristic control information, and acquiring load imaging mode simulation result information and optical axis pointing characteristic result information;
a module M2: according to the load imaging mode simulation result information and the optical axis pointing characteristic result information, eliminating the sight line measurement error caused by the translational motion, and acquiring the sight line measurement error elimination result information caused by the translational motion;
a module M3: and according to the result information of the sight line measurement error elimination caused by the translational motion, compensating the dynamic influence of the motion of the scanning mirror on the platform, and acquiring the dynamic influence compensation result information of the motion of the scanning mirror on the platform.
Preferably, said module M1 comprises:
module M1.1: simulating the load sight line pointing characteristic by the cooperative work of the two reflectors; the change of the pointing direction of the sight line is realized by driving the rotation angles of the two reflectors.
Preferably, said module M2 comprises:
module M2.1: and performing rotation compensation on the two-dimensional scanning mirror, and eliminating the sight line measurement error caused by the movement of the laser on the plane of the scanning mirror.
Preferably, said module M3 comprises:
module M3.1: and according to the result information of the sight line measurement error elimination caused by the translational motion, feedforward torque compensation is carried out, the dynamic influence of the motion of the scanning mirror on the platform is compensated, and the dynamic influence compensation result information of the motion of the scanning mirror on the platform is obtained.
According to the present invention, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of a satellite gaze direction simulation method suitable for full physical simulation.
The invention provides satellite sight line pointing simulation equipment suitable for full physical simulation, which comprises: a controller;
the controller comprises a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of a satellite gaze direction simulation method suitable for full physics simulation; alternatively, the controller includes a satellite line-of-sight directional simulation system adapted for full physical simulation.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can truly simulate the satellite sight pointing process during the whole satellite maneuver scanning, and verify the working mode of the load and the accuracy of the sight navigation compensation method;
2. according to the invention, the compensation torque can be generated by reverse driving of the reaction flywheel according to the calculation result of the interference torque, and the influence of the interference torque of the two-dimensional scanning motion mechanism on the test is eliminated;
3. the invention has reasonable flow structure and convenient use and can overcome the defects in the prior art.
Drawings
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 diagram illustrating a satellite sight line direction simulation method according to the present invention.
Fig. 2 is a schematic diagram of the principle of the movement of the exit point caused by the two-dimensional scanning rotation mechanism in the embodiment of the present invention.
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.
A satellite sight line pointing simulation method and system suitable for full physical simulation comprises the following steps:
1. satellite gaze direction simulation
The simulation of the satellite sight line direction can be realized by a two-dimensional scanning motion mechanism, the structural schematic diagram of the two-dimensional scanning motion mechanism is shown in an attached figure 1 and mainly comprises a scanning mirror 1, a scanning mirror 2 and a rotating shaft. Vector in the figure
Representing the sight line direction of the satellite, and obtaining the sight line direction expression of the satellite according to the plane reflection principle of the two-dimensional scanning motion mechanism as follows:
in the above formula, the first and second carbon atoms are,
a line of sight pointing vector for the satellite; beta is the rotation angle of the scanning mirror 1; alpha is the rotation angle of the scanning mirror 2. The following can be obtained by simplifying the above formula:
in the above formula, the first and second carbon atoms are,
is a vector->
A first component of (a); />
Is a vector->
A second component of (a); />
Is a vector->
The third component of (a).
As can be seen from the above equation, the line of sight orientation of the desired satellite can be acquired by changing the rotation angles of the scanning mirror 1 and the scanning mirror 2.
2. Two-dimensional scanning mirror rotation compensation method
When the sight direction of the satellite is simulated through the two-dimensional scanning rotating mechanism, the exit point of the laser is on the mirror surface of the scanning mirror 2 according to the working principle of the two-dimensional scanning rotating mechanism. During the rotation of the two-dimensional scanning mirror, the position of the exit point of the laser changes, as shown in fig. 2. The position change of the emergent point can cause the movement of a light spot on a measuring screen, which causes the measurement error of the sight line of the satellite, and therefore compensation is needed.
Firstly, the position relation of the laser relative to the scanning mirror 2 is adjusted to ensure that the laser strikes the central rotating shaft position of the scanning mirror 2 after being reflected by the scanning mirror 1. At this time, the rotation of the scanning mirror 2 does not cause a change in the position of the laser exit point.
The rotation of the scanning mirror 1 can cause the translation of the laser emergent point in the X-axis direction, and the translation needs to be compensated through an algorithm. Assuming that the movement displacement of the laser emitting point in the X-axis direction is Δ X, then:
Δx＝2r·β
wherein, Δ X is the movement displacement of the laser emergent point in the X-axis direction; r is the linear distance from the center of the scanning mirror 1 to the center of the scanning mirror 2; beta is the rotation angle of the scanning mirror 1. According to the calculation model, the moving position of the emergent point of the satellite sight can be obtained, and the compensation for the rotation of the two-dimensional scanning mirror is completed.
3. Two-dimensional scanning motion mechanism interference torque compensation method
When the two-dimensional scanning movement mechanism rotates, the rotation angular speed of the two-dimensional scanning movement mechanism constantly changes, and interference torque can be generated. In order to ensure the test precision, a compensation method of disturbance torque needs to be designed.
The invention provides a feedforward compensation method based on a reaction flywheel, which is used for compensating the interference of the rotation of a scanning mirror on a table body by calculating the interference moment and the generation time generated by the rotation of a two-dimensional scanning mirror and generating a compensation moment by using the reaction flywheel.
Taking conical scanning as an example, according to the motion law of the rotation angle of the scanning mirror, the expression of the rotation angular acceleration of the rotation angle of the scanning mirror is obtained as follows:
wherein the content of the first and second substances,
is the rotational angular acceleration of the scanning mirror 1; />
Is the rotational angular acceleration of the scanning mirror 2; theta is a target conic section half-cone angle; omega is the cone scanning angular velocity; t is time.
Further, the expression of the disturbance moment caused by the rotation of the scanning mirror can be obtained as follows:
wherein, T z The Z-axis interference torque of the table body; t is x Is the X-axis interference torque of the table body;
is the rotational angular acceleration of the scanning mirror 1; j. the design is a square β Is the moment of inertia of the scanning mirror 1; />
Is the rotational angular acceleration of the scanning mirror 2; j. the design is a square α Is the moment of inertia of the scanning mirror 2; theta is a target conic section half-cone angle; omega is the cone scanning angular velocity; t is time.
According to the calculation result of the interference torque, the compensation torque is generated by reverse driving of the reaction flywheel, and the influence of the interference torque of the two-dimensional scanning motion mechanism on the test is eliminated.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present application.
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 (6)
1. A satellite sight line pointing simulation method suitable for full physical simulation is characterized by comprising the following steps:
step S1: simulating a load imaging mode and an optical axis pointing characteristic according to the load imaging mode simulation control information and the optical axis pointing characteristic control information, and acquiring load imaging mode simulation result information and optical axis pointing characteristic result information;
step S2: according to the load imaging mode simulation result information and the optical axis pointing characteristic result information, eliminating the sight line measurement error caused by the translational motion, and acquiring the sight line measurement error elimination result information caused by the translational motion;
and step S3: according to the result information of the sight line measurement error elimination caused by the translational motion, compensating the dynamic influence of the motion of the scanning mirror on the platform, and acquiring the dynamic influence compensation result information of the motion of the scanning mirror on the platform;
when the sight direction of a satellite is simulated through the two-dimensional scanning rotating mechanism, according to the working principle of the two-dimensional scanning rotating mechanism, the emergent point of laser is on the mirror surface of the scanning mirror (2); in the rotation process of the two-dimensional scanning mirror, the position of an emergent point of laser changes, and the change of the position of the emergent point causes the movement of a light spot on a measuring screen, so that the measurement error of the satellite sight is caused, and therefore compensation is needed;
firstly, adjusting the position relation of a laser relative to a scanning mirror (2) to ensure that the laser strikes the central rotating shaft position of the scanning mirror (2) after being reflected by the scanning mirror (1); at the moment, the rotation of the scanning mirror (2) does not cause the position change of the laser emergent point;
the rotation of the scanning mirror (1) can cause the translation of a laser emergent point in the X-axis direction, and the translation is compensated through an algorithm; assuming that the movement displacement of the laser emitting point in the X-axis direction is Δ X, then:
Δx＝2r·β
wherein, Δ X is the movement displacement of the laser emitting point in the X-axis direction; r is the linear distance from the center of the scanning mirror 1 to the center of the scanning mirror 2; beta is the rotation angle of the scanning mirror 1; according to the calculation model, the moving position of the emergent point of the satellite sight is obtained, and the compensation for the rotation of the two-dimensional scanning mirror is completed;
by calculating the interference torque and the occurrence time generated by the rotation of the two-dimensional scanning mirror, a compensation torque is generated by utilizing a reaction flywheel to compensate the interference of the rotation of the scanning mirror on the table body;
according to the motion rule of the rotation angle of the scanning mirror, the expression of the rotation angular acceleration of the rotation angle of the scanning mirror is obtained as follows:
wherein, the first and the second end of the pipe are connected with each other,
is the angular acceleration of rotation of the scanning mirror 1; />
Is the rotational angular acceleration of the scanning mirror 2; theta is a target conic section half-cone angle; omega is the cone scanning angular velocity; t is time;
further, the expression of the disturbance moment caused by the rotation of the scanning mirror can be obtained as follows:
wherein, T z The Z-axis interference torque of the table body; t is x Is the X-axis interference torque of the table body;
is the angular acceleration of rotation of the scanning mirror 1; j. the design is a square β Is the moment of inertia of the scanning mirror 1; />
Is the rotational angular acceleration of the scanning mirror 2; j. the design is a square α Is the moment of inertia of the scanning mirror 2; theta is a target conic section half-cone angle; omega is the cone scanning angular velocity; t is time.
2. The satellite sight line direction simulation method suitable for full physical simulation according to claim 1, wherein the step S1 comprises:
step S1.1: simulating the load sight line pointing characteristic by the cooperative work of the two reflectors; the change of the pointing direction of the sight line is realized by driving the rotation angles of the two reflectors.
3. A satellite gaze direction simulation system adapted for full physical simulation, comprising:
a module M1: simulating a load imaging mode and an optical axis pointing characteristic according to the load imaging mode simulation control information and the optical axis pointing characteristic control information, and acquiring load imaging mode simulation result information and optical axis pointing characteristic result information;
a module M2: according to the load imaging mode simulation result information and the optical axis pointing characteristic result information, eliminating the sight line measurement error caused by the translational motion, and acquiring the sight line measurement error elimination result information caused by the translational motion;
a module M3: according to the result information of the sight line measurement error elimination caused by the translational motion, compensating the dynamic influence of the motion of the scanning mirror on the platform, and acquiring the dynamic influence compensation result information of the motion of the scanning mirror on the platform;
when the sight direction of a satellite is simulated through the two-dimensional scanning rotating mechanism, according to the working principle of the two-dimensional scanning rotating mechanism, the emergent point of laser is on the mirror surface of the scanning mirror (2); in the rotation process of the two-dimensional scanning mirror, the position of an emergent point of laser changes, and the change of the position of the emergent point causes the movement of a light spot on a measuring screen, so that the measurement error of the satellite sight is caused, and therefore compensation is needed;
firstly, adjusting the position relation of a laser relative to a scanning mirror (2) to ensure that the laser hits the central rotating shaft position of the scanning mirror (2) after being reflected by the scanning mirror (1); at the moment, the rotation of the scanning mirror (2) does not cause the position change of the laser emergent point;
the rotation of the scanning mirror (1) can cause the translation of a laser emergent point in the X-axis direction, and the translation is compensated through an algorithm; if the movement displacement of the laser emitting point in the X-axis direction is Δ X, then:
Δx＝2r·β
wherein, Δ X is the movement displacement of the laser emitting point in the X-axis direction; r is the linear distance from the center of the scanning mirror 1 to the center of the scanning mirror 2; beta is the rotation angle of the scanning mirror 1; according to the calculation model, the moving position of the emergent point of the satellite sight is obtained, and the compensation for the rotation of the two-dimensional scanning mirror is completed;
by calculating the interference torque and the occurrence time generated by the rotation of the two-dimensional scanning mirror, a compensation torque is generated by utilizing a reaction flywheel to compensate the interference of the rotation of the scanning mirror on the table body;
according to the motion rule of the rotation angle of the scanning mirror, obtaining a rotation angular acceleration expression of the rotation angle of the scanning mirror as follows:
wherein, the first and the second end of the pipe are connected with each other,
is the angular acceleration of rotation of the scanning mirror 1; />
Is the rotational angular acceleration of the scanning mirror 2; theta is a target conic section half-cone angle; omega is the cone scanning angular velocity; t is time;
further, the expression of the disturbance moment caused by the rotation of the scanning mirror can be obtained as follows:
wherein, T z The Z-axis interference torque of the table body; t is x Is the X-axis interference torque of the table body;
is the angular acceleration of rotation of the scanning mirror 1; j is a unit of β Is the moment of inertia of the scanning mirror 1; />
Is the rotational angular acceleration of the scanning mirror 2; j is a unit of α Is the moment of inertia of the scanning mirror 2; theta is a target conic section half-cone angle; omega is the cone scanning angular velocity; t is time.
4. The satellite sight line simulation system suitable for full physical simulation according to claim 3, wherein the module M1 comprises:
module M1.1: the two reflectors work cooperatively to simulate the pointing characteristic of a load sight line; the change of the pointing direction of the sight line is realized by driving the rotation angles of the two reflectors.
5. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the satellite gaze direction simulation method suitable for full physical simulation of any of claims 1 to 2.
6. A satellite gaze direction simulation apparatus adapted for full physical simulation, comprising: a controller;
the controller comprises a computer readable storage medium of claim 5 having stored thereon a computer program which when executed by a processor implements the steps of the satellite gaze direction simulation method suitable for full physics simulation of any of claims 1 to 2; alternatively, the controller comprises the satellite line-of-sight simulation system suitable for full physical simulation of any one of claims 3 to 4.
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