CN113063438B - Measurement error correction method and system for full-physical simulation satellite sight pointing - Google Patents
Measurement error correction method and system for full-physical simulation satellite sight pointing Download PDFInfo
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Abstract
The invention provides a measurement error correction method and a system for the sight pointing of a full-physical simulation satellite, which comprises the following steps: step S1: measuring the rotation center coordinate of the triaxial air bearing table of the full physical simulation equipment; step S2: measuring the coordinate component of an emergent point of a satellite sight under a body coordinate system of the three-axis air floatation table; and step S3: and in the dynamic measurement process of the satellite sight, correcting the measurement error to obtain measurement error correction result information of the satellite sight direction for full physical simulation. The invention can effectively eliminate the measurement error caused by the translation of the emergent point of the satellite sight and improve the measurement precision of the satellite sight pointing in the full physical simulation test.
Description
Technical Field
The invention relates to a spacecraft test technology, in particular to a measurement error correction method and a system for full-physical simulation satellite sight pointing.
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 functions 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 map animations 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 pointing 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 the dynamics characteristics of a satellite are verified, and the problem of satellite sight measurement is not considered.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for correcting the measurement error of the sight pointing direction of a full-physical simulation satellite.
The invention provides a measurement error correction method for a full-physical simulation satellite sight pointing direction, which comprises the following steps:
step S1: measuring the rotation center coordinate of the triaxial air bearing table of the full physical simulation equipment according to the rotation center coordinate measurement control information of the triaxial air bearing table of the full physical simulation equipment, and acquiring the rotation center coordinate measurement result information of the triaxial air bearing table of the full physical simulation equipment;
step S2: measuring the coordinate component of the exit point of the satellite sight under the body coordinate system of the three-axis air floating table according to the rotation center coordinate measurement result information of the three-axis air floating table of the full physical simulation equipment, and acquiring the coordinate component measurement result information of the exit point of the satellite sight under the body coordinate system of the three-axis air floating table;
and step S3: according to the coordinate component measurement result information of the exit point of the satellite sight under the body coordinate system of the three-axis air floatation table, in the dynamic measurement process of the satellite sight, measurement error correction is carried out, and measurement error correction result information of the satellite sight direction for full physical simulation is obtained.
Preferably, the step S1 includes:
step S1.1: according to the control information of the measurement of the rotation center coordinates of the three-axis air bearing table of the full physical simulation equipment, the rotation center coordinates of the three-axis air bearing table of the full physical simulation equipment are measured by the laser tracker, and the measurement result information of the rotation center coordinates of the three-axis air bearing table of the full physical simulation equipment is obtained.
Preferably, the step S2 includes:
step S2.1: firstly, measuring the coordinate component of the rotation center of the triaxial air bearing table under the coordinate system of the laser tracker;
step S2.2: measuring the coordinate component of an emergent point of the satellite sight under a coordinate system of a laser tracker;
preferably, the step S2 further includes:
step S2.3: and obtaining the coordinate component of the exit point of the satellite sight line under the three-axis air floatation table body coordinate system by combining the conversion relation between the air floatation table body coordinate system and the laser tracker coordinate system.
Preferably, the step S3 further includes:
step S3.1: according to the coordinate component measurement result information of the exit point of the satellite sight under the body coordinate system of the three-axis air floating platform, in the dynamic measurement process of the satellite sight, the actual attitude information of the three-axis air floating platform is combined to correct the measurement error, and measurement error correction result information of the satellite sight direction for full physical simulation is obtained.
The invention provides a measurement error correction system for the sight orientation of a full-physical simulation satellite, which comprises:
a module M1: measuring the rotation center coordinate of the triaxial air bearing table of the full physical simulation equipment according to the rotation center coordinate measurement control information of the triaxial air bearing table of the full physical simulation equipment, and acquiring the rotation center coordinate measurement result information of the triaxial air bearing table of the full physical simulation equipment;
a module M2: measuring the coordinate component of an exit point of a satellite sight under a body coordinate system of the three-axis air floating platform according to the rotation center coordinate measurement result information of the three-axis air floating platform of the full physical simulation equipment, and acquiring the coordinate component measurement result information of the exit point of the satellite sight under the body coordinate system of the three-axis air floating platform;
a module M3: according to the coordinate component measurement result information of the exit point of the satellite sight under the body coordinate system of the three-axis air floatation table, in the dynamic measurement process of the satellite sight, measurement error correction is carried out, and measurement error correction result information of the satellite sight direction for full physical simulation is obtained.
Preferably, said module M1 comprises:
module M1.1: according to the control information of the measurement of the rotation center coordinates of the three-axis air bearing table of the full physical simulation equipment, the rotation center coordinates of the three-axis air bearing table of the full physical simulation equipment are measured by the laser tracker, and the measurement result information of the rotation center coordinates of the three-axis air bearing table of the full physical simulation equipment is obtained.
Preferably, said module M2 comprises:
module M2.1: firstly, measuring the coordinate component of the rotation center of the triaxial air bearing table under the coordinate system of the laser tracker;
module M2.2: measuring the coordinate component of an emergent point of the satellite sight under a coordinate system of a laser tracker;
preferably, said module M2 further comprises:
module M2.3: and obtaining the coordinate component of the exit point of the satellite sight line under the three-axis air floatation table body coordinate system by combining the conversion relation between the air floatation table body coordinate system and the laser tracker coordinate system.
Preferably, said module M3 further comprises:
module M3.1: according to the coordinate component measurement result information of the exit point of the satellite sight under the body coordinate system of the three-axis air floating platform, in the dynamic measurement process of the satellite sight, the actual attitude information of the three-axis air floating platform is combined to correct the measurement error, and the measurement error correction result information of the satellite sight direction for full physical simulation is obtained.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can effectively eliminate the measurement error caused by the translation of the exit point of the satellite sight, and improve the measurement precision of the satellite sight pointing in the full physical simulation test;
2. the invention can dynamically measure the coordinates of two points on the satellite sight, accurately determine the accurate pointing direction of the satellite sight through the two points, and eliminate the measurement error caused by translation;
3. the invention has reasonable flow structure and convenient use and can overcome the defects of 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 view of measurement errors of the sight direction of a full-physical simulation satellite in the 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 variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the present invention.
A method and a system for correcting measurement errors of a full-physical simulation satellite sight orientation comprise the following steps:
1. method for measuring coordinate of rotation center of three-axis air bearing table
In the rotation process of the three-axis air bearing table, the position of the rotation center O in the space is kept unchanged. A point P is randomly selected on the three-axis air bearing table, the distance from the point P to the rotation center of the rotary table is set to be R, and the R is kept unchanged all the time in the rotation process. In the rotation process of the three-axis air bearing table, the point P is measured for multiple times through the laser tracker, and a series of spatial coordinate points P can be obtained 1 、P 2 、…P n . The n coordinate points are distributed on a spherical surface with the radius of R in space, and the component O of the rotation center O of the three-axis air bearing table under the coordinate system of the laser tracker can be obtained by performing surface fitting on the n coordinate points g 。
2. Method for measuring coordinates of emergent point of satellite sight
Firstly, measuring the coordinate component of an exit point D of a satellite sight line in a coordinate system of the laser tracker by using a measuring point coordinate function of the laser tracker, and recording the coordinate component as D g . At this time, the components of the vector from the rotation center of the triaxial air bearing table to the satellite sight exit point in the laser tracker coordinate system are as follows:
in the above formula, D g The coordinate component of an emergent point D of the satellite sight under a coordinate system of the laser tracker; o is g Is a coordinate component of the rotation center of the three-axis air bearing table under a coordinate system of the laser tracker;
the component of the vector from the rotation center of the triaxial air bearing table to the satellite sight exit point in the coordinate system of the laser tracker.
By combining the conversion relation of the coordinate system of the laser tracker relative to the coordinate system of the three-axis air floatation table body, the following results can be obtained:
in the above-mentioned formula, the compound has the following structure,
the component of the vector from the rotation center of the triaxial air bearing table to the exit point of the satellite sight under the body coordinate system of the triaxial air bearing table. A. The gb The transformation matrix of the laser tracker coordinate system relative to the three-axis air floatation table body coordinate system can be obtained through the angle measurement function of the laser tracker.
Combined with the upper mode, the coordinate component D of the exit point of the satellite sight line under the three-axis air bearing table body seating system can be obtained b Comprises the following steps:
in the above formula, D b Is the coordinate component of the exit point of the satellite sight line under the three-axis air bearing table body seating system. O is b For the coordinate component of the rotation center of the three-axis air bearing table under the three-axis air bearing table body seating system, the rotation center of the three-axis air bearing table is considered to be the origin of the three-axis air bearing table body seating system, namely O b ＝[0 0 0]'。
3. Satellite sight line pointing measurement method
In the rotation process of the triaxial air bearing table, because the emergent point of the satellite sight is not coincident with the rotation center, when the triaxial air bearing table rotates, the emergent point of the satellite sight generates translational displacement. At this time, if the line of sight change of the satellite is directly estimated through the spot displacement change on the screen, a translation displacement error is introduced. In order to correct the sight measurement error, the real-time coordinates of a screen light spot and a satellite sight exit point are acquired simultaneously by combining the attitude information of the three-axis air bearing table, the translation error is stripped, and the direction realized by the satellite is accurately obtained.
Firstly, the component of the light spot on the measuring screen in the coordinate system of the laser tracker, denoted as S, can be obtained by the laser tracker g 。
Then, the real-time component of the satellite sight exit point under the coordinate system of the laser tracker is calculated by combining the attitude information of the three-axis air bearing table:
in the above formula, D g The coordinate component of an emergent point D of the satellite sight under a coordinate system of the laser tracker; o is g Is a coordinate component of the rotation center of the three-axis air bearing table under a coordinate system of the laser tracker; a. The bg A transformation matrix of a three-axis air floatation table body coordinate system relative to a laser tracker coordinate system is provided; t represents time.
By the mode, the coordinates of two points on the satellite sight line can be dynamically measured, the accurate pointing direction of the satellite sight line is accurately determined through the two points, and measurement errors caused by translation are 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, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not 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 (4)
1. A measurement error correction method for a full-physical simulation satellite sight orientation is characterized by comprising the following steps:
step S1: measuring the rotation center coordinate of the triaxial air bearing table of the full physical simulation equipment according to the rotation center coordinate measurement control information of the triaxial air bearing table of the full physical simulation equipment, and acquiring the rotation center coordinate measurement result information of the triaxial air bearing table of the full physical simulation equipment;
step S2: measuring the coordinate component of the exit point of the satellite sight under the body coordinate system of the three-axis air floating table according to the rotation center coordinate measurement result information of the three-axis air floating table of the full physical simulation equipment, and acquiring the coordinate component measurement result information of the exit point of the satellite sight under the body coordinate system of the three-axis air floating table;
and step S3: according to the coordinate component measurement result information of the exit point of the satellite sight under the body coordinate system of the three-axis air floatation table, in the dynamic measurement process of the satellite sight, measurement error correction is carried out, and measurement error correction result information of the satellite sight direction for full physical simulation is obtained;
the step S2 includes:
step S2.1: firstly, measuring the coordinate component of the rotation center of the triaxial air bearing table under the coordinate system of the laser tracker;
measuring the coordinate component of the exit point of the satellite sight under the coordinate system of the laser tracker by using the measuring point coordinate function of the laser tracker, and recording the coordinate component as D g (ii) a At the moment, the vector from the rotation center of the triaxial air bearing table to the emergent point of the satellite sightThe components of the quantities in the laser tracker coordinate system are:
in the above formula, D g The coordinate component of the exit point of the satellite sight under the coordinate system of the laser tracker; o is g Is a coordinate component of the rotation center of the three-axis air bearing table under a coordinate system of the laser tracker;
the component of a vector from a rotation center of the triaxial air bearing table to a satellite sight exit point in a coordinate system of the laser tracker is shown;
step S2.2: measuring the coordinate component of an emergent point of the satellite sight under a coordinate system of a laser tracker;
by combining the conversion relation of the coordinate system of the laser tracker relative to the coordinate system of the three-axis air floatation table body, the following results can be obtained:
in the above formula, the first and second carbon atoms are,
the component of the vector from the rotation center of the triaxial air bearing table to the exit point of the satellite sight under the body coordinate system of the triaxial air bearing table; a. The gb The conversion matrix of the laser tracker coordinate system relative to the three-axis air floatation table body coordinate system can be obtained through the angle measurement function of the laser tracker;
the step S2 further includes:
step S2.3: obtaining a coordinate component of an emergent point of a satellite sight line under a three-axis air floatation table body coordinate system by combining a conversion relation between the air floatation table body coordinate system and a laser tracker coordinate system;
combined with the upper mode, the coordinate component D of the exit point of the satellite sight line under the three-axis air bearing table body seating system can be obtained b Comprises the following steps:
in the above formula, D b The coordinate component of the exit point of the satellite sight line under the three-axis air bearing table body seating system; o is b The coordinate component of the rotation center of the three-axis air bearing table under the three-axis air bearing table body seating system is considered, and the rotation center of the three-axis air bearing table is the original point of the three-axis air bearing table body seating system, namely O b ＝[000]'；
The step S3 further includes:
step S3.1: according to the coordinate component measurement result information of the exit point of the satellite sight under the body coordinate system of the three-axis air floating platform, in the dynamic measurement process of the satellite sight, the actual attitude information of the three-axis air floating platform is combined to correct the measurement error, and measurement error correction result information of the satellite sight direction for full physical simulation is obtained, and the method specifically comprises the following steps:
firstly, the component of the light spot on the measuring screen in the coordinate system of the laser tracker, denoted as S, can be obtained by the laser tracker g ；
Then, calculating the real-time component of the satellite sight exit point under the coordinate system of the laser tracker by combining the attitude information of the three-axis air bearing table:
in the above formula, D g The coordinate component of the exit point of the satellite sight under the coordinate system of the laser tracker; o is g Is a coordinate component of the rotation center of the three-axis air bearing table under a coordinate system of the laser tracker; a. The bg A transformation matrix of a three-axis air floatation table body coordinate system relative to a laser tracker coordinate system is provided; t represents time.
2. The method for correcting the measurement error of the sight line orientation of the full-physical simulation satellite according to claim 1, wherein the step S1 comprises:
step S1.1: according to the control information of the measurement of the rotation center coordinates of the three-axis air bearing table of the full physical simulation equipment, the rotation center coordinates of the three-axis air bearing table of the full physical simulation equipment are measured by the laser tracker, and the measurement result information of the rotation center coordinates of the three-axis air bearing table of the full physical simulation equipment is obtained.
3. A measurement error correction system for a fully physically simulated satellite gaze direction, comprising:
a module M1: measuring the rotation center coordinate of the triaxial air bearing table of the full physical simulation equipment according to the rotation center coordinate measurement control information of the triaxial air bearing table of the full physical simulation equipment, and acquiring the rotation center coordinate measurement result information of the triaxial air bearing table of the full physical simulation equipment;
a module M2: measuring the coordinate component of an exit point of a satellite sight under a body coordinate system of the three-axis air floating platform according to the rotation center coordinate measurement result information of the three-axis air floating platform of the full physical simulation equipment, and acquiring the coordinate component measurement result information of the exit point of the satellite sight under the body coordinate system of the three-axis air floating platform;
a module M3: according to the coordinate component measurement result information of the exit point of the satellite sight under the body coordinate system of the three-axis air floatation table, in the dynamic measurement process of the satellite sight, measurement error correction is carried out, and measurement error correction result information of the satellite sight direction for full physical simulation is obtained;
the module M2 comprises:
module M2.1: firstly, measuring the coordinate component of the rotation center of the triaxial air bearing table under the coordinate system of the laser tracker;
measuring the coordinate component of the exit point of the satellite sight under the coordinate system of the laser tracker by using the measuring point coordinate function of the laser tracker, and recording the coordinate component as D g (ii) a At this time, the components of the vector from the rotation center of the triaxial air bearing table to the satellite sight exit point in the laser tracker coordinate system are as follows:
in the above formula, D g The coordinate component of the exit point of the satellite sight line under the coordinate system of the laser tracker; o is g Is a coordinate component of the rotation center of the three-axis air bearing table under a coordinate system of the laser tracker;
the component of a vector from a rotation center of the triaxial air bearing table to a satellite sight exit point in a coordinate system of the laser tracker is shown;
module M2.2: measuring the coordinate component of an emergent point of the satellite sight under a coordinate system of a laser tracker;
by combining the conversion relation of the coordinate system of the laser tracker relative to the coordinate system of the three-axis air floatation table body, the following results can be obtained:
in the above-mentioned formula, the compound has the following structure,
the component of the vector from the rotation center of the triaxial air bearing table to the exit point of the satellite sight under the body coordinate system of the triaxial air bearing table; a. The gb The conversion matrix of the laser tracker coordinate system relative to the three-axis air floatation table body coordinate system can be obtained through the angle measurement function of the laser tracker;
the module M2 further comprises:
module M2.3: obtaining a coordinate component of an emergent point of a satellite sight line under a three-axis air floatation table body coordinate system by combining a conversion relation between the air floatation table body coordinate system and a laser tracker coordinate system;
combined with the upper mode, the coordinate component D of the exit point of the satellite sight line under the three-axis air bearing table body seating system can be obtained b Comprises the following steps:
in the above formula, D b The coordinate component of the exit point of the satellite sight line under the three-axis air bearing table body seating system; o is b The coordinate component of the rotation center of the three-axis air bearing table under the three-axis air bearing table body seating system is considered, and the rotation center of the three-axis air bearing table is the original point of the three-axis air bearing table body seating system, namely O b ＝[0 0 0]'；
The module M3 further comprises:
module M3.1: according to the coordinate component measurement result information of the exit point of the satellite sight under the body coordinate system of the three-axis air floating platform, in the dynamic measurement process of the satellite sight, the actual attitude information of the three-axis air floating platform is combined to correct the measurement error, and measurement error correction result information of the satellite sight direction for full physical simulation is obtained, and the method specifically comprises the following steps:
firstly, the component of the light spot on the measuring screen in the coordinate system of the laser tracker, denoted as S, can be obtained by the laser tracker g ；
Then, the real-time component of the satellite sight exit point under the coordinate system of the laser tracker is calculated by combining the attitude information of the three-axis air bearing table:
in the above formula, D g The coordinate component of the exit point of the satellite sight under the coordinate system of the laser tracker; o is g Is a coordinate component of the rotation center of the three-axis air bearing table under a coordinate system of the laser tracker; a. The bg A transformation matrix of a three-axis air floatation table body coordinate system relative to a laser tracker coordinate system; t represents time.
4. The system according to claim 3, wherein the module M1 comprises:
module M1.1: according to the rotation center coordinate measurement control information of the three-axis air bearing table of the full physical simulation equipment, the rotation center coordinate of the three-axis air bearing table of the full physical simulation equipment is measured through a laser tracker, and the rotation center coordinate measurement result information of the three-axis air bearing table of the full physical simulation equipment is obtained.
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| CN105572692B (en) * | 2015-12-16 | 2018-02-06 | 上海卫星工程研究所 | Satellite image navigates and registering full physical test device and method of testing |
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