CN113353291B - Method for adjusting satellite earth pointing angle - Google Patents
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Abstract
The invention discloses a method for adjusting the earth pointing angle of a satellite, which realizes the purpose of correcting the pointing deviation of an altimeter signal transmitting wave beam caused by structural deformation before and after satellite orbit entering by a whole satellite attitude biasing method. Comprising the following steps: designing the direction of maneuvering adjustment of the whole star gesture; analyzing and calculating the angle range of the maneuvering adjustment of the whole star gesture; analyzing and calculating the angle step distance of the maneuvering adjustment of the whole star gesture; designing a path of whole-star gesture maneuver; performing attitude maneuver and analyzing altimeter measurement data; the satellite flies according to the offset of the adjusted attitude angle. The method of the invention is applicable to satellites equipped with altimeters.
Description
Technical Field
The invention belongs to the field of satellite design, and relates to a method for adjusting a satellite earth pointing angle.
Background
The main function of the height measurement satellite is to measure the height information of the ground surface, and two measuring modes of active and passive can be adopted. The passive altimeter is an optical remote sensing camera, and the active altimeter is an altimeter and generally comprises a microwave altimeter or a laser altimeter. The altimeter has the capability of actively transmitting signals and receiving reflected signals after the signals sent by the altimeter are reflected by the ground. It requires that the direction of the self-transmitted signal must be very precisely perpendicular to the satellite's subsurface earth surface so that the received reflected signal will be nearly the shortest path that can be used for inversion to obtain ground elevation information. This puts higher demands on the accuracy of control of the attitude pointing angle of the satellite.
However, the orientation of the altimeter's signal transmitting means on the satellite depends on the results of making accurate measurements and calibration at the surface prior to transmission. And after the satellite enters the orbit, the satellite structure can generate certain deformation under the influence of factors such as vibration of an active section, explosive shock of an initiating explosive device, on-orbit gravity unloading, thermal stress and the like, so that the final on-orbit direction of the altimeter is influenced. When a satellite is designed, the control of deformation before and after orbit entering is always the key point of structural rigidity design, but is limited by the technical level of the satellite, cost control and other factors, and the deformation cannot be avoided by 100%.
However, after the flight process of the transmitting active section, the deformation amount formed by the satellite structure in orbit is basically a fixed value and can not be changed any more. In view of this, unlike the alternative approach in which the capability of controlling the deformation of the structure before and after the launching is improved without taking into account the cost, the method of measuring the deformation of the structure after the satellite is in orbit relative to the deformation of the structure before the satellite is in orbit is achieved, and then the satellite is offset to fly in orbit at a certain angle by the way of maneuvering the whole satellite attitude, and the altimeter pointing deviation caused by the structural deformation is compensated by the change of the whole satellite attitude.
For the satellite equipped with the altimeter, on one hand, the satellite has very high requirements on the accuracy of the signal pointing to the ground, and on the other hand, the working mode of 'vertical transmission and reception to the ground surface of the satellite point' has the advantage of being convenient for calibrating the pointing angle. As long as the whole star attitude angle corresponding to the optimal signal sending-signal receiving data can be found, the optimal vertical orientation of the altimeter signal transmitting device to the ground can be determined.
Disclosure of Invention
The invention aims at: the method for adjusting the satellite earth pointing angle solves the problem that the high-precision pointing of the altimeter transmitting signals is affected due to structural deformation caused by various factors before and after satellite orbit entering.
The technical scheme of the invention is as follows: a method for adjusting the earth pointing angle of a satellite comprises the following steps:
step 1: designing the maneuvering adjustment direction of the whole star gesture;
step 2: calculating to obtain the angle range of the maneuvering adjustment of the whole star gesture;
step 3: calculating to obtain the angle step distance of maneuvering adjustment of the whole star gesture;
step 4: designing a path of whole-star gesture maneuver;
step 5: performing attitude maneuver and analyzing altimeter measurement data;
step 6: the satellite flies according to the offset of the adjusted attitude angle.
Step 1, when the adjustment direction is designed, the maneuvering adjustment of the whole star gesture only considers a rolling axis and a pitching axis; when the adjustment is performed, the rolling shaft can be adjusted first and then the pitching shaft can be adjusted, and the pitching shaft can be adjusted first and then the rolling shaft can be adjusted.
And 2, when the angle range of the whole satellite attitude maneuver adjustment is calculated, relevant parameters affecting the orientation deviation of the altimeter, including a satellite structure deformation deviation E1, an attitude measurement system installation deviation E2, an altimeter installation deviation E3, an altimeter signal emission and mechanical reference deviation E4 and other factors E5 possibly causing the on-orbit orientation deviation.
The specific formula of the angle range [ A, B ] of the whole star attitude maneuver adjustment obtained by calculation is as follows:
negative boundary of angular range: a= - (e1+e2+e3+e4+e5) ×1+50%
Negative boundary of angular range: b= (e1+e2+e3+e4+e5) ×1+50%
Since the angular ranges of roll angle and pitch angle need to be calculated separately, angle A is divided into A Scrolling And A Pitching Angle B is divided into B Scrolling And B Pitching 。
During the first posture adjustment, the calculated angle range [ A, B ]; from the second posture adjustment, the old angle ranges [ A, B ] are replaced by new angle ranges [ A ', B' ] each time the adjustment is completed, and the angle ranges [ A ', B' ] are gradually updated and reduced until the final target pointing angle is found.
The specific process of the step 3 is as follows:
the calculation method of the minimum adjustment angle gear alpha allowed during attitude maneuver is that the angle range of the attitude maneuver target of the whole satellite attitude control subsystem is M, the length of the angle control instruction parameter of the attitude maneuver target is M bits, and the calculation method comprises the following steps:
α＝M/2^m；
firstly, adopting ase:Sub>A large angle step distance k x alphase:Sub>A to perform gesture maneuvering coarse adjustment when the gesture is adjusted for the first time, wherein k is ase:Sub>A positive integer and satisfies the condition that k x alphase:Sub>A < B-A; then, according to the updated and reduced angle range [ a ', B ' ] in step 2, the k at the last adjustment is replaced by a smaller positive integer k ', the reduced angle step distance k ' ×α, and the new k ' value still needs to satisfy the condition of k ' ×α < B ' -a ', until k ' =1.
In the step 4, the rolling shaft is subjected to single-axis adjustment through the whole star gesture maneuver; if the pitch axis is adjusted, changing the rolling angle of each step in the following step 4 into a pitch angle;
the step 4 specifically includes:
step 4-1: using the angular range of the roll angle calculated in step 2 [ A ] Scrolling ,B Scrolling ]Intermediate point C of (2) Scrolling =0° as a start angle;
step 4-2: selecting the angle adjustment step distance k obtained in the step 3 Scrolling *α；
Step 4-3: firstly, selecting a path of forward adjustment of a rolling shaft from an initial angle C Scrolling Starting the attitude maneuver by an angle step distance k x alpha;
step 4-4: repeating the steps 4-3 n times until C Scrolling +n*k Scrolling * Alpha reaches the positive boundary B of the angle range calculated in the step 2 Scrolling C, i.e Scrolling +n*k Scrolling *α≥B Scrolling ；
Step 4-5: attitude maneuver returns directly to roll axis angle C Scrolling As a starting angle;
step 4-6: then selecting a path reversely regulated by the rolling shaft from the initial angle C Scrolling Starting reverse posture maneuver by an angle step distance k Scrolling *α；
Step 4-7: repeating steps 4-6 n times until C Scrolling -n*k Scrolling * Alpha reaches the negative boundary A of the angle range calculated in the step 2 Scrolling C, i.e Scrolling -n*k Scrolling *α≤A Scrolling ；
Step 4-8: attitude maneuver returns directly to roll axis angle C Scrolling ；
The specific gesture maneuver path of step 4 is:
C scrolling →C Scrolling +k Scrolling *α→C Scrolling +2*k Scrolling *α→……C Scrolling +n*k Scrolling *α→C Scrolling →C Scrolling -k Scrolling *α→C Scrolling -2*k Scrolling *α→……C Scrolling -n*k Scrolling *α→C Scrolling 。
The specific process of the step 5 comprises the following steps:
step 5-1: according to the attitude maneuver path designed in the step 4, under the condition that the altimeter is started, performing satellite on-orbit attitude maneuver adjustment, collecting altimeter measurement data under different attitude maneuver adjustment angles, and performing inversion analysis on the altimeter data;
step 5-2: according to the data inversion analysis result, the angle range in the step 2 is reduced, and a new angle range [ A 'is redetermined' Scrolling ,B’ Scrolling ]；
Step 5-3: the new angle range [ A 'obtained according to step 5-2' Scrolling ,B’ Scrolling ]New angular step k 'is redetermined' Scrolling * Alpha; newly generated k' Scrolling The value still satisfies k' Scrolling *α<B’ Scrolling -A’ Scrolling Conditions of (2);
step 5-4: re-entering step 4 according to the results of step 5-2 and step 5-3;
step 5-5: repeating the steps 2 to 5 to 4 until k' Scrolling =1, the altimeter inversion result has reached the best;
step 5-6: after the rolling shaft is adjusted, the attitude of the satellite rolling shaft stays at the adjusted angle; repeating the steps 1 to 5-5, and adjusting the pitching axis through the attitude maneuver.
In the step 6, after the angle adjustment work of the rolling axis and the pitching axis is completed in sequence according to the steps 1 to 5, the satellite will fly in a biased manner according to the adjusted rolling and pitching attitude angles for a long time; in this attitude, the altimeter signal transmitting device is strictly vertically grounded.
Compared with the prior art, the invention has the advantages that:
the invention adjusts the earth pointing of the altimeter transmitting signal wave beam through the whole satellite attitude maneuver technology, firstly gives the angle range for adjustment, then gradually adjusts from coarse to fine until finding the optimal wave beam pointing angle of the altimeter under the structural deformation condition after the satellite enters orbit, finally maintains the satellite attitude at the angle all the time, and realizes the purpose of correcting the altimeter signal transmitting wave beam pointing deviation brought by the structural deformation before and after the satellite enters orbit through the whole satellite attitude offset method; the method has the following advantages:
1: the feasibility is strong. The high-precision attitude maneuver capability and the altimeter signal transmitting capability are all functions of the satellite, and can be implemented without any software and hardware modification to the existing products on the satellite.
2: the precision is high: the accuracy of the adjustment of the earth pointing angle is almost exclusively related to the satellite attitude control capability. The altimeter-equipped satellites themselves must have a reasonably high degree of attitude control capability.
3: the measures are effective: the method can accurately correct the pointing deviation of the altimeter signal transmitting beam caused by structural deformation before and after satellite orbit entering, and meets the on-orbit working requirement of the altimeter.
4: the method is subjected to practical engineering practice inspection of satellite on orbit, and is correct in method, effective in result, simple in implementation mode and less in time consumption.
Drawings
Fig. 1 is a flowchart illustrating steps of a method for performing satellite-to-ground pointing angle adjustment according to an embodiment of the present invention.
Detailed Description
In order to solve the above technical problems, the present invention provides a method for adjusting an earth pointing angle of a satellite, wherein the flow is shown in fig. 1, and the method comprises the following steps:
step 1: design the direction of the maneuvering adjustment of the whole star gesture
The attitude maneuver directions in which the satellites can be adjusted in orbit are roll, pitch and yaw. The yaw axis is a vector of the satellite star which vertically points to the earth surface, namely the signal transmitting direction of the altimeter, and the angle and the path of the altimeter signal cannot be changed when the satellite star rotates around the yaw axis. Therefore, the whole-satellite attitude maneuver adjustment only needs to consider the rolling axis and the pitching axis.
The function of satellite attitude maneuver adjustment is realized by an on-board attitude control subsystem. For a gesture control subsystem for realizing whole star zero momentum control by adopting a momentum wheel or a CMG and other modes, the gesture control subsystem has the capability of performing gesture maneuver along any axial direction in theory. Thus, the direction of the motorized adjustment of the attitude of the whole star can be independently adjusted for the roll axis, independently adjusted for the pitch axis, and simultaneously adjusted for the roll axis and the pitch axis.
In this step, both the roll axis and the pitch axis may need to be adjusted because the direction of the pointing bias due to the deformation of the satellite structure is unknown. The rolling axis can be adjusted first and then the pitching axis can be adjusted first, and the pitching axis can be adjusted first and then the rolling axis can be adjusted. The approach taken here is to adjust the roll axis first and then the pitch axis.
Step 2: analyzing and calculating the angle range of the maneuvering adjustment of the whole star gesture
Determining the angle range of the maneuvering adjustment of the whole satellite attitude requires calculating the maximum pointing angle deviation possibly caused by structural deformation and respectively calculating the rolling angle range and the pitching angle range. In calculating the maximum pointing angle deviation, the following parameters are mainly considered that influence the altimeter pointing deviation: star structure distortion bias E1, attitude measurement system installation bias E2, altimeter installation bias E3, altimeter signal emission and mechanical reference bias E4, and other factors E5 that may cause on-orbit pointing bias. They are accumulated and multiplied by a margin factor (margin factor suggests 50%) to obtain the maximum deviation angle range [ A, B](wherein A is the positive boundary of the angle range and B is the positive boundary of the angle range). Since the angular ranges of roll angle and pitch angle need to be calculated separately, angle A is divided into A Scrolling And A Pitching Angle B is divided into B Scrolling And B Pitching . The specific formula is as follows:
negative boundary of angular range: a= - (e1+e2+e3+e4+e5) ×1+50%
Negative boundary of angular range: b= (e1+e2+e3+e4+e5) ×1+50%
The angle ranges [ A, B ] obtained by the calculation are adopted in the first posture adjustment. And then according to the adjustment results of the subsequent steps 3-5, replacing the old angle ranges [ A, B ] with the new angle ranges [ A ', B' ] every time the adjustment is completed, and gradually updating and shrinking the angle ranges [ A ', B' ] until the final target pointing angle is found.
Step 3: analyzing and calculating angle step distance of maneuvering adjustment of whole star gesture
The step distance of the whole star gesture maneuvering adjustment is related to the adjustment capability of the gesture control subsystem, and the minimum angle step distance is the minimum adjustment angle gear alpha allowed by the gesture control subsystem when the gesture maneuvering is performed. The calculation method of the minimum adjustment angle gear alpha allowed when the gesture maneuvering is carried out is that the angle range of the gesture maneuvering target of the whole satellite gesture control subsystem is M degrees, the length of the angle control instruction parameter of the gesture maneuvering target is M bits, and the calculation method comprises the following steps:
in actual operation, alpha=M/2≡m, in order to improve efficiency and speed up adjustment, ase:Sub>A large angle step distance k is adopted to perform gesture maneuver coarse adjustment when gesture adjustment is performed for the first time, k is ase:Sub>A positive integer, and the condition that k is less than B-A is satisfied; and then, replacing k in the last adjustment by a smaller positive integer k ' according to the updated and reduced angle ranges [ A, B ] in the step 2, reducing the angle step distance k ' by alpha, and improving the posture adjustment precision until the k ' =1 and finding the final target pointing angle, wherein the new k ' value still needs to meet the condition of k '. Alpha < B ' -A '.
Step 4: designing a path for maneuvering whole star gesture
In step 4, the rolling axis is adjusted uniaxially by the whole star gesture maneuver according to the description of step 1. If the pitch axis is adjusted, the roll angle in each step in the following step 4 is changed to a pitch angle. The step 4 specifically comprises the following steps:
step 4-1: selecting the rolling angle adjustment range [ A ] calculated in the step 2 Scrolling ,B Scrolling ]Intermediate point C of (2) Scrolling (wherein C Scrolling ＝(A Scrolling +B Scrolling ) 2) as a starting angle;
step 4-2: selecting the angle adjustment step distance k obtained in the step 3 Scrolling *α；
Step 4-3: firstly, selecting a path positively regulated by a rolling shaft, and starting the attitude maneuver from an initial angle C by an angle step distance k x alpha;
step 4-4: repeatedly executing the step 4-3: up to C Scrolling +n*k Scrolling * Alpha reaches the positive boundary B, C, of the angle range calculated in step 2 Scrolling +n*k Scrolling *α≥B Scrolling ；
Step 4-5: attitude maneuver returns directly to roll axis angle C Scrolling As a starting angle;
step 4-6: then selecting a path with the rolling axis adjusted negatively from the initial angle C Scrolling Starting reverse posture maneuver by an angle step distance k Scrolling *α；
Step 4-7: repeating the steps 4-6 until C Scrolling -n*k Scrolling * Alpha reaches the negative boundary A, C, of the angle range calculated in step 2 Scrolling -n*k Scrolling *α≤A Scrolling ；
Step 4-8: attitude maneuver returns directly to roll axis angle C Scrolling ；
Thus, the specific gestural maneuver path of step 4 is:
C scrolling →C Scrolling +k Scrolling *α→C Scrolling +2*k Scrolling *α→……C Scrolling +n*k Scrolling *α→C Scrolling →C Scrolling -k Scrolling *α→C Scrolling -2*k Scrolling *α→……C Scrolling -n*k Scrolling *α→C Scrolling
Step 5: performing attitude maneuver and altimeter measurement data analysis
The step 5 specifically comprises the following steps:
step 5-1: according to the attitude maneuver path designed in the step 4, under the condition that the altimeter is started, satellite on-orbit attitude maneuver adjustment is executed, altimeter measurement data under different attitude maneuver adjustment angles are collected, and inversion analysis of the altimeter data is carried out. The inversion analysis method for altimeter data is not a content of the invention, and is a general maturation method and will not be described here again.
Step 5-2: root of Chinese characterAccording to the data inversion analysis result, the angle range in the step 2 is reduced, and a new angle range [ A 'is redetermined' Scrolling ,B’ Scrolling ]. New angular range [ A ]' Scrolling ,B’ Scrolling ]Compared with the original angle range [ A Scrolling ,B Scrolling ]Is small.
Step 5-3: redetermining k 'in step 3 based on the angular range of step 5-2' Scrolling Value, determine new angular step k' Scrolling * Alpha. Newly generated k' Scrolling The value is higher than the original k Scrolling The value is small, and the k 'still needs to be satisfied' Scrolling *α<B’ Scrolling -A’ Scrolling Is a condition of (2).
Step 5-4: step 4 is re-entered according to the results of step 5-2 and step 5-3.
Step 5-5: repeating the steps 2 to 5 to 4 until k' Scrolling =1, the altimeter inversion result has reached the best.
Step 5-6: after the rolling shaft is adjusted, the attitude of the satellite rolling shaft stays at the adjusted angle. Repeating the steps 1 to 5-5, and adjusting the pitching axis through the attitude maneuver.
Step 6: the satellite flies in an offset way according to the adjusted attitude angle
After the angle adjustment work of the rolling axis and the pitching axis is completed successively according to the steps 1 to 5, the satellite in orbit will fly in a bias way for a long time according to the adjusted rolling and pitching attitude angles. In this attitude, the altimeter signal transmitting device is strictly vertically grounded.
The present invention will be described in detail with reference to fig. 1 and the specific embodiment, in order to make the objects, technical solutions and advantages of the present invention more apparent.
Step 1: design the direction of the maneuvering adjustment of the whole star gesture
The radar altimeter of a certain satellite equipment needs to be adjusted in earth orientation in orbit. The method is to adjust the rolling axis and then adjust the pitching axis.
Step 2: analyzing and calculating the angle range of the maneuvering adjustment of the whole star gesture
Determining the angle range of the maneuvering adjustment of the whole star gesture requires calculating the maximum pointing angle deviation possibly caused by the structural deformation. The roll angle range and the pitch angle range need to be calculated separately.
According to the satellite design index, each deviation parameter term after orbit entering is as follows. Wherein the altimeter installation deviation is related to the installation mode of the altimeter, and the rolling axis and the pitching axis are different in parameters.
TABLE 1 deviation parameters after satellite orbit
| Rolling shaft (°) | Pitch axis (°) | |
| Deformation deviation E1 of star structure | 0.01 | 0.01 |
| Attitude measurement system installation deviation E2 | 0.03 | 0.03 |
| Altimeter installation deviation E3 | 0.015 | 0.02 |
| Altimeter signal emission and mechanical reference deviation E4 | 0.005 | 0.005 |
| On-track pointing deviation E5 caused by other factors | 0.01 | 0.01 |
| Total deviation of | 0.07 | 0.075 |
The margin coefficient is 50%, and the maximum roll axis deviation is 0.07 ° (1+50%) =0.105°, and the maximum pitch axis deviation is 0.075 ° (1+50%) =0.1125°. The maximum deviation angle range is: rolling shaft [ A ] Scrolling ,B Scrolling ]＝[-0.105°，0.105°]Pitch axis [ A Pitching ,B Pitching ]＝[-0.1125°，0.1125°]
Step 3: analyzing and calculating angle step distance of maneuvering adjustment of whole star gesture
The step distance of the whole star gesture maneuvering adjustment is related to the adjustment capability of the gesture control subsystem, and the minimum angle step distance is the minimum adjustment angle gear alpha allowed by the gesture control subsystem when the gesture maneuvering is performed. The attitude maneuver target angle range of the satellite control subsystem is M=360 degrees, and the length of the attitude maneuver target angle control instruction parameter is m=16 bits, so that the satellite control subsystem can calculate:
α＝M/2^m＝360°/2^16＝0.0055°。
k is taken when the first posture of the rolling shaft is adjusted Scrolling =5, then k Scrolling * α=0.0275 °, satisfy k Scrolling *α<B Scrolling -A Scrolling Is a condition of (2).
Step 4: designing a path for maneuvering whole star gesture
According to the step 1: in the step 4, the rolling axis is adjusted in a single axis through the whole star gesture maneuver. If the pitch axis is adjusted, the roll angle in each step in the following step 4 is changed to a pitch angle. The step 4 specifically comprises the following steps:
step 4-1: selecting the rolling angle range [ A ] calculated in the step 2 Scrolling ,B Scrolling ]＝[-0.105°，0.105°]Intermediate point C of (2) Scrolling =0° as a start angle;
step 4-2: selecting the angle adjustment step distance k obtained in the step 3 Scrolling *α＝0.0275°；
Step 4-3: firstly, selecting a path positively regulated by a rolling shaft, and starting the attitude maneuver by an angle step distance k from an initial angle C=0° to an angle alpha=0.0275°;
step 4-4: repeating steps 4-3 for n=4 times until C Scrolling +n*k Scrolling *α＝0.11°≥B Scrolling ＝0.105°；
Step 4-5: attitude maneuver returns directly to roll axis angle C Scrolling =0° as a start angle;
step 4-6: then selecting a path with the rolling axis adjusted negatively from the initial angle C Scrolling Start reverse posture maneuver of 0 DEG for an angle step distance k Scrolling *α＝0.0275°；
Step 4-7: repeating steps 4-6 for n=4 times until C Scrolling -n*k Scrolling *α＝-0.11°≤A Scrolling ＝-0.105°
Step 4-8: attitude maneuver returns directly to roll axis angle C Scrolling ＝0°；
Step 5: performing attitude maneuver and altimeter measurement data analysis
The step 5 specifically comprises the following steps:
step 5-1: according to the attitude maneuver path designed in the step 4, under the condition that the altimeter is started, satellite on-orbit attitude maneuver adjustment is executed, altimeter measurement data under different attitude maneuver adjustment angles are collected, and inversion analysis of the altimeter data is carried out. The gesture adjustment rolling angles corresponding to the collected data are respectively as follows:
table 2 Rolling angle (first adjustment) corresponding to posture adjustment corresponding to data acquisition
Step 5-2: according to the altimeter data inversion analysis result, the optimal inversion result of the altimeter measurement data corresponding to the rolling angle corresponds to the rolling angle of 0.055-0.0825 DEG, the angle range in the step 2 is reduced, and a new angle range [ A' is redetermined. Scrolling ,B’ Scrolling ]＝[0.055°～0.0825°]。
Step 5-3: angle range according to step 5-2 [ A ]' Scrolling ,B’ Scrolling ]＝[0.055°～0.0825°]Reselecting k 'in step 3' Scrolling Value=2, determine new angular step k' Scrolling * α=0.011 °, still satisfying k' Scrolling *α<B’ Scrolling -A’ Scrolling Is a condition of (2).
Step 5-4: according to the results of step 5-2 [ A ]' Scrolling ,B’ Scrolling ]＝[0.055°，0.0825°]And the result k 'of step 5-3' Scrolling * Alpha = 0.011 re-enters step 4 and calculates [ a ]' Scrolling ,B’ Scrolling ]＝[0.055°，0.0825°]Intermediate point C 'of (2)' Scrolling ＝0.06875°。
Step 5-5: repeating the steps 2 to 5 to 4 until k' Scrolling =1, the altimeter inversion result has reached the best. The satellite roll angle is 0.066 at this time.
Step 5-6: after the rolling shaft is adjusted, the attitude of the satellite rolling shaft stays at the adjusted angle of 0.066 degrees. Repeating the steps 1 to 5-5, and adjusting a pitching axis through attitude maneuver to obtain the pitching angle of-0.0385 degrees when the height and the data inversion result reach the best.
Step 6: the satellite flies in an offset way according to the adjusted attitude angle
After the angle adjustment work of the rolling axis and the pitching axis is completed in sequence according to the steps 1 to 5, the satellite in orbit will fly in a bias way for a long time according to the adjusted rolling attitude angle of 0.066 degrees and the adjusted pitching attitude angle of-0.0385 degrees. In this attitude, the altimeter signal transmitting device is strictly vertically grounded.
The type of satellite to which the method of the invention is applicable is an altimeter equipped satellite, and such satellites are almost the only ones that have strict vertical earth-pointing requirements.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
Claims (1)
1. The method for adjusting the earth pointing angle of the satellite is characterized by comprising the following steps:
step 1: designing the maneuvering adjustment direction of the whole star gesture;
step 2: calculating to obtain the angle range of the maneuvering adjustment of the whole star gesture;
step 3: calculating to obtain the angle step distance of maneuvering adjustment of the whole star gesture;
step 4: designing a path of whole-star gesture maneuver;
step 5: performing attitude maneuver and analyzing altimeter measurement data;
step 6: the satellite flies in a biased way according to the adjusted attitude angle;
step 1, when the adjustment direction is designed, the maneuvering adjustment of the whole star gesture only considers a rolling axis and a pitching axis; when the adjustment is performed, the rolling shaft can be adjusted first and then the pitching shaft can be adjusted, and the pitching shaft can be adjusted first and then the rolling shaft can be adjusted;
step 2, when the angle range of the whole satellite attitude maneuver adjustment is calculated, relevant parameters affecting the orientation deviation of the altimeter, including a satellite structure deformation deviation E1, an attitude measurement system installation deviation E2, an altimeter installation deviation E3, an altimeter signal emission and mechanical reference deviation E4, and other factors E5 possibly causing the on-orbit orientation deviation;
the specific formula of the angle range [ A, B ] of the whole star attitude maneuver adjustment obtained by calculation is as follows:
negative boundary of angular range: a= - (e1+e2+e3+e4+e5) ×1+50%
Negative boundary of angular range: b= (e1+e2+e3+e4+e5) ×1+50%
Since the angular ranges of roll angle and pitch angle need to be calculated separately, angle A is divided into A Scrolling And A Pitching Angle B is divided into B Scrolling And B Pitching ；
During the first posture adjustment, the calculated angle range [ A, B ]; from the second posture adjustment, replacing the old angle ranges [ A, B ] with new angle ranges [ A ', B' ] every time the adjustment is completed, and gradually updating and narrowing the angle ranges [ A ', B' ] until the final target pointing angle is found;
the specific process of the step 3 is as follows:
the calculation method of the minimum adjustment angle gear alpha allowed during attitude maneuver is that the angle range of the attitude maneuver target of the whole satellite attitude control subsystem is M, the length of the angle control instruction parameter of the attitude maneuver target is M bits, and the calculation method comprises the following steps:
α = M / 2^m；
firstly, adopting ase:Sub>A large angle step distance k x alphase:Sub>A to perform gesture maneuvering coarse adjustment when the gesture is adjusted for the first time, wherein k is ase:Sub>A positive integer and satisfies the condition that k x alphase:Sub>A < B-A; then, according to the updated and reduced angle range [ a ', B ' ] in step 2, replacing k in the last adjustment with a smaller positive integer k ', reducing the angle step distance k ' ×α, wherein the new k ' value still needs to satisfy the condition of k ' ×α < B ' -a ' until k ' =1;
in the step 4, the rolling shaft is subjected to single-axis adjustment through the whole star gesture maneuver; if the pitch axis is adjusted, changing the rolling angle of each step in the following step 4 into a pitch angle;
the step 4 specifically includes:
step 4-1: using the angular range of the roll angle calculated in step 2 [ A ] Scrolling , B Scrolling ]Intermediate point C of (2) Scrolling =0° as a start angle;
step 4-2: selecting the angle adjustment step distance k obtained in the step 3 Scrolling *α；
Step 4-3: firstly, selecting a path of forward adjustment of a rolling shaft from an initial angle C Scrolling Starting the attitude maneuver by an angle step distance k x alpha;
step 4-4: repeating the steps 4-3 n times until C Scrolling +n*k Scrolling * Alpha reaches the positive boundary B of the angle range calculated in the step 2 Scrolling C, i.e Scrolling +n*k Scrolling *α≥B Scrolling ；
Step 4-5: attitude maneuver returns directly to roll axis angle C Scrolling As a starting angle;
step 4-6: then selecting a path reversely regulated by the rolling shaft from the initial angle C Scrolling Starting reverse posture maneuver by an angle step distance k Scrolling *α；
Step 4-7: repeating steps 4-6 n times until C Scrolling -n*k Scrolling * Alpha reaches the negative boundary A of the angle range calculated in the step 2 Scrolling C, i.e Scrolling -n*k Scrolling *α≤A Scrolling ；
Step 4-8: attitude maneuver returns directly to roll axis angle C Scrolling ；
The specific gesture maneuver path of step 4 is:
C scrolling →C Scrolling +k Scrolling *α→C Scrolling +2*k Scrolling *α→……C Scrolling +n*k Scrolling *α
→C Scrolling →C Scrolling -k Scrolling *α→C Scrolling -2*k Scrolling *α→……C Scrolling -n*k Scrolling *α
→C Scrolling ；
The specific process of the step 5 comprises the following steps:
step 5-1: according to the attitude maneuver path designed in the step 4, under the condition that the altimeter is started, performing satellite on-orbit attitude maneuver adjustment, collecting altimeter measurement data under different attitude maneuver adjustment angles, and performing inversion analysis on the altimeter data;
step 5-2: according to the data inversion analysis result, the angle range in the step 2 is reduced, and a new angle range [ A 'is redetermined' Scrolling , B’ Scrolling ]；
Step 5-3: the new angle range [ A 'obtained according to step 5-2' Scrolling , B’ Scrolling ]New angular step k 'is redetermined' Scrolling * Alpha; newly generated k' Scrolling The value still satisfies k' Scrolling *α<B’ Scrolling -A’ Scrolling Conditions of (2);
step 5-4: re-entering step 4 according to the results of step 5-2 and step 5-3;
step 5-5: repeating the steps 2-5-4 until k' Scrolling =1, the altimeter inversion result has reached the best;
step 5-6: after the rolling shaft is adjusted, the attitude of the satellite rolling shaft stays at the adjusted angle; repeating the steps 1-5, and adjusting a pitching axis through attitude maneuver;
in the step 6, after the angle adjustment work of the rolling shaft and the pitching shaft is completed in sequence according to the steps 1 to 5, the satellite flies in a biased way for a long time according to the adjusted rolling and pitching attitude angles; in this attitude, the altimeter signal transmitting device is strictly vertically grounded.
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