CN113386979A - Data transmission attitude planning method for self-adaptive sun avoidance - Google Patents

Data transmission attitude planning method for self-adaptive sun avoidance Download PDF

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CN113386979A
CN113386979A CN202110619246.7A CN202110619246A CN113386979A CN 113386979 A CN113386979 A CN 113386979A CN 202110619246 A CN202110619246 A CN 202110619246A CN 113386979 A CN113386979 A CN 113386979A
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沈莹
童鑫
龚泽宇
范林东
戴路
钟兴
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Chang Guang Satellite Technology Co Ltd
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    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
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Abstract

The invention discloses a data transmission attitude planning method for self-adaptively avoiding the sun. The invention relates to the technical field of aerospace, and in the staring data transmission process of an optical remote sensing satellite to a ground station, the invention determines the solar vector under a WGS84 system according to the solar vector under the J2000 system and a conversion matrix between the J2000 system and the WGS84 system; determining an included angle between the sun vector and the flight direction of the optical remote sensing satellite according to the sun vector under the WGS84 system; and adaptively adjusting the staring data transmission attitude according to the angle of the incident sunlight, and planning the data transmission attitude. According to the sunlight incident direction and the incident angle, the data transmission attitude of the satellite is adjusted in real time by utilizing the phased array antenna electric scanning function, so that the included angle between a camera and sunlight during data transmission is kept above 60 degrees, the stability of the camera is maintained, and meanwhile, the central beam of the phased array antenna is used as far as possible to ensure the data transmission quality.

Description

Data transmission attitude planning method for self-adaptive sun avoidance
Technical Field
The invention relates to the technical field of aerospace, in particular to a data transmission attitude planning method for self-adaptively avoiding the sun.
Background
The ground staring gesture utilizes the maneuvering capability of the satellite to enable the Z axis of the system of the satellite to always point to the ground station, the central beam of the phased array antenna can be used for data transmission, and the system has the characteristics of long data transmission time and stability, so that the staring gesture is mostly adopted when the optical remote sensing satellite performs data transmission tasks on the ground station. Under the satellite structure that a camera and a phased array antenna are overlapped with a Z axis of a system of a satellite, due to the staring data transmission posture characteristic, the included angle between sunlight and the camera is small in the process of executing a data transmission task, so that the temperature of the inner wall of a lens barrel of the camera rises, and the imaging quality and the on-orbit service life of the camera are influenced in serious cases. Under the satellite structure with offset installation of cameras and phased array antennas, sunlight incidence cannot be avoided within the full latitude range. Therefore, the problem of avoiding sunlight is considered when the optical remote sensing satellite performs a data transmission task. By utilizing the characteristic that the phased array antenna can perform data transmission within the maximum beam angle range, the posture of the satellite in the staring data transmission process is adjusted in real time according to the included angle relation between the satellite and sunlight, so that the camera is prevented from entering light, the central beam of the phased array antenna is used as far as possible, and the sufficient and stable data transmission process is ensured.
Disclosure of Invention
The invention performs attitude planning on the avoidance of sunlight when the optical remote sensing satellite performs data transmission on the ground station in a staring attitude. Firstly, calculating a sun vector under a geocentric geodesic coordinate system (WGS 84 for short); then, calculating the incident condition of the solar rays, on one hand, calculating the included angle between the flight direction of the satellite and the solar rays to judge the solar azimuth, and on the other hand, calculating the included angle between the satellite-ground station vector and the solar rays to judge the size of the incident angle; and finally, adaptively adjusting the gaze data transmission posture through the angle and the direction of incident sunlight. The invention provides a data transmission attitude planning method for self-adaptively avoiding the sun, and the invention provides the following technical scheme:
a data transmission attitude planning method for self-adaptively avoiding the sun comprises the following steps:
step 1: determining a sun vector under the WGS84 according to the sun vector under the J2000 series and a transformation matrix between the J2000 series and the WGS84 series;
step 2: determining an included angle between the sun vector and the flight direction of the optical remote sensing satellite according to the sun vector under the WGS84 system;
and step 3: and adaptively adjusting the staring data transmission attitude according to the included angle of the incident sunlight, and planning the data transmission attitude.
Preferably, the step 1 specifically comprises:
step 1.1: using UTC to obtain the julian day JD and the julian century number T:
Figure BDA0003098926520000021
Figure BDA0003098926520000022
wherein year, month and day of Greenwich mean year, month and day respectively; hour, minute, second represent UTC hours, minutes, seconds, respectively; int () represents rounding;
step 1.2: when the earth does not move around the sun, determining a sun vector R under a J2000 coordinate systemSJThe yellow-red crossing angle i and the solar meridian l are represented by the following formula:
i＝23°26′21.448″-46.8150″T-0.00059″T2(0.019993°-0.000101°·T)·sin(2M)+0.00029°·sin(3M)
Figure BDA0003098926520000023
wherein L is0Representing the geometric mean-yellow meridian of the sun, M representing the mean-near angle of the sun:
obtaining the sun vector R under the J2000 series according to the calculated yellow-red intersection angle i and the sun yellow longitude lSJ：
Figure BDA0003098926520000024
Step 1.3: transferring the sun vector under the J2000 coordinate system to a WGS84 coordinate system, and calculating a coordinate transformation matrix W from the J2000 coordinate system to a WGS84 system by using a terrestrial rotation transformation matrix R and a time difference transformation matrix P:
W＝R·P
the sun vector R in the WGS84 seriesSWRepresented by the formula:
RSW＝W·RSJ。
preferably, the step 2 specifically comprises:
step 2.1: calculating the included angle between the sun vector and the satellite flight direction, and when the speed of the satellite under a WGS84 system at a certain data transmission moment is V, the included angle between the flight direction and the sun vector is expressed by the following formula:
Figure BDA0003098926520000031
step 2.2: calculating the size of the incident sunlight, wherein the longitude, the latitude and the height of a ground station D at a certain position are lo, la and h respectively, and the coordinate of the current station under a WGS-84 system is RD＝(RDX RDY RDZ) The coordinates are represented by the following formula:
Figure BDA0003098926520000032
wherein,
Figure BDA0003098926520000033
is the radius of the earth at the imaging point, re6378173m is the average radius of the equator of the earth, and e 0.081819190928906 is the oblateness of the earth;
the position of the satellite under WGS84 is R ═ RX RY RZ]Then the vector pointing to ground station D by the satellite in WGS84 is:
RSD＝[RDX-RX RDY-RY RDZ-RZ]
the angle α between the sun vector and the satellite-ground station vector is represented by:
Figure BDA0003098926520000034
preferably, when θ is an acute angle, the solar rays are forward in the flight direction; when θ is an obtuse angle, the solar ray is rearward in the flight direction.
Preferably, the step 3 specifically comprises:
step 3.1: and (3) solving the ground staring attitude, and according to the Euler axis angle definition, in order to enable the optical axis of the satellite to point to a specific ground target point, rotating the orbital coordinate system by a zeta angle around the Euler axis L in a counterclockwise way to obtain an expected attitude, a geocentric-satellite vector R and a geocentric-ground station vector R under the orbital systemDThe normal vector of the formed plane is the obtained euler axis L, and L is expressed by the following formula:
Figure BDA0003098926520000035
satellite-earth center vector-R and earth center-ground station vector RDThe included angle between the two is the required Euler angle xi which is expressed by the following formula:
Figure BDA0003098926520000041
step 3.2: when the unit vectors of the X axis, the Y axis and the Z axis of the orbit coordinate system are respectively the component r in the WGS-84 coordinate systemx、ryAnd rzThen the quaternion of the expected gaze pose in the orbital coordinate system is:
Figure BDA0003098926520000042
step 3.3: the camera and the phased array antenna are coincided with the Z axis of the system, the staring posture ensures that the Z axis of the star body always points to a ground station, the central beam of the phased array antenna is used for continuously transmitting data to the ground for a long time, the phased array antenna is used for transmitting data within the maximum beam angle range, and the ground staring posture is adjusted in real time;
the attitude adjustment four elements number
Figure BDA0003098926520000043
The quaternion of the actual desired coordinate system with respect to the orbital coordinate system is q-q0·qδ。
Preferably, the maximum beam angle is 60 °.
Preferably, when θ is an acute angle, the solar ray is forward of the flight direction, and when the satellite attitude can be adjusted backward by δ:
Figure BDA0003098926520000044
when theta is an obtuse angle, the sun ray is behind the flight direction, and the satellite attitude can be adjusted forward by delta around the Y axis of the orbital system:
Figure BDA0003098926520000045
the invention has the following beneficial effects:
the invention aims at the problem that the included angle between sunlight and a camera is too small when a camera and a phased array in an optical remote sensing satellite are superposed with a Z axis of a satellite body system and data transmission is carried out on a ground station by adopting a staring posture. According to the sunlight incident direction and the incident angle, the data transmission attitude of the satellite is adjusted in real time by utilizing the phased array antenna electric scanning function, so that the included angle between a camera and sunlight during data transmission is kept above 60 degrees, the stability of the camera is maintained, and meanwhile, the central beam of the phased array antenna is used as far as possible to ensure the data transmission quality.
Drawings
FIG. 1 is a schematic view of the relationship between sunlight and the angle between the directions of flight of a satellite;
FIG. 2 is a schematic view of a satellite in staring data-transfer attitude to a ground station;
FIG. 3 is a graph of angular velocities under an inertial system for data transmission of an example 1 gaze pose and an adaptive avoidance pose;
FIG. 4 is a schematic diagram of attitude angles under an orbital system in data transmission of gaze attitude and adaptive evasive attitude of example 1;
FIG. 5 is a schematic view of the satellite attitude adjustment angle in example 1;
FIG. 6 is a schematic diagram illustrating an angle between a Z axis of a satellite and sunlight in example 1;
FIG. 7 is a graph of angular velocities under an inertial system for data transmission of an example 2 gaze pose and an adaptive avoidance pose;
FIG. 8 is a schematic diagram of orbital lower pose angles in data transmission of example 2 gaze pose and adaptive evasive pose;
FIG. 9 is a schematic diagram of satellite attitude adjustment angles in example 2;
FIG. 10 is a schematic diagram illustrating an angle between a Z-axis of a satellite and sunlight in example 2;
FIG. 11 is a flow chart of autonomous planning of optimal time and attitude of a satellite mission.
Detailed Description
The present invention will be described in detail with reference to specific examples.
The first embodiment is as follows:
as shown in fig. 1 to 11, the present invention provides a data transmission attitude planning method for adaptively avoiding the sun, which includes the following steps:
step 1: determining a sun vector under the WGS84 according to the sun vector under the J2000 series and a transformation matrix between the J2000 series and the WGS84 series;
the step 1 specifically comprises the following steps:
step 1.1: using UTC to obtain the julian day JD and the julian century number T:
Figure BDA0003098926520000051
Figure BDA0003098926520000052
wherein year, month and day of Greenwich mean year, month and day respectively; hour, minute, second represent UTC hours, minutes, seconds, respectively; int () represents rounding;
step 1.2: when the earth does not move around the sun, determining a sun vector R under a J2000 coordinate systemSJThe yellow-red crossing angle i and the solar meridian l are represented by the following formula:
i＝23°26′21.448″-46.8150″T-0.00059″T2(0.019993°-0.000101°·T)·sin(2M)+0.00029°·sin(3M)
Figure BDA0003098926520000061
wherein L is0Representing the geometric mean-yellow meridian of the sun, M representing the mean-near angle of the sun:
obtaining the sun vector R under the J2000 series according to the calculated yellow-red intersection angle i and the sun yellow longitude lSJ：
Figure BDA0003098926520000062
Step 1.3: transferring the sun vector under the J2000 coordinate system to a WGS84 coordinate system, and calculating a coordinate transformation matrix W from the J2000 coordinate system to a WGS84 system by using a terrestrial rotation transformation matrix R and a time difference transformation matrix P:
W＝R·P
the sun vector R in the WGS84 seriesSWRepresented by the formula:
RSW＝W·RSJ。
step 2: determining an included angle between the sun vector and the flight direction of the optical remote sensing satellite according to the sun vector under the WGS84 system;
the step 2 specifically comprises the following steps:
step 2.1: calculating the included angle between the sun vector and the satellite flight direction, and when the speed of the satellite under a WGS84 system at a certain data transmission moment is V, the included angle between the flight direction and the sun vector is expressed by the following formula:
Figure BDA0003098926520000063
step (ii) of2.2: calculating the size of the incident sunlight, wherein the longitude, the latitude and the height of a ground station D at a certain position are lo, la and h respectively, and the coordinate of the current station under a WGS-84 system is RD＝(RDX RDY RDZ) The coordinates are represented by the following formula:
Figure BDA0003098926520000064
wherein,
Figure BDA0003098926520000071
is the radius of the earth at the imaging point, re6378173m is the average radius of the equator of the earth, and e 0.081819190928906 is the oblateness of the earth;
the position of the satellite under WGS84 is R ═ RX RY RZ]Then the vector pointing to ground station D by the satellite in WGS84 is:
RSD＝[RDX-RX RDY-RY RDZ-RZ]
the angle α between the sun vector and the satellite-ground station vector is represented by:
Figure BDA0003098926520000072
when theta is an acute angle, the solar ray is in front of the flight direction; when θ is an obtuse angle, the solar ray is rearward in the flight direction.
And step 3: and adjusting the staring data transmission attitude according to the self-adaptation of the incident sunlight, and planning the data transmission attitude.
The step 3 specifically comprises the following steps:
step 3.1: and (3) solving the ground staring attitude, and according to the Euler axis angle definition, in order to enable the optical axis of the satellite to point to a specific ground target point, rotating the orbital coordinate system by a zeta angle around the Euler axis L in a counterclockwise way to obtain an expected attitude, a geocentric-satellite vector R and a geocentric-ground station vector R under the orbital systemDThe normal vector of the plane is the Euler axis L, passing throughThe formula represents L:
Figure BDA0003098926520000073
satellite-earth center vector-R and earth center-ground station vector RDThe included angle between the two is the required Euler angle xi which is expressed by the following formula:
Figure BDA0003098926520000074
step 3.2: when the unit vectors of the X axis, the Y axis and the Z axis of the orbit coordinate system are respectively the component r in the WGS-84 coordinate systemx、ryAnd rzThen the quaternion of the expected gaze pose in the orbital coordinate system is:
Figure BDA0003098926520000075
step 3.3: the camera and the phased array antenna are coincided with the Z axis of the system, the staring posture ensures that the Z axis of the star body always points to a ground station, the central beam of the phased array antenna is used for continuously transmitting data to the ground for a long time, the phased array antenna is used for transmitting data within the range of the maximum beam angle, the ground staring posture is adjusted in real time, and the maximum beam angle is 60 degrees.
The attitude adjustment four elements number
Figure BDA0003098926520000081
The quaternion of the actual desired coordinate system with respect to the orbital coordinate system is q-q0·qδ。
When theta is an acute angle, the sun ray is in front of the flight direction, and when the satellite attitude can be adjusted backwards by delta around the Y axis of the orbital system:
Figure BDA0003098926520000082
when theta is an obtuse angle, the sun ray is behind the flight direction, and the satellite attitude can be adjusted forward by delta around the Y axis of the orbital system:
Figure BDA0003098926520000083
the second embodiment is as follows:
track type: a sun synchronization orbit; height of the track: 535 km; when the intersection point is descended: 11:20 am.
Simulation example 1
An arctic station: longitude 15.438 °, latitude 78.227 °, height 0 m;
simulation starting time: 635918400 (Beijing time 2020, 2 months, 25 days, 16 o' clock, 00 min 00 s);
satellite WGS84 is the following location (km): [ -83.9997052694.1711596365.991616 ];
satellite WGS84 is the following velocity (km/s): [ 2.955540-6.4956262.788032 ];
simulation duration: 600 seconds;
maximum beam angle of phased array: 60 degrees;
angular velocity, attitude angle and included angle of Z axis and sunlight under staring attitude and self-adaptive evading solar attitude are respectively compared, angular velocity under inertia system under two data transmission attitudes is shown in figure 3, attitude angle under orbit system is shown in figure 4, attitude rotation angle of satellite is shown in figure 5, and included angle of Z axis and sunlight of satellite system is shown in figure 6.
According to simulation results, during north latitude data transmission, the self-adaptive evading posture can ensure that the included angle between the optical axis of the camera and sunlight is more than 60 degrees, and the satellite posture adjustment angle gradually becomes 0, namely the central beam of the phased array antenna is gradually used.
Simulation example 2
South latitude one ground station: longitude-67 degrees, latitude-42 degrees, height 0 m;
simulation starting time: 670562700 (Beijing time 2021 year, 4 months, 1 day, 15 o' clock, 25 min 00 s);
satellite WGS84 is the following location (km): [ 2802.388200-5793.199460-2525.711262 ];
satellite WGS84 is the following velocity (km/s): [ -2.5823461.802921-7.000773 ];
simulation duration: 600 seconds;
maximum beam angle of phased array: 60 degrees;
angular velocity, attitude angle and included angle of Z axis and sunlight under staring attitude and self-adaptive evading solar attitude are respectively compared, angular velocity under inertia system under two data transmission attitudes is shown in figure 7, attitude angle under orbit system is shown in figure 8, attitude rotation angle of satellite is shown in figure 9, and included angle of Z axis and sunlight of satellite system is shown in figure 10.
According to simulation results, the self-adaptive avoiding posture can ensure that the included angle between the optical axis of the camera and sunlight is more than 60 degrees when the south latitude data transmission is carried out, the satellite posture adjusting angle is gradually increased from 0, namely, the central beam of the phased array antenna is used when the data transmission is started, and then the satellite posture is gradually adjusted for avoiding the sun.
The above is only a preferred embodiment of the data transmission attitude planning method for adaptively avoiding the sun, and the protection range of the data transmission attitude planning method for adaptively avoiding the sun is not limited to the above embodiments, and all technical schemes belonging to the idea belong to the protection range of the present invention. It should be noted that modifications and variations which do not depart from the gist of the invention will be those skilled in the art to which the invention pertains and which are intended to be within the scope of the invention.

Claims (7)

1. A data transmission attitude planning method for self-adaptively avoiding the sun is characterized by comprising the following steps: the method comprises the following steps:
step 1: determining a sun vector under the WGS84 according to the sun vector under the J2000 series and a transformation matrix between the J2000 series and the WGS84 series;
step 2: determining an included angle between the sun vector and the flight direction of the optical remote sensing satellite according to the sun vector under the WGS84 system;
and step 3: and adaptively adjusting the staring data transmission attitude according to the angle of the incident sunlight, and planning the data transmission attitude.
2. The data transmission attitude planning method for self-adaptive sun avoidance according to claim 1, characterized in that: the step 1 specifically comprises the following steps:
step 1.1: using UTC to obtain the julian day JD and the julian century number T:
Figure FDA0003098926510000011
Figure FDA0003098926510000012
wherein year, month and day of Greenwich mean year, month and day respectively; hour, minute, second represent UTC hours, minutes, seconds, respectively; int () represents rounding;
step 1.2: when the earth does not move around the sun, determining a sun vector R under a J2000 coordinate systemSJThe yellow-red crossing angle i and the solar meridian l are represented by the following formula:
i＝23°26′21.448″-46.8150″T-0.00059″T2(0.019993°-0.000101°·T)·sin(2M)+0.00029°·sin(3M)
Figure FDA0003098926510000013
wherein L is0Representing the geometric mean-yellow meridian of the sun, M representing the mean-near angle of the sun:
obtaining the sun vector R under the J2000 series according to the calculated yellow-red intersection angle i and the sun yellow longitude lSJ：
Figure FDA0003098926510000021
Step 1.3: transferring the sun vector under the J2000 coordinate system to a WGS84 coordinate system, and calculating a coordinate transformation matrix W from the J2000 coordinate system to a WGS84 system by using a terrestrial rotation transformation matrix R and a time difference transformation matrix P:
W＝R·P
the sun vector R in the WGS84 seriesSWRepresented by the formula:
RSW＝W·RSJ。
3. the data transmission attitude planning method for self-adaptive sun avoidance according to claim 2, characterized in that: the step 2 specifically comprises the following steps:
step 2.1: calculating the included angle between the sun vector and the satellite flight direction, and when the speed of the satellite under a WGS84 system at a certain data transmission moment is V, the included angle between the flight direction and the sun vector is expressed by the following formula:
Figure FDA0003098926510000022
step 2.2: calculating the size of the incident sunlight, wherein the longitude, the latitude and the height of a ground station D at a certain position are lo, la and h respectively, and the coordinate of the current station under a WGS-84 system is RD＝(RDX RDY RDZ) The coordinates are represented by the following formula:
Figure FDA0003098926510000023
wherein,
Figure FDA0003098926510000024
is the radius of the earth at the imaging point, re6378173m is the average radius of the equator of the earth, and e 0.081819190928906 is the oblateness of the earth;
the position of the satellite under WGS84 is R ═ RX RY RZ]Then the vector pointing to ground station D by the satellite in WGS84 is:
RSD＝[RDX-RX RDY-RY RDZ-RZ]
the angle α between the sun vector and the satellite-ground station vector is represented by:
Figure FDA0003098926510000025
4. the data transmission attitude planning method for self-adaptive sun avoidance according to claim 3, characterized in that: when theta is an acute angle, the solar ray is in front of the flight direction; when θ is an obtuse angle, the solar ray is rearward in the flight direction.
5. The data transmission attitude planning method for self-adaptive sun avoidance according to claim 4, characterized in that: the step 3 specifically comprises the following steps:
step 3.1: and (3) solving the ground staring attitude, and according to the Euler axis angle definition, in order to enable the optical axis of the satellite to point to a specific ground target point, rotating the orbital coordinate system by a zeta angle around the Euler axis L in a counterclockwise way to obtain an expected attitude, a geocentric-satellite vector R and a geocentric-ground station vector R under the orbital systemDThe normal vector of the formed plane is the obtained euler axis L, and L is expressed by the following formula:
Figure FDA0003098926510000031
satellite-earth center vector-R and earth center-ground station vector RDThe included angle between the two is the required Euler angle xi which is expressed by the following formula:
Figure FDA0003098926510000032
step 3.2: when the unit vectors of the X axis, the Y axis and the Z axis of the orbit coordinate system are respectively the component r in the WGS-84 coordinate systemx、ryAnd rzThen the quaternion of the expected gaze pose in the orbital coordinate system is:
Figure FDA0003098926510000033
step 3.3: the camera and the phased array antenna are coincided with the Z axis of the system, the staring posture ensures that the Z axis of the star body always points to a ground station, the central beam of the phased array antenna is used for continuously transmitting data to the ground for a long time, the phased array antenna is used for transmitting data within the maximum beam angle range, and the ground staring posture is adjusted in real time;
the attitude adjustment four elements number
Figure FDA0003098926510000034
The quaternion of the actual desired coordinate system with respect to the orbital coordinate system is q-q0·qδ。
6. The data transmission attitude planning method for self-adaptive sun avoidance according to claim 5, characterized in that: the maximum beam angle is 60 °.
7. The data transmission attitude planning method for self-adaptive sun avoidance according to claim 5, characterized in that: when theta is an acute angle, the sun ray is in front of the flight direction, and when the satellite attitude can be adjusted backwards by delta around the Y axis of the orbital system:
Figure FDA0003098926510000035
when theta is an obtuse angle, the sun ray is behind the flight direction, and the satellite attitude can be adjusted forward by delta around the Y axis of the orbital system:
Figure FDA0003098926510000041
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CN115077500A (en) * 2022-05-07 2022-09-20 中国人民解放军国防科技大学 Determination method of ground sunlight reflection point and related components thereof
CN117719702A (en) * 2024-02-07 2024-03-19 长光卫星技术股份有限公司 Composite attitude control method, equipment and medium for high-precision staring of satellite

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