CN113386979B - Data transmission attitude planning method for self-adaptive sun avoidance - Google Patents
Data transmission attitude planning method for self-adaptive sun avoidance Download PDFInfo
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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 process of staring data transmission of an optical remote sensing satellite to a ground station, a solar vector under a WGS84 system is determined according to a 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 (4) 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
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 coincident with the Z axis of a system in the satellite, due to the characteristic of staring data transmission posture, 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. The method has the advantages that the characteristic that the phased array antenna can perform data transmission in the maximum beam angle range is utilized, 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, the camera is prevented from entering light, the central beam of the phased array antenna is used as far as possible, and the data transmission process is sufficient and stable.
Disclosure of Invention
The invention performs attitude planning on the avoidance of sunlight when the optical remote sensing satellite performs data transmission on a ground station in staring attitude. Firstly, calculating a sun vector under a geocentric coordinate system (WGS 84 system 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 solar vector under the WGS84 series according to the solar vector under the J2000 series and a conversion 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 (4) 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:
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 system SJ The yellow-red crossing angle i and the solar longitude l are represented by the following formula:
i＝23°26′21.448″-46.8150″T-0.00059″T 2 (0.019993°-0.000101°·T)·sin(2M)+0.00029°·sin(3M)
wherein L is 0 Representing the sun's geometric mean yellow meridian, M represents the sun's mean apogee angle:
obtaining the sun vector R under the J2000 series according to the calculated yellow-red intersection angle i and the sun yellow longitude l SJ ：
Step 1.3: transferring the sun vector under the J2000 coordinate system to a WGS84 coordinate system, and calculating a coordinate conversion matrix W from the J2000 coordinate system to the WGS84 system by using a terrestrial rotation conversion matrix R and a time difference conversion matrix P:
W＝R·P
sun vector R in WGS84 system SW Represented by the formula:
R SW ＝W·R SJ
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:
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 R D ＝(R DX R DY R DZ ) The coordinates are represented by the following formula:
wherein,
is the radius of the earth at the imaging point, r e =6378173m for the mean radius of the equator of the earth, e =0.081819190928906 for the oblation rate of the earth;
the position of the satellite in the WGS84 system is R = [ R = [) X R Y R Z ]Then the vector from the satellite to the ground station D in WGS84 is:
R SD ＝[R DX -R X R DY -R Y R DZ -R Z ]
the angle α between the sun vector and the satellite-ground station vector is represented by:
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: solving the ground staring attitude, according to the Euler axis angle definition, in order to make the satellite optical axis point to the specific ground target point, making the orbital coordinate system rotate anticlockwise by xi angle around the Euler axis L to obtain the desired attitude under the orbital system, earth center-satellite vector R and earth center-ground station vector R D The normal vector of the plane is the Euler axis L, passingL is represented by the following formula:
satellite-earth center vector-R and earth center-ground station vector R D The included angle between the two is the required Euler angle xi which is expressed by the following formula:
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 system x 、r y And r z Then the quaternion of the expected gaze posture in the orbital coordinate system is:
step 3.3: the camera and the phased array antenna are both superposed with the Z axis of the system, the staring posture ensures that the Z axis of the star 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, and the phased array antenna is used for transmitting data within the maximum beam angle range to adjust the ground staring posture in real time;
the posture adjustment four-element number is
The quaternion of the actual desired coordinate system with respect to the orbital coordinate system is q = q 0 ·q δ 。
Preferably, the maximum beam angle is 60 °.
Preferably, when θ is an acute angle, the sun rays are ahead of the flight direction, and the satellite attitude is adjusted backward by δ:
when theta is an obtuse angle, the solar ray is behind the flight direction, and the satellite attitude is adjusted forwards by delta around the Y axis of the orbital system:
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 schematic angular velocity diagram of an inertial system during data transmission of an example 2 gaze gesture and an adaptive evasive gesture;
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 the sun vector under the WGS84 series according to the sun vector under the J2000 series and a conversion 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:
wherein year, month and day respectively represent Greenwich year, month and day; 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 system SJ The 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″T 2 (0.019993°-0.000101°·T)·sin(2M)+0.00029°·sin(3M)
wherein L is 0 Representing 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 system according to the calculated yellow-red crossing angle i and the sun yellow meridian l SJ ：
Step 1.3: transferring the sun vector under the J2000 coordinate system to a WGS84 coordinate system, and calculating a coordinate conversion matrix W from the J2000 coordinate system to the WGS84 system by using a terrestrial rotation conversion matrix R and a time difference conversion matrix P:
W＝R·P
the sun vector R in the WGS84 series SW Represented by the formula:
R SW ＝W·R SJ
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 represented by the following formula:
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 R D ＝(R DX R DY R DZ ) The coordinates are represented by the following formula:
wherein,
is the radius of the earth at the imaging point, r e =6378173m for the mean radius of the equator of the earth, e =0.081819190928906 for the oblation rate of the earth;
the position of the satellite in WGS84 is R = [ R ] X R Y R Z ]Then is atThe vector of the satellite pointing to the ground station D in WGS84 is:
R SD ＝[R DX -R X R DY -R Y R DZ -R Z ]
the angle α between the sun vector and the satellite-ground station vector is represented by:
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 system D The normal vector of the formed plane is the obtained euler axis L, and L is expressed by the following formula:
satellite-earth center vector-R and earth center-ground station vector R D The included angle between the two is the required Euler angle xi which is expressed by the following formula:
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 components r in the WGS-84 coordinate system x 、r y And r z Then the quaternion of the expected gaze posture in the orbital coordinate system is:
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
The quaternion of the actual desired coordinate system with respect to the orbital coordinate system is q = q 0 ·q δ 。
When theta is an acute angle, the sun ray is in front of the flight direction, and the satellite attitude is adjusted backwards by delta around the Y axis of the orbital system:
when theta is an obtuse angle, the solar ray is behind the flight direction, and the satellite attitude is adjusted forwards by delta around the Y axis of the orbital system:
the second embodiment is as follows:
track type: a sun synchronization orbit; height of the track: 535km; when the intersection point is descended: 11.
Simulation example 1
An arctic station: longitude 15.438 °, latitude 78.227 °, altitude 0m;
simulation starting time: 635918400 (Beijing, time 2020, 2 months, 25 days, 16 o' clock, 00 min 00 s);
satellite WGS84 down position (km): [ -83.999705 2694.171159 6365.991616];
satellite WGS84 is the following velocity (km/s): [ 2.955540-6.495626.788032 ];
simulation duration: 600 seconds;
maximum beam angle of phased array: 60 degrees;
angular velocity, attitude angle and included angle between Z axis and sunlight under staring attitude and self-adaptive evading solar attitude are respectively compared, angular velocity of inertia system under two data transmission attitudes is shown as figure 3, attitude angle under orbital system is shown as figure 4, attitude rotation angle of satellite is shown as figure 5, and included angle between Z axis and sunlight of satellite system is shown as figure 6.
According to simulation results, during northern 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 wave beam of the phased-array antenna is gradually used.
Simulation example 2
South latitude one ground station: longitude-67 degrees, latitude-42 degrees, height 0m;
simulation starting time: 670562700 (Beijing time 2021 year 4 month 1 day 15 o' clock 25 min 00 sec);
satellite WGS84 down position (km): [ 2802.388200-5793.199460-2525.711262 ];
satellite WGS84 is the following velocity (km/s): [ -2.582346.802921-7.000773 ];
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 (2)
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 the sun vector under the WGS84 series according to the sun vector under the J2000 series and a conversion 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: adaptively adjusting the staring data transmission attitude according to the angle of incident sunlight, and planning the data transmission attitude;
the step 3 specifically comprises the following steps:
step 3.1: solving the ground staring attitude, according to the Euler axis angle definition, in order to make the satellite optical axis point to the specific ground target point, making the orbital coordinate system rotate anticlockwise by xi angle around the Euler axis L to obtain the desired attitude under the orbital system, earth center-satellite vector R and earth center-ground station vector R D The normal vector of the formed plane is the obtained euler axis L, and L is expressed by the following formula:
satellite-earth center vector-R and earth center-ground station vector R D The included angle between the two is the required Euler angle xi, and xi is expressed by the following formula:
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 system x 、r y And r z Then the quaternion of the expected gaze pose in the orbital coordinate system is:
step 3.3: the camera and the phased array antenna are both superposed with the Z axis of the system, the staring posture ensures that the Z axis of the star 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, and the phased array antenna is used for transmitting data within the maximum beam angle range to adjust the ground staring posture in real time;
the attitude adjustment four elements number
Delta is the attitude adjustment angle, the quaternion of the actual expected coordinate system relative to the orbit coordinate system is q = q 0 ·q δ ；
When the included angle theta between the flight direction and the sun vector is an acute angle, the sun rays are in front of the flight direction; when theta is an obtuse angle, the solar ray is behind the flight direction; the maximum beam angle is 60 °;
when theta is an acute angle, the sun ray is in front of the flight direction, and the satellite attitude is adjusted backwards by delta around the Y axis of the orbital system:
when theta is an obtuse angle, the solar ray is behind the flight direction, and the satellite attitude is adjusted forwards by delta around the Y axis of the orbital system:
delta is the attitude adjustment angle, and alpha is the included angle between the sun vector and the satellite-ground station vector.
2. The data transmission attitude planning method for the adaptive sun avoidance according to claim 1, 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 represented by the following formula:
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 R D ＝(R DX R DY R DZ ) The coordinates are represented by the following formula:
wherein,
is the radius of the earth at the imaging point, r e =6378173m for the average radius of the earth equator, e =0.081819190928906 for the oblateness of the earth;
the position of the satellite in the WGS84 system is R = [ R = [) X R Y R Z ]Then the vector pointing to ground station D by the satellite in WGS84 is:
R SD ＝[R DX -R X R DY -R Y R DZ -R Z ]
the angle α between the sun vector and the satellite-ground station vector is represented by:
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