CN114018282A - Convenient and fast sun sensor on-orbit health monitoring method and system - Google Patents
Convenient and fast sun sensor on-orbit health monitoring method and system Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 123
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Abstract
The invention discloses a convenient and fast on-orbit health monitoring method and system for a sun sensor, wherein the method comprises the following steps: judging whether a preset on-orbit health monitoring starting condition is met or not according to the current working mode of the satellite; if the on-orbit health monitoring starting condition is met, on-orbit health monitoring is started, and digital sun sensor on-orbit health monitoring, simulated sun sensor on-orbit health monitoring fixedly installed and simulated sun sensor on-orbit health monitoring on a sailboard are sequentially executed; and outputting the obtained on-orbit health monitoring result of the digital sun sensor, the on-orbit health monitoring result of the fixedly installed simulated sun sensor and the on-orbit health monitoring result of the simulated sun sensor on the sailboard as a comprehensive monitoring result. The invention solves the problems that the low-orbit remote sensing satellite measuring and controlling arc section is short and the fault diagnosis of the sun sensor is not timely.
Description
Technical Field
The invention belongs to the technical field of spacecraft attitude control, and particularly relates to a convenient and fast sun sensor on-orbit health monitoring method and system.
Background
The sun sensor is an important single machine of a satellite control system, but the measurement precision of the sun sensor is lower than that of a star sensor, so the traditional double-vector attitude determination method of the infrared sensor and the sun sensor has less and less application in orbit. The sun sensor is not usually introduced in the normal operating mode of the existing satellite, but only acts when the satellite is abnormally on the time of day.
If the sun sensor is abnormal in orbit, the fault can not occur through the main working state of the satellite because the normal work of the satellite is not influenced. Moreover, the output of the sun sensor usually has the characteristic of continuous change in the sunlight area, so that the single-machine fault cannot be directly judged from the output of the sun sensor easily, the on-orbit of a satellite needs to be combined for comprehensive judgment, and the ground judgment is relatively complex. Most importantly, the measurement and control arc section of the low-orbit remote sensing satellite is short, the accumulation of transit time in one day is about 40 minutes generally, and the characteristic of sparse sampling points exists in the delayed remote sensing, so that the ground is easy to have the condition of missed judgment. When the sun sensor is abnormal and the satellite enters a sun-tracking orientation mode during the period of being not found, the risk that the sun cannot be tracked normally exists.
Disclosure of Invention
The technical problem of the invention is solved: the method and the system for monitoring the on-orbit health of the sun sensor overcome the defects of the prior art, and aim to solve the problems that a low-orbit remote sensing satellite is short in measurement and control arc section and cannot diagnose the faults of the sun sensor timely.
In order to solve the technical problem, the invention discloses a convenient on-orbit health monitoring method for a sun sensor, which comprises the following steps:
judging whether a preset on-orbit health monitoring starting condition is met or not according to the current working mode of the satellite;
if the on-orbit health monitoring starting condition is met, on-orbit health monitoring is started, and digital sun sensor on-orbit health monitoring, simulated sun sensor on-orbit health monitoring fixedly installed and simulated sun sensor on-orbit health monitoring on a sailboard are sequentially executed;
and outputting the obtained on-orbit health monitoring result of the digital sun sensor, the on-orbit health monitoring result of the fixedly installed simulated sun sensor and the on-orbit health monitoring result of the simulated sun sensor on the sailboard as a comprehensive monitoring result.
In the above convenient in-orbit health monitoring method for the sun sensor, whether a preset in-orbit health monitoring starting condition is met or not is judged according to the current working mode of the satellite, and the method comprises the following steps:
constructing a set M containing all working modes of the satellite; wherein, the whole mode of operation of satellite includes: the system comprises an orbit entering mode, a three-axis ground-to-ground mode, a maneuvering mode, a sun-to-day directional mode and an uncontrolled mode;
screening the working mode with reliable output of the sun sensor from the set M to obtain a subset M1; wherein, the sun sensor has the reliable mode of output, includes: a three-axis ground-to-ground mode and a manoeuvrable mode;
acquiring the current working mode of the satellite, and judging whether the current working mode of the satellite belongs to the subset M1;
and if the current working mode of the satellite belongs to the subset M1, determining that the preset on-orbit health monitoring starting condition is met.
In the convenient in-orbit health monitoring method for the sun sensor, the in-orbit health monitoring of the digital sun sensor is executed according to the following steps:
step 11, acquiring a three-axis component [ S ] of the sunlight vector in an orbital coordinate systemox Soy Soz]And according to [ S ]oxSoy Soz]And calculating to obtain the theoretical output angle alpha of the digital sun sensorDSS theory；
Step 12, selecting four parameters K1, K2, K3 and K4 according to the satellite orbit parameters; wherein K1 is more than K2 is more than K3 is more than K4;
step 13, judging whether the satellite is in the sunshine area; wherein if Soz∈[K1,K2]If yes, determining that the satellite is in the sunshine area, and executing step 14; otherwise, executing step 15;
step 14, judging whether the digital sun sensor theoretically sees the sun and actually outputs the sun; if the digital sun sensor is determined to see the sun theoretically and the actual output of the digital sun sensor is determined to see the sun, executing the step 16; otherwise, go to step 17;
step 15, judging whether the satellite is in a shadow area; wherein if Soz∈[K3,K4]Then determining that the satellite is in a shadow zone, step 18; otherwise, directly ending the flow;
step 16, judging the theoretical output angle alpha of the digital sun sensorDSS theoryAngle alpha with actual outputDSS _ actualWhether the absolute value of the difference of (a) is greater than a first threshold value T1; wherein, if the theoretical output angle alpha of the digital sun sensor is determinedDSS theoryAngle alpha with actual outputDSS _ actualIf the absolute value of the difference is greater than the first threshold T1, step 19 is executed; otherwise, directly ending the flow;
step 17, judging whether the digital sun sensor does not see the sun theoretically and does not see the sun actually; if the digital sun sensor is determined not to see the sun theoretically and not to see the sun actually, the process is directly ended; otherwise, go to step 19;
step 18, judging whether the actual output of the digital sun sensor is sun or not; if the actual output of the digital sun sensor is determined to see the sun, executing step 19; otherwise, directly ending the flow;
and 19, adding 1 to the inconsistency count of the digital sun sensor.
In the above convenient in-orbit health monitoring method of the sun sensor,
αDSS theoryThe formula of solution is as follows:
the first threshold T1 satisfies the following condition:
T1>errorbit+errinstall_DSS+erratt+errDSS
wherein, errorbitRepresenting the theoretical output error of the track-induced digital sun sensor, errinstall_DSSIndicating the mounting error of the digital sun sensor, errattIndicating satellite attitude measurement error, errDSSIndicating the measurement error of the digital sun sensor.
In the convenient in-orbit health monitoring method for the sun sensor, the in-orbit health monitoring of the fixedly-installed simulated sun sensor is executed according to the following steps:
step 21, obtaining the actual output angle alpha of the digital sun sensorDSS _ actualAnd according to αDSS _ actualAnd calculating to obtain the theoretical output angle alpha of the simulated sun sensorASS _ theory；
Step 22, judging whether the actual output of the digital sun sensor is sun or not; if the actual output of the digital sun sensor is determined to see the sun, executing the step 23; otherwise, directly ending the flow;
step 23, judging the theoretical output angle alpha of the simulated sun sensorASS _ theoryWhether it is within the field of view; wherein, if the theoretical output angle alpha of the simulated sun sensor is determinedASS _ theoryWithin the field of view, step 24 is executed; otherwise, go to step 25;
step 24, judging the theoretical output angle alpha of the simulated sun sensorASS _ theoryAngle alpha with actual outputASS _ actualWhether the absolute value of the difference of (a) is greater than a second threshold value T2; wherein, if the theoretical output angle alpha of the simulated sun sensor is determinedASS _ theoryAngle alpha with actual outputASS _ actualIf the absolute value of the difference is greater than the second threshold T2, go to step 26; otherwise, directly ending the flow;
step 25, judging whether the actual output of the simulated sun sensor is sun or not; if the actual output of the simulated sun sensor is determined to see the sun, executing step 26; otherwise, directly ending the flow;
and 26, adding 1 to the inconsistency count of the simulated sun sensor.
In the above convenient in-orbit health monitoring method of the sun sensor, alpha isASS _ theoryThe formula of solution is as follows:
wherein, CASS_bRepresenting the attitude transformation matrix between the simulated sun sensor and the satellite coordinate system, CDSS_bAnd the attitude transformation matrix between the body coordinate system of the digital sun sensor and the satellite coordinate system is represented.
In the above convenient in-orbit health monitoring method for the sun sensor, the second threshold T2 satisfies the following condition:
T2>errinstall_DSS+errinstall_ASS+errASS+errDSS
wherein, errinstall_DSSIndicating the mounting error of the digital sun sensor, errinstall_ASSShowing the mounting error, err, of the simulated sun sensorASSIndicating the measurement error, err, of the simulated sun sensorDSSIndicating the measurement error of the digital sun sensor.
In the convenient in-orbit health monitoring method for the sun sensor, the in-orbit health monitoring of the sun sensor on the sailboard is simulated according to the following steps:
step 31, acquiring a three-axis component [ S ] of the sunlight vector in the orbital coordinate systemox Soy Soz]Selecting four parameters K1, K2, K3 and K4 according to the satellite orbit parameters; wherein K1 is more than K2 is more than K3 is more than K4;
step 32, judging whether the satellite is in the sunshine area; wherein if Soz∈[K1,K2]If yes, determining that the satellite is in the sunshine area, and executing step 33; otherwise, go to step 34;
step 33, judging whether the actual output of the mth simulated sun sensor on the sailboard is sun or not; if the actual output of the mth simulated sun sensor on the sail board is determined to see the sun, executing step 35; otherwise, go to step 37;
step 34, judging whether the satellite is in a shadow area; wherein if Soz∈[K3,K4]If yes, determining that the satellite is in a shadow area, and executing step 36; otherwise, directly ending the flow;
step 35, judging whether the absolute value of the difference value between the actual output angle of the mth simulated sun sensor on the sailboard and the actual output angle of any other simulated sun sensor except the mth simulated sun sensor on the sailboard is larger than a third threshold value T3; if the absolute value of the difference value between the actual output angle of the mth simulated sun sensor on the sailboard and the actual output angle of any other simulated sun sensor except the mth simulated sun sensor on the sailboard is determined to be larger than a third threshold value T3, executing a step 37; otherwise, directly ending the flow;
step 36, judging whether the actual output of the mth simulated sun sensor on the sailboard is sun or not; if the actual output of the mth simulated sun sensor on the sailboard is determined to see the sun, executing the step 37; otherwise, directly ending the flow;
and step 37, adding 1 to the inconsistency count of the mth simulated sun sensor on the sailboard.
In the above convenient in-orbit health monitoring method for the sun sensor, the third threshold T3 satisfies the following condition:
T3>errinstall_ASS_m+errinstall_ASS_n+errASS_m+errASS_n
wherein, errinstall_ASS_mShowing the mounting error, err, of the mth simulated sun sensor on the windsurfing boardinstall_ASS_nShowing the mounting error, err, of the nth simulated sun sensor on the windsurfing boardASS_mIndicating the measurement error, err, of the mth simulated sun sensor on the windsurfing boardASS_nShowing the measurement error of the nth simulated sun sensor on the windsurfing board.
Correspondingly, the invention also discloses a convenient on-orbit health monitoring system of the sun sensor, which comprises:
the judging module is used for judging whether a preset on-orbit health monitoring starting condition is met or not according to the current working mode of the satellite;
the on-orbit health monitoring module is used for starting on-orbit health monitoring when the on-orbit health monitoring starting condition is determined to be met, and sequentially executing on-orbit health monitoring of the digital sun sensor, fixedly mounting simulated sun sensor on-orbit health monitoring and simulated sun sensor on-orbit health monitoring on the sailboard;
and the output module is used for outputting the obtained on-orbit health monitoring result of the digital sun sensor, the fixedly-installed on-orbit health monitoring result of the simulated sun sensor and the on-orbit health monitoring result of the simulated sun sensor on the sailboard as a comprehensive monitoring result.
The invention has the following advantages:
the invention discloses a convenient on-orbit health monitoring method and a convenient on-orbit health monitoring system for a sun sensor. And after the on-orbit monitoring is abnormal, the inconsistency count of the corresponding sun sensor is increased, and the ground can judge whether the sun sensor is abnormal at the first time through the inconsistency count during the satellite transit. The method has the advantages of simple implementation mode, low satellite computing resource consumption, convenience in implementation and the like.
Drawings
FIG. 1 is a flow chart illustrating steps of a method for on-orbit health monitoring of a portable sun sensor according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating the implementation of in-orbit health monitoring of a digital sun sensor according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating the implementation of in-orbit health monitoring of a fixedly-mounted analog sun sensor according to an embodiment of the present invention;
FIG. 4 is a flow chart illustrating the implementation of an on-track health monitoring of a simulated sun sensor on a windsurfing board in accordance with an embodiment of the present invention;
fig. 5 is a block diagram of an on-orbit health monitoring system for a portable sun sensor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, in this embodiment, the method for on-orbit health monitoring of a portable sun sensor includes:
step 101, judging whether a preset on-orbit health monitoring starting condition is met or not according to the current working mode of the satellite.
In this embodiment, first, a set M including all the operating modes of the satellite may be constructed; then, a working mode with reliable output of the sun sensor is obtained by screening from the set M, and a subset M1 is obtained; and finally, acquiring the current working mode of the satellite, and judging whether the current working mode of the satellite belongs to the subset M1. If the current working mode of the satellite belongs to the subset M1, determining that a preset on-orbit health monitoring starting condition is met, and executing step 102; otherwise, the flow is directly ended.
Preferably, the satellite global operation mode includes, but is not limited to: a track-in mode, a three-axis ground-to-ground mode, a manoeuvrable mode, a sun-oriented mode, an uncontrolled mode, etc. The operating modes of the sun sensor with reliable output include, but are not limited to: three-axis ground-to-ground mode and manoeuvrable mode, etc.
Step 102, starting on-orbit health monitoring, and sequentially executing on-orbit health monitoring of the digital sun sensor, fixedly mounting the simulated sun sensor on-orbit health monitoring and simulating on-orbit health monitoring of the sun sensor on the sailboard.
In the present embodiment, as shown in fig. 2, a possible implementation flow of the on-orbit health monitoring of the digital sun sensor is as follows:
substep 11, obtaining three-axis component [ S ] of sunlight vector in orbit coordinate systemox Soy Soz]And according to [ S ]oxSoy Soz]And calculating to obtain the theoretical output angle alpha of the digital sun sensorDSS theory。
Preferably, α isDSS theoryThe formula of solution is as follows:
wherein, CboRepresenting an attitude transformation matrix between a satellite coordinate system and an orbit coordinate system; cDSS_bAnd the attitude transformation matrix between the body coordinate system of the digital sun sensor and the satellite coordinate system is represented.
Substep 12, selecting four parameters K1, K2, K3 and K4 according to the satellite orbit parameters.
Preferably, K1 < K2 < K3 < K4.
Further, the values of K1, K2, K3 and K4 can be obtained according to the following principle:
a) k2 is more than K3, and the misjudgment of the transition region between the sunshine region and the shadow region is avoided.
b) K1 can be directly selected from-1.
c) K4 can be directly selected as 1.
For example, for a sun synchronous orbit of 10:30 at a 500 km drop crossing point, K1 is-1, and K2 is 0.30, so that the satellite is ensured to be in a sun exposure area; k3 is 0.35, K4 is 1, and the satellite is guaranteed to be in a shadow area.
And a substep 13 of judging whether the satellite is in the sun region.
Preferably, if Soz∈[K1,K2]Then it is determined that the satellite is in the sun region and substep 14 is performed; otherwise, substep 15 is performed.
And a substep 14 of judging whether the digital sun sensor theoretically sees the sun and actually outputs the sun.
Preferably, if it is determined that the theoretical sun is seen and the actual output is seen, the substep 16 is executed; otherwise, substep 17 is performed.
And a substep 15 of judging whether the satellite is in a shadow region.
Preferably, if Soz∈[K3,K4]Then substep 18 is performed to determine that the satellite is in a shadow region; otherwise, the flow is directly ended.
Substep 16, determining theoretical output angle alpha of the digital sun sensorDSS theoryAngle alpha with actual outputDSS _ actualIs greater than the first threshold T1.
Preferably, if the theoretical output angle alpha of the digital sun sensor is determinedDSS theoryAngle alpha with actual outputDSS _ actualIs greater than the first threshold T1, then substep 19 is performed; otherwise, the flow is directly ended.
Further, the first threshold T1 should satisfy the following condition:
T1>errorbit+errinstall_DSS+erratt+errDSS
wherein, errorbitRepresenting the theoretical output error of the track-induced digital sun sensor, errinstall_DSSIndicating the mounting error of the digital sun sensor, errattIndicating satellite attitude measurement error, errDSSIndicating the measurement error of the digital sun sensor.
And substep 17, judging whether the digital sun sensor does not see the sun theoretically and does not see the sun actually.
Preferably, if the digital sun sensor is determined not to see the sun theoretically and not to see the sun actually, the process is directly ended; otherwise, substep 19 is performed.
And a substep 18 of judging whether the actual output of the digital sun sensor is the sun.
Preferably, if it is determined that the actual output of the digital sun sensor sees the sun, substep 19 is performed; otherwise, the flow is directly ended.
And substep 19, adding 1 to the digital sun sensor inconsistency count.
In the present embodiment, as shown in fig. 3, a possible implementation flow of the in-orbit health monitoring of the fixedly installed simulated sun sensor is as follows:
substep 21, obtaining the actual output angle alpha of the digital sun sensorDSS _ actualAnd according to αDSS _ actualAnd calculating to obtain the theoretical output angle alpha of the simulated sun sensorASS _ theory。
Preferably, α isASS _ theoryThe formula of solution is as follows:
wherein, CASS_bRepresenting the attitude transformation matrix between the simulated sun sensor and the satellite coordinate system, CDSS_bAnd the attitude transformation matrix between the body coordinate system of the digital sun sensor and the satellite coordinate system is represented.
And a substep 22 of judging whether the actual output of the digital sun sensor is the sun.
Preferably, if it is determined that the actual output of the digital sun sensor sees the sun, substep 23 is performed; otherwise, the flow is directly ended.
Substep 23, determining the theoretical output angle alpha of the simulated sun sensorASS _ theoryWhether or not within the field of view.
Preferably, if the theoretical output angle alpha of the simulated sun sensor is determinedASS _ theoryWithin the field of view, then substep 24 is performed; otherwise, substep 25 is performed.
Substep 24, determining the theoretical output angle alpha of the simulated sun sensorASS _ theoryAngle alpha with actual outputASS _ actualIs greater than a second threshold T2.
Preferably, if the theoretical output angle alpha of the simulated sun sensor is determinedASS _ theoryAngle alpha with actual outputASS _ actualIs greater than the second threshold T2, then sub-step 26 is performed; otherwise, the flow is directly ended.
Further, the second threshold T2 should satisfy the following condition:
T2>errinstall_DSS+errinstall_ASS+errASS+errDSS
wherein, errinstall_DSSRepresenting digital sun sensorMounting error of (1), errinstall_ASSShowing the mounting error, err, of the simulated sun sensorASSIndicating the measurement error, err, of the simulated sun sensorDSSIndicating the measurement error of the digital sun sensor.
And a substep 25 of judging whether the actual output of the simulated sun sensor is sun.
Preferably, if it is determined that the actual output of the simulated sun sensor sees the sun, substep 26 is performed; otherwise, the flow is directly ended.
And a substep 26 of adding 1 to the simulated sun sensor inconsistency count.
In this embodiment, as shown in fig. 4, a possible implementation flow of the on-orbit health monitoring of the sun sensor on the windsurfing board is as follows:
substep 31, obtaining three-axis component [ S ] of sunlight vector in orbit coordinate systemox Soy Soz](ii) a And four parameters K1, K2, K3 and K4 are selected according to the satellite orbit parameters.
Preferably, K1 < K2 < K3 < K4. Wherein, the requirements of K1, K2, K3 and K4 are consistent with those in substep 12, and are not repeated herein.
And a substep 32 of determining whether the satellite is in a sun region.
Preferably, if Soz∈[K1,K2]If yes, determining that the satellite is in a sun region, and executing substep 33; otherwise, substep 34 is performed.
And a substep 33 of judging whether the actual output of the mth simulated sun sensor on the sailboard is sun.
Preferably, if it is determined that the actual output of the mth simulated sun sensor on the sail panel shows the sun, the substep 35 is executed; otherwise, substep 37 is performed.
And a sub-step 34 of determining whether the satellite is in a shadow zone.
Preferably, if Soz∈[K3,K4]Then the satellite is determined to be in a shadow zone and substep 36 is performed; otherwise, the flow is directly ended.
And a substep 35 of judging whether the absolute value of the difference between the actual output angle of the mth simulated sun sensor on the windsurfing board and the actual output angle of any one of the simulated sun sensors except the mth simulated sun sensor on the windsurfing board is greater than a third threshold value T3.
Preferably, if it is determined that the absolute value of the difference between the actual output angle of the mth simulated sun sensor on the windsurfing board and the actual output angle of any one of the simulated sun sensors other than the mth simulated sun sensor on the windsurfing board is greater than the third threshold value T3, performing substep 37; otherwise, the flow is directly ended.
Further, the third threshold T3 should satisfy the following condition:
T3>errinstall_ASS_m+errinstall_ASS_n+errASS_m+errASS_n
wherein, errinstall_ASS_mShowing the mounting error, err, of the mth simulated sun sensor on the windsurfing boardinstall_ASS_nShowing the mounting error, err, of the nth simulated sun sensor on the windsurfing boardASS_mIndicating the measurement error, err, of the mth simulated sun sensor on the windsurfing boardASS_nShowing the measurement error of the nth simulated sun sensor on the windsurfing board.
And a substep 36 of judging whether the actual output of the mth simulated sun sensor on the sailboard is sun.
Preferably, if it is determined that the mth simulated sun sensor on the windsurfing board actually outputs the sun, substep 37 is executed; otherwise, the flow is directly ended.
Substep 37, add 1 to the mth simulated sun sensor inconsistency count on the windsurfing board.
And 103, outputting the obtained on-orbit health monitoring result of the digital sun sensor, the on-orbit health monitoring result of the fixedly installed simulated sun sensor and the on-orbit health monitoring result of the simulated sun sensor on the sailboard as a comprehensive monitoring result.
In summary, the invention discloses a convenient on-orbit health monitoring method for a sun sensor, which realizes on-orbit health monitoring of the sun sensor by comparing the actual output of the digital sun sensor with the theoretical output of orbit data and comparing the actual output of a fixedly installed simulated sun sensor with the theoretical output, and performing multi-source mutual comparison on the outputs of a plurality of sun sensors on a sailboard. When the orbit is monitored to be abnormal, the inconsistency count of the corresponding sun sensor is increased, the ground can judge whether the sun sensor is abnormal or not at the first time through the inconsistency count during the satellite transit period, whether the sun sensor is abnormally changed or not in the whole orbit period is known in an observational mode, and the ground can further judge and dispose the abnormal jump.
On the basis of the above embodiment, as shown in fig. 5, the invention further discloses a convenient sun sensor on-orbit health monitoring system, which includes: the determining module 501 is configured to determine whether a preset on-orbit health monitoring starting condition is met according to a current working mode of the satellite. The on-orbit health monitoring module 502 is configured to start on-orbit health monitoring when it is determined that a preset on-orbit health monitoring start condition is met, sequentially perform on-orbit health monitoring of the digital sun sensor, fixedly install the simulated sun sensor on-orbit health monitoring, and simulate on-orbit health monitoring of the sun sensor on the windsurfing board. And an output module 503, configured to output the obtained on-orbit health monitoring result of the digital sun sensor, the on-orbit health monitoring result of the fixedly installed analog sun sensor, and the on-orbit health monitoring result of the analog sun sensor on the sailboard as a comprehensive monitoring result.
For the system embodiment, since it corresponds to the method embodiment, the description is relatively simple, and for the relevant points, refer to the description of the method embodiment section.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (10)
1. A convenient on-orbit health monitoring method for a sun sensor is characterized by comprising the following steps:
judging whether a preset on-orbit health monitoring starting condition is met or not according to the current working mode of the satellite;
if the on-orbit health monitoring starting condition is met, on-orbit health monitoring is started, and digital sun sensor on-orbit health monitoring, simulated sun sensor on-orbit health monitoring fixedly installed and simulated sun sensor on-orbit health monitoring on a sailboard are sequentially executed;
and outputting the obtained on-orbit health monitoring result of the digital sun sensor, the on-orbit health monitoring result of the fixedly installed simulated sun sensor and the on-orbit health monitoring result of the simulated sun sensor on the sailboard as a comprehensive monitoring result.
2. The convenient in-orbit health monitoring method of the sun sensor according to claim 1, wherein the determining whether the preset in-orbit health monitoring start condition is satisfied according to the current working mode of the satellite comprises:
constructing a set M containing all working modes of the satellite; wherein, the whole mode of operation of satellite includes: the system comprises an orbit entering mode, a three-axis ground-to-ground mode, a maneuvering mode, a sun-to-day directional mode and an uncontrolled mode;
screening the working mode with reliable output of the sun sensor from the set M to obtain a subset M1; wherein, the sun sensor has the reliable mode of output, includes: a three-axis ground-to-ground mode and a manoeuvrable mode;
acquiring the current working mode of the satellite, and judging whether the current working mode of the satellite belongs to the subset M1;
and if the current working mode of the satellite belongs to the subset M1, determining that the preset on-orbit health monitoring starting condition is met.
3. The portable sun sensor on-orbit health monitoring method of claim 1, wherein the digital sun sensor on-orbit health monitoring is performed according to the following steps:
step 11, acquiring a three-axis component [ S ] of the sunlight vector in an orbital coordinate systemox Soy Soz]And according to [ S ]ox SoySoz]And calculating to obtain the theoretical output angle alpha of the digital sun sensorDSS theory；
Step 12, selecting four parameters K1, K2, K3 and K4 according to the satellite orbit parameters; wherein K1 is more than K2 is more than K3 is more than K4;
step 13, judging whether the satellite is in the sunshine area; wherein if Soz∈[K1,K2]If yes, determining that the satellite is in the sunshine area, and executing step 14; otherwise, executing step 15;
step 14, judging whether the digital sun sensor theoretically sees the sun and actually outputs the sun; if the digital sun sensor is determined to see the sun theoretically and the actual output of the digital sun sensor is determined to see the sun, executing the step 16; otherwise, go to step 17;
step 15, judging whether the satellite is in a shadow area; wherein if Soz∈[K3,K4]Then determining that the satellite is in a shadow zone, step 18; otherwise, directly ending the flow;
step 16, judging the theoretical output angle alpha of the digital sun sensorDSS theoryAngle alpha with actual outputDSS _ actualWhether the absolute value of the difference of (a) is greater than a first threshold value T1; wherein, if the theoretical output angle alpha of the digital sun sensor is determinedDSS theoryAngle alpha with actual outputDSS _ actualIf the absolute value of the difference is greater than the first threshold T1, step 19 is executed; otherwise, directly ending the flow;
step 17, judging whether the digital sun sensor does not see the sun theoretically and does not see the sun actually; if the digital sun sensor is determined not to see the sun theoretically and not to see the sun actually, the process is directly ended; otherwise, go to step 19;
step 18, judging whether the actual output of the digital sun sensor is sun or not; if the actual output of the digital sun sensor is determined to see the sun, executing step 19; otherwise, directly ending the flow;
and 19, adding 1 to the inconsistency count of the digital sun sensor.
4. The portable sun sensor on-orbit health monitoring method of claim 3, wherein,
αDSS theoryThe formula of solution is as follows:
the first threshold T1 satisfies the following condition:
T1>errorbit+errinstall_DSS+erratt+errDSS
wherein, errorbitRepresenting the theoretical output error of the track-induced digital sun sensor, errinstall_DSSIndicating the mounting error of the digital sun sensor, errattIndicating satellite attitude measurement error, errDSSIndicating the measurement error of the digital sun sensor.
5. The portable on-orbit health monitoring method for the sun sensor according to claim 1, wherein the on-orbit health monitoring of the fixedly installed simulated sun sensor is performed according to the following steps:
step 21, obtaining the actual output angle alpha of the digital sun sensorDSS _ actualAnd according to αDSS _ actualAnd calculating to obtain the theoretical output angle alpha of the simulated sun sensorASS _ theory；
Step 22, judging whether the actual output of the digital sun sensor is sun or not; if the actual output of the digital sun sensor is determined to see the sun, executing the step 23; otherwise, directly ending the flow;
step 23, judging the theoretical output angle alpha of the simulated sun sensorASS _ theoryWhether it is within the field of view; wherein, if the theoretical output angle alpha of the simulated sun sensor is determinedASS _ theoryWithin the field of view, step 24 is executed; otherwise, go to step 25;
step 24, judging the theoretical output angle alpha of the simulated sun sensorASS _ theoryAngle alpha with actual outputASS _ actualWhether the absolute value of the difference of (a) is greater than a second threshold value T2; wherein, if the theoretical output angle alpha of the simulated sun sensor is determinedASS _ theoryAngle alpha with actual outputASS _ actualIf the absolute value of the difference is greater than the second threshold T2, go to step 26; otherwise, directly ending the flow;
step 25, judging whether the actual output of the simulated sun sensor is sun or not; if the actual output of the simulated sun sensor is determined to see the sun, executing step 26; otherwise, directly ending the flow;
and 26, adding 1 to the inconsistency count of the simulated sun sensor.
6. The portable sun sensor on-orbit health monitoring method of claim 5, wherein α isASS _ theoryThe formula of solution is as follows:
wherein, CASS_bRepresenting the attitude transformation matrix between the simulated sun sensor and the satellite coordinate system, CDSS_bAnd the attitude transformation matrix between the body coordinate system of the digital sun sensor and the satellite coordinate system is represented.
7. The convenient on-orbit health monitoring method for the sun sensor according to claim 5, wherein the second threshold T2 satisfies the following condition:
T2>errinstall_DSS+errinstall_ASS+errASS+errDSS
wherein, errinstall_DSSIndicating the mounting error of the digital sun sensor, errinstall_ASSShowing the mounting error, err, of the simulated sun sensorASSIndicating the measurement error, err, of the simulated sun sensorDSSIndicating the measurement error of the digital sun sensor.
8. The portable sun sensor on-track health monitoring method of claim 1, wherein the simulated sun sensor on-track health monitoring on the windsurfing board is performed according to the following steps:
step 31, acquiring a three-axis component [ S ] of the sunlight vector in the orbital coordinate systemox Soy Soz](ii) a Selecting four parameters K1, K2, K3 and K4 according to the satellite orbit parameters; wherein K1 is more than K2 is more than K3 is more than K4;
step 32, judging whether the satellite is in the sunshine area; wherein if Soz∈[K1,K2]If yes, determining that the satellite is in the sunshine area, and executing step 33; otherwise, go to step 34;
step 33, judging whether the actual output of the mth simulated sun sensor on the sailboard is sun or not; if the actual output of the mth simulated sun sensor on the sail board is determined to see the sun, executing step 35; otherwise, go to step 37;
step 34, judging whether the satellite is in a shadow area; wherein if Soz∈[K3,K4]If yes, determining that the satellite is in a shadow area, and executing step 36; otherwise, directly ending the flow;
step 35, judging whether the absolute value of the difference value between the actual output angle of the mth simulated sun sensor on the sailboard and the actual output angle of any other simulated sun sensor except the mth simulated sun sensor on the sailboard is larger than a third threshold value T3; if the absolute value of the difference value between the actual output angle of the mth simulated sun sensor on the sailboard and the actual output angle of any other simulated sun sensor except the mth simulated sun sensor on the sailboard is determined to be larger than a third threshold value T3, executing a step 37; otherwise, directly ending the flow;
step 36, judging whether the actual output of the mth simulated sun sensor on the sailboard is sun or not; if the actual output of the mth simulated sun sensor on the sailboard is determined to see the sun, executing the step 37; otherwise, directly ending the flow;
and step 37, adding 1 to the inconsistency count of the mth simulated sun sensor on the sailboard.
9. The portable sun sensor on-orbit health monitoring method of claim 8, wherein the third threshold T3 satisfies the following condition:
T3>errinstall_ASS_m+errinstall_ASS_n+errASS_m+errASS_n
wherein, errinstall_ASS_mShowing the mounting error, err, of the mth simulated sun sensor on the windsurfing boardinstall_ASS_nShowing the mounting error, err, of the nth simulated sun sensor on the windsurfing boardASS_mIndicating the measurement error, err, of the mth simulated sun sensor on the windsurfing boardASS_nShowing the measurement error of the nth simulated sun sensor on the windsurfing board.
10. A convenient sun sensor on-orbit health monitoring system is characterized by comprising:
the judging module is used for judging whether a preset on-orbit health monitoring starting condition is met or not according to the current working mode of the satellite;
the on-orbit health monitoring module is used for starting on-orbit health monitoring when the on-orbit health monitoring starting condition is determined to be met, and sequentially executing on-orbit health monitoring of the digital sun sensor, fixedly mounting simulated sun sensor on-orbit health monitoring and simulated sun sensor on-orbit health monitoring on the sailboard;
and the output module is used for outputting the obtained on-orbit health monitoring result of the digital sun sensor, the fixedly-installed on-orbit health monitoring result of the simulated sun sensor and the on-orbit health monitoring result of the simulated sun sensor on the sailboard as a comprehensive monitoring result.
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