CN114018282B - Convenient on-orbit health monitoring method and system for sun sensor - Google Patents
Convenient on-orbit health monitoring method and system for sun sensor Download PDFInfo
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Abstract
The invention discloses a convenient 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 meets the preset on-orbit health monitoring starting condition, on-orbit health monitoring is started, and on-orbit health monitoring of the digital sun sensor, on-orbit health monitoring of the fixed installation simulation sun sensor and on-orbit health monitoring of the simulation sun sensor on the 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 fixed installation simulation sun sensor and the on-orbit health monitoring result of the simulation sun sensor on the sailboard as comprehensive monitoring results. The invention solves the problems of short measurement and control arc section of the low orbit remote sensing satellite and untimely fault diagnosis of the sun sensor.
Description
Technical Field
The invention belongs to the technical field of spacecraft attitude control, and particularly relates to a convenient on-orbit health monitoring method and system for a sun sensor.
Background
The sun sensor is an important single machine of a satellite control system, but the measurement accuracy of the sun sensor is inferior to that of the satellite sensor, so that the on-orbit application of the traditional double-vector attitude determination method of the infrared sensor and the sun sensor is less and less. The sun sensor is typically not introduced in the normal operating mode of the existing satellite but only works when the satellite anomalies are on the day.
If the sun sensor is abnormal in orbit, the satellite normal work is not affected, so the failure can not occur through the main working state of the satellite. In addition, the output of the sun sensor in the sun illumination area is always characterized by continuous change, so that the single machine fault is not easy to be judged directly from the output of the sun sensor, the comprehensive judgment is needed by combining the satellite on-orbit, 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 the transit time in one day is about 40 minutes, and the characteristic that sampling points are sparse exists in the delayed telemetry, so that the ground is easy to have the condition of missed judgment. The satellite enters a sun-facing orientation mode during periods when the sun sensor is abnormal and not found, there is a risk that the sun cannot be normally facing.
Disclosure of Invention
The technical solution of the invention is as follows: the method and the system for monitoring the on-orbit health of the sun sensor are convenient and fast, and aim to solve the problems that a low-orbit remote sensing satellite is short in measurement and control arc section and not timely in fault diagnosis of the sun sensor.
In order to solve the technical problems, 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 meets the preset on-orbit health monitoring starting condition, on-orbit health monitoring is started, and on-orbit health monitoring of the digital sun sensor, on-orbit health monitoring of the fixed installation simulation sun sensor and on-orbit health monitoring of the simulation sun sensor on the 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 fixed installation simulation sun sensor and the on-orbit health monitoring result of the simulation sun sensor on the sailboard as comprehensive monitoring results.
In the above-mentioned convenient on-orbit health monitoring method of sun sensor, judge whether to satisfy the on-orbit health monitoring starting condition of preseting according to the current working pattern of satellite, include:
Constructing and obtaining a set M containing all working modes of the satellite; wherein, the whole working mode of satellite includes: an in-orbit mode, a triaxial earth mode, a maneuvering mode, a sun-oriented mode and an uncontrolled mode;
Screening from the collection M to obtain a working mode of reliable output of the sun sensor, and obtaining a subset M1; wherein, sun sensor has reliable output's mode of operation, includes: a triaxial earth mode and a manoeuvrable mode;
acquiring a current working mode of a satellite, and judging whether the current working mode of the satellite belongs to a subset M1;
If the current working mode of the satellite belongs to the subset M1, the preset on-orbit health monitoring starting condition is determined to be met.
In the convenient on-orbit health monitoring method of the sun sensor, the on-orbit health monitoring of the digital sun sensor is carried out according to the following steps:
Step 11, acquiring a triaxial component [ S ox Soy Soz ] of a sunlight vector under an orbit coordinate system, and calculating according to [ S oxSoy Soz ], so as to obtain a theoretical output angle alpha DSS_ Theory of of the digital sun sensor;
Step 12, selecting four parameters K1, K2, K3 and K4 according to satellite orbit parameters; wherein K1 is more than K2 and less than K3 and less than K4;
step 13, judging whether the satellite is in the sun-shine area or not; if S oz is E [ K1, K2], determining that the satellite is in the sun-shine area, and executing step 14; otherwise, go to step 15;
step 14, judging whether the digital sun sensor theoretically sees the sun and actually outputs the sun; if it is determined that the digital sun sensor is theoretically sunward and the digital sun sensor is actually output sunward, step 16 is executed; otherwise, go to step 17;
step 15, judging whether the satellite is in a shadow area or not; if S oz is E [ K3, K4], determining that the satellite is in a shadow area and executing step 18; otherwise, directly ending the flow;
Step 16, judging whether the absolute value of the difference between the theoretical output angle alpha DSS_ Theory of and the actual output angle alpha DSS_ Actual practice is that of of the digital sun sensor is larger than a first threshold value T1; if it is determined that the absolute value of the difference between the theoretical output angle α DSS_ Theory of and the actual output angle α DSS_ Actual practice is that of of the digital sun sensor is greater than the first threshold T1, step 19 is executed; otherwise, directly ending the flow;
step 17, judging whether the digital sun sensor is theoretically out of the sun and actually outputs out of the sun; if the theory of the digital sun sensor is determined to not see the sun and the actual output of the digital sun sensor is determined to not see the sun, directly ending the flow; otherwise, go to step 19;
step 18, judging whether the actual output of the digital sun sensor is in the sun; if it is determined that the digital sun sensor actually outputs sun, step 19 is executed; otherwise, directly ending the flow;
step 19, the digital sun sensor inconsistency count is incremented by 1.
In the above-mentioned convenient on-orbit health monitoring method of the sun sensor,
The solution formula for α DSS_ Theory of is as follows:
the first threshold T1 satisfies the following condition:
T1>errorbit+errinstall_DSS+erratt+errDSS
Wherein err orbit represents the theoretical output error of the digital sun sensor introduced by the orbit, err install_DSS represents the installation error of the digital sun sensor, err att represents the satellite attitude measurement error, and err DSS represents the measurement error of the digital sun sensor.
In the convenient on-orbit health monitoring method for the sun sensor, the on-orbit health monitoring of the fixed installation simulation sun sensor is executed according to the following steps:
step 21, obtaining an actual output angle alpha DSS_ Actual practice is that of of the digital sun sensor, and calculating to obtain a theoretical output angle alpha ASS_ Theory of of the analog sun sensor according to alpha DSS_ Actual practice is that of ;
Step 22, judging whether the actual output of the digital sun sensor is in the sun; if it is determined that the digital sun sensor actually outputs sun, step 23 is executed; otherwise, directly ending the flow;
Step 23, judging whether the theoretical output angle alpha ASS_ Theory of of the analog sun sensor is in the field of view; if it is determined that the theoretical output angle α ASS_ Theory of of the analog sun sensor is within the field of view, step 24 is performed; otherwise, go to step 25;
Step 24, judging whether the absolute value of the difference between the theoretical output angle alpha ASS_ Theory of and the actual output angle alpha ASS_ Actual practice is that of of the analog sun sensor is larger than a second threshold value T2; if it is determined that the absolute value of the difference between the theoretical output angle α ASS_ Theory of and the actual output angle α ASS_ Actual practice is that of of the analog sun sensor is greater than the second threshold T2, step 26 is executed; otherwise, directly ending the flow;
Step 25, judging whether the actual output of the simulated sun sensor is in the sun; if it is determined that the simulated sun sensor actually outputs sun, step 26 is performed; otherwise, directly ending the flow;
step 26, the simulated sun sensor inconsistency count is incremented by 1.
In the above-mentioned convenient on-orbit health monitoring method of sun sensor, the solution formula of α ASS_ Theory of is as follows:
Wherein C ASS_b represents a posture conversion matrix between the analog sun sensor and the satellite coordinate system, and C DSS_b represents a posture conversion matrix between the digital sun sensor body coordinate system and the satellite coordinate system.
In the above-mentioned convenient on-orbit health monitoring method for the sun sensor, the second threshold T2 satisfies the following conditions:
T2>errinstall_DSS+errinstall_ASS+errASS+errDSS
Wherein err install_DSS represents the installation error of the digital sun sensor, err install_ASS represents the installation error of the analog sun sensor, err ASS represents the measurement error of the analog sun sensor, and err DSS represents the measurement error of the digital sun sensor.
In the convenient on-orbit health monitoring method for the sun sensor, the on-orbit health monitoring of the simulated sun sensor on the sailboard is carried out according to the following steps:
Step 31, acquiring triaxial components [ S ox Soy Soz ] of a sunlight vector under an orbit coordinate system and selecting four parameters K1, K2, K3 and K4 according to satellite orbit parameters; wherein K1 is more than K2 and less than K3 and less than K4;
Step 32, judging whether the satellite is in the sun-shine area or not; if S oz is E [ K1, K2], determining that the satellite is in the sun-shine 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 in the sun; if it is determined that the mth simulated solar sensor on the broken sailboard actually outputs sunlight, step 35 is executed; otherwise, go to step 37;
step 34, judging whether the satellite is in a shadow area; if S oz is E [ K3, K4], 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 between the actual output angle of the mth simulated solar sensor on the sailboard and the actual output angle of any one of the other simulated solar sensors except the mth simulated solar sensor on the sailboard is larger than a third threshold value T3; if it is determined that the absolute value of the difference between the actual output angle of the mth analog solar sensor on the sailboard and the actual output angle of any one of the other analog solar sensors except the mth analog solar sensor on the sailboard is greater than the third threshold T3, step 37 is executed; otherwise, directly ending the flow;
step 36, judging whether the actual output of the mth simulated solar sensor on the sailboard is in the sun; if it is determined that the mth simulated solar sensor on the windsurfing board actually outputs sunlight, step 37 is executed; otherwise, directly ending the flow;
Step 37, the mth simulated sun sensor inconsistency count on the windsurfing board is incremented by 1.
In the above-mentioned convenient on-orbit health monitoring method for the sun sensor, the third threshold T3 satisfies the following conditions:
T3>errinstall_ASS_m+errinstall_ASS_n+errASS_m+errASS_n
Wherein err install_ASS_m represents the installation error of the mth simulated solar sensor on the sailboard, err install_ASS_n represents the installation error of the nth simulated solar sensor on the sailboard, err ASS_m represents the measurement error of the mth simulated solar sensor on the sailboard, and err ASS_n represents the measurement error of the nth simulated solar sensor on the sailboard.
Correspondingly, the invention also discloses a convenient on-orbit health monitoring system of the sun sensor, which comprises the following steps:
the judging module is used for judging whether preset on-orbit health monitoring starting conditions are 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 preset on-orbit health monitoring starting condition is determined to be met, and sequentially executing on-orbit health monitoring of the digital sun sensor, on-orbit health monitoring of the fixed installation simulation sun sensor and on-orbit health monitoring of the simulation sun sensor on the sailboard;
and the output module is used for outputting the obtained on-orbit health monitoring result of the digital solar sensor, the on-orbit health monitoring result of the fixed installation simulation solar sensor and the on-orbit health monitoring result of the simulation solar sensor on the sailboard as comprehensive monitoring results.
The invention has the following advantages:
The invention discloses a convenient on-orbit health monitoring method and system for a solar sensor. After the abnormality is detected in orbit, the corresponding inconsistent count of the sun sensor is increased, and the ground can judge whether the abnormality exists in the sun sensor at the first time through the inconsistent count during the satellite transit. The method has the advantages of simple implementation mode, less consumption of on-board computing resources, convenient implementation and the like.
Drawings
FIG. 1 is a flow chart of steps of a method for monitoring on-orbit health of a sun sensor according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating an embodiment of on-orbit health monitoring of a digital sun sensor according to the present invention;
FIG. 3 is a flow chart illustrating an embodiment of the present invention for performing on-orbit health monitoring of a fixed-installation simulated solar sensor;
FIG. 4 is a flow chart illustrating an embodiment of on-track health monitoring of simulated sun sensors on a windsurfing board;
Fig. 5 is a block diagram of a convenient on-orbit health monitoring system for a sun sensor according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention disclosed herein will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, in this embodiment, the method for monitoring on-orbit health of a sun sensor includes:
step 101, judging whether a preset on-orbit health monitoring starting condition is met according to a current working mode of the satellite.
In this embodiment, first, a set M including all the operation modes of the satellite may be constructed; then, a working mode with reliable output of the sun sensor is obtained by screening from the collection M, and a subset M1 is obtained; finally, the current working mode of the satellite is obtained, and whether the current working mode of the satellite belongs to the subset M1 is judged. 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 process is directly ended.
Preferably, the satellite full mode of operation includes, but is not limited to: an in-orbit mode, a three-axis earth mode, a maneuvering mode, a sun-oriented mode, an uncontrolled mode, etc. Modes of operation in which the sun sensor has a reliable output include, but are not limited to: triaxial to ground mode and motoring mode, etc.
Step 102, on-orbit health monitoring is started, and on-orbit health monitoring of the digital sun sensor, on-orbit health monitoring of the fixed installation simulation sun sensor and on-orbit health monitoring of the simulation sun sensor on the sailboard are sequentially executed.
In this embodiment, as shown in fig. 2, a feasible implementation flow of on-orbit health monitoring of the digital sun sensor is as follows:
And step 11, acquiring a triaxial component [ S ox Soy Soz ] of the sunlight vector under the orbit coordinate system, and calculating according to [ S oxSoy Soz ], so as to obtain the theoretical output angle alpha DSS_ Theory of of the digital sun sensor.
Preferably, the solution formula of α DSS_ Theory of is as follows:
wherein C bo represents a posture conversion matrix between the satellite coordinate system and the orbital coordinate system; c DSS_b represents a posture conversion matrix between the digital sun sensor body coordinate system and the satellite coordinate system.
In a substep 12, four parameters K1, K2, K3 and K4 are selected according to the satellite orbit parameters.
Preferably, K1 < K2 < K3 < K4.
Further, K1, K2, K3 and K4 can be valued according to the following principle:
a) K2 is less than K3, and erroneous judgment of a transition interval between the illumination area and the shadow area is avoided.
B) K1 can be directly selected from-1.
C) K4 can be directly 1.
For example, for a solar synchronous orbit of 10:30 when the intersection point is lowered by 500 km, K1 is taken to be-1, K2 is taken to be 0.30, and the satellite is ensured to be in an illumination area; k3 is 0.35, and K4 is 1, so that the satellite is ensured to be in a shadow area.
And step 13, judging whether the satellite is in the sun-shine area or not.
Preferably, if S oz is E [ K1, K2], determining that the satellite is in the sun-shine area, and executing the substep 14; otherwise, sub-step 15 is performed.
And step 14, judging whether the digital sun sensor theoretically sees the sun and actually outputs the sun.
Preferably, if it is determined that the digital sun sensor is theoretically sunward and the actual output is sunward, then sub-step 16 is performed; otherwise, sub-step 17 is performed.
And 15, judging whether the satellite is in a shadow area or not.
Preferably, if S oz is E [ K3, K4], determining that the satellite is in the shadow region performs sub-step 18; otherwise, the process is directly ended.
In sub-step 16, it is determined whether the absolute value of the difference between the theoretical output angle α DSS_ Theory of and the actual output angle α DSS_ Actual practice is that of of the digital sun sensor is greater than the first threshold T1.
Preferably, if it is determined that the absolute value of the difference between the theoretical output angle α DSS_ Theory of and the actual output angle α DSS_ Actual practice is that of of the digital sun sensor is greater than the first threshold T1, performing the sub-step 19; otherwise, the process is directly ended.
Further, the first threshold T1 needs to satisfy the following conditions:
T1>errorbit+errinstall_DSS+erratt+errDSS
Wherein err orbit represents the theoretical output error of the digital sun sensor introduced by the orbit, err install_DSS represents the installation error of the digital sun sensor, err att represents the satellite attitude measurement error, and err DSS represents the measurement error of the digital sun sensor.
And (17) judging whether the digital sun sensor is theoretically out of the sun and actually outputs out of the sun.
Preferably, if the digital sun sensor theory is determined to not see the sun and the actual output is determined to not see the sun, directly ending the flow; otherwise, sub-step 19 is performed.
In a substep 18, it is determined whether the actual output of the digital sun sensor is in the sun.
Preferably, if it is determined that the digital sun sensor actually outputs sun, then sub-step 19 is performed; otherwise, the process is directly ended.
In sub-step 19, the digital sun sensor inconsistency count is incremented by 1.
In this embodiment, as shown in fig. 3, a feasible implementation flow of on-orbit health monitoring of the fixed-installation simulation sun sensor is as follows:
In the substep 21, the actual output angle alpha DSS_ Actual practice is that of of the digital sun sensor is obtained, and the theoretical output angle alpha ASS_ Theory of of the analog sun sensor is obtained through calculation according to alpha DSS_ Actual practice is that of .
Preferably, the solution formula of α ASS_ Theory of is as follows:
Wherein C ASS_b represents a posture conversion matrix between the analog sun sensor and the satellite coordinate system, and C DSS_b represents a posture conversion matrix between the digital sun sensor body coordinate system and the satellite coordinate system.
In a substep 22, it is determined whether the actual output of the digital sun sensor is in the sun.
Preferably, if it is determined that the digital sun sensor actually outputs sun, sub-step 23 is performed; otherwise, the process is directly ended.
In sub-step 23, it is determined whether the theoretical output angle α ASS_ Theory of of the analog sun sensor is within the field of view.
Preferably, if it is determined that the theoretical output angle α ASS_ Theory of of the simulated sun sensor is within the field of view, then sub-step 24 is performed; otherwise, sub-step 25 is performed.
In sub-step 24, it is determined whether the absolute value of the difference between the theoretical output angle α ASS_ Theory of and the actual output angle α ASS_ Actual practice is that of of the analog sun sensor is greater than the second threshold T2.
Preferably, if it is determined that the absolute value of the difference between the theoretical output angle α ASS_ Theory of and the actual output angle α ASS_ Actual practice is that of of the analog sun sensor is greater than the second threshold T2, performing the substep 26; otherwise, the process is directly ended.
Further, the second threshold T2 needs to satisfy the following conditions:
T2>errinstall_DSS+errinstall_ASS+errASS+errDSS
Wherein err install_DSS represents the installation error of the digital sun sensor, err install_ASS represents the installation error of the analog sun sensor, err ASS represents the measurement error of the analog sun sensor, and err DSS represents the measurement error of the digital sun sensor.
In a substep 25, it is determined whether the actual output of the simulated sun sensor is solar.
Preferably, if it is determined that the simulated sun sensor is actually outputting sun, then sub-step 26 is performed; otherwise, the process is directly ended.
In sub-step 26, the simulated sun sensor inconsistency count is incremented by 1.
In this embodiment, as shown in fig. 4, a feasible execution flow of on-orbit health monitoring of the simulated sun sensor on the sailboard is as follows:
Step 31, obtaining a triaxial component [ S ox Soy Soz ] of the sunlight vector under the orbit coordinate system; and four parameters K1, K2, K3 and K4 are selected according to the satellite orbit parameters.
Preferably, K1 < K2 < K3 < K4. The requirements of K1, K2, K3 and K4 are consistent with those in sub-step 12, and will not be described here again.
In a substep 32, it is determined whether the satellite is in the sun-shine zone.
Preferably, if S oz is E [ K1, K2], determining that the satellite is in the sun-shine area, and executing the substep 33; otherwise, sub-step 34 is performed.
In a substep 33, it is determined whether the actual output of the mth simulated solar sensor on the windsurfing board is in the sun.
Preferably, if it is determined that the mth simulated solar sensor on the broken sailboard actually outputs sunlight, the sub-step 35 is performed; otherwise, sub-step 37 is performed.
In a substep 34, it is determined whether the satellite is in a shadow zone.
Preferably, if S oz is E [ K3, K4], determining that the satellite is in the shadow region, and executing the substep 36; otherwise, the process is directly ended.
In the sub-step 35, it is determined whether the absolute value of the difference between the actual output angle of the mth analog solar sensor on the windsurfing board and the actual output angle of any one of the other analog solar sensors except the mth analog solar sensor on the windsurfing board is greater than a third threshold T3.
Preferably, if it is determined that the absolute value of the difference between the actual output angle of the mth simulated solar sensor on the windsurfing board and the actual output angle of any one of the other simulated solar sensors except the mth simulated solar sensor on the windsurfing board is greater than the third threshold T3, executing the sub-step 37; otherwise, the process is directly ended.
Further, the third threshold T3 needs to satisfy the following conditions:
T3>errinstall_ASS_m+errinstall_ASS_n+errASS_m+errASS_n
Wherein err install_ASS_m represents the installation error of the mth simulated solar sensor on the sailboard, err install_ASS_n represents the installation error of the nth simulated solar sensor on the sailboard, err ASS_m represents the measurement error of the mth simulated solar sensor on the sailboard, and err ASS_n represents the measurement error of the nth simulated solar sensor on the sailboard.
In a substep 36, it is determined whether the actual output of the mth simulated solar sensor on the windsurfing board is solar.
Preferably, if it is determined that the mth simulated solar sensor on the windsurfing board actually outputs the sun, then performing the substep 37; otherwise, the process is directly ended.
In sub-step 37, the mth simulated sun sensor inconsistency count on the windsurfing board is incremented by 1.
And 103, outputting the obtained on-orbit health monitoring result of the digital solar sensor, the on-orbit health monitoring result of the fixed installation simulation solar sensor and the on-orbit health monitoring result of the simulation solar sensor on the sailboard as comprehensive monitoring results.
In summary, the invention discloses a convenient on-orbit health monitoring method for a solar sensor, which realizes on-orbit health monitoring of the solar sensor by comparing the actual output of the digital solar sensor with the theoretical output of the orbit data and comparing the actual output of a fixedly installed analog solar sensor with the theoretical output, and carrying out multi-source mutual comparison on the outputs of a plurality of solar sensors on a sailboard. After the abnormality is monitored in the orbit, the corresponding inconsistent count of the sun sensor is increased, the ground can judge whether the sun sensor is abnormal or not at the first time through the inconsistent count during the satellite transit, whether the sun sensor is abnormal or not in the whole orbit period is known visually, and the ground can further judge and treat the abnormal jump.
On the basis of the above embodiment, as shown in fig. 5, the invention also discloses a convenient on-orbit health monitoring system for the sun sensor, which comprises: the judging module 501 is configured to judge whether a preset on-orbit health monitoring start 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 satisfied, and sequentially perform on-orbit health monitoring of the digital sun sensor, on-orbit health monitoring of the fixed installation simulation sun sensor, and on-orbit health monitoring of the simulation sun sensor on the sailboard. And the output module 503 is configured to output the obtained on-orbit health monitoring result of the digital solar sensor, the on-orbit health monitoring result of the fixed installation simulation solar sensor, and the on-orbit health monitoring result of the simulation solar sensor on the sailboard as comprehensive monitoring results.
For the system embodiment, since it corresponds to the method embodiment, the description is relatively simple, and the relevant points are referred to the description of the method embodiment section.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
Claims (9)
1. The method for conveniently monitoring the on-orbit health of the sun sensor is characterized by comprising the following steps of:
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 meets the preset on-orbit health monitoring starting condition, on-orbit health monitoring is started, and on-orbit health monitoring of the digital sun sensor, on-orbit health monitoring of the fixed installation simulation sun sensor and on-orbit health monitoring of the simulation sun sensor on the sailboard are sequentially executed;
the obtained on-orbit health monitoring result of the digital sun sensor, the on-orbit health monitoring result of the fixed installation simulation sun sensor and the on-orbit health monitoring result of the simulation sun sensor on the sailboard are output as comprehensive monitoring results;
the digital sun sensor on-orbit health monitoring is carried out according to the following steps:
Step 11, acquiring a triaxial component [ S ox Soy Soz ] of a sunlight vector under an orbit coordinate system, and calculating according to [ S ox SoySoz ], so as to obtain a theoretical output angle alpha DSS_ Theory of of the digital sun sensor;
Step 12, selecting four parameters K1, K2, K3 and K4 according to satellite orbit parameters; wherein K1 is more than K2 and less than K3 and less than K4;
step 13, judging whether the satellite is in the sun-shine area or not; if S oz is E [ K1, K2], determining that the satellite is in the sun-shine area, and executing step 14; otherwise, go to step 15;
step 14, judging whether the digital sun sensor theoretically sees the sun and actually outputs the sun; if it is determined that the digital sun sensor is theoretically sunward and the digital sun sensor is actually output sunward, step 16 is executed; otherwise, go to step 17;
step 15, judging whether the satellite is in a shadow area or not; if S oz is E [ K3, K4], determining that the satellite is in a shadow area and executing step 18; otherwise, directly ending the flow;
Step 16, judging whether the absolute value of the difference between the theoretical output angle alpha DSS_ Theory of and the actual output angle alpha DSS_ Actual practice is that of of the digital sun sensor is larger than a first threshold value T1; if it is determined that the absolute value of the difference between the theoretical output angle α DSS_ Theory of and the actual output angle α DSS_ Actual practice is that of of the digital sun sensor is greater than the first threshold T1, step 19 is executed; otherwise, directly ending the flow;
step 17, judging whether the digital sun sensor is theoretically out of the sun and actually outputs out of the sun; if the theory of the digital sun sensor is determined to not see the sun and the actual output of the digital sun sensor is determined to not see the sun, directly ending the flow; otherwise, go to step 19;
step 18, judging whether the actual output of the digital sun sensor is in the sun; if it is determined that the digital sun sensor actually outputs sun, step 19 is executed; otherwise, directly ending the flow;
step 19, the digital sun sensor inconsistency count is incremented by 1.
2. The method for monitoring the on-orbit health of a sun sensor according to claim 1, wherein the step of judging whether a preset on-orbit health monitoring start condition is satisfied according to the current working mode of the satellite comprises the steps of:
Constructing and obtaining a set M containing all working modes of the satellite; wherein, the whole working mode of satellite includes: an in-orbit mode, a triaxial earth mode, a maneuvering mode, a sun-oriented mode and an uncontrolled mode;
Screening from the collection M to obtain a working mode of reliable output of the sun sensor, and obtaining a subset M1; wherein, sun sensor has reliable output's mode of operation, includes: a triaxial earth mode and a manoeuvrable mode;
acquiring a current working mode of a satellite, and judging whether the current working mode of the satellite belongs to a subset M1;
If the current working mode of the satellite belongs to the subset M1, the preset on-orbit health monitoring starting condition is determined to be met.
3. The portable on-orbit health monitoring method of a sun sensor as set forth in claim 1, wherein,
The solution formula for α DSS_ Theory of is as follows:
the first threshold T1 satisfies the following condition:
T1>errorbit+errinstall_DSS+erratt+errDSS
Wherein err orbit represents the theoretical output error of the digital sun sensor introduced by the orbit, err install_DSS represents the installation error of the digital sun sensor, err att represents the satellite attitude measurement error, and err DSS represents the measurement error of the digital sun sensor.
4. The portable on-orbit health monitoring method of a sun sensor according to claim 1, wherein the fixed installation simulated sun sensor on-orbit health monitoring is performed as follows:
step 21, obtaining an actual output angle alpha DSS_ Actual practice is that of of the digital sun sensor, and calculating to obtain a theoretical output angle alpha ASS_ Theory of of the analog sun sensor according to alpha DSS_ Actual practice is that of ;
Step 22, judging whether the actual output of the digital sun sensor is in the sun; if it is determined that the digital sun sensor actually outputs sun, step 23 is executed; otherwise, directly ending the flow;
Step 23, judging whether the theoretical output angle alpha ASS_ Theory of of the analog sun sensor is in the field of view; if it is determined that the theoretical output angle α ASS_ Theory of of the analog sun sensor is within the field of view, step 24 is performed; otherwise, go to step 25;
Step 24, judging whether the absolute value of the difference between the theoretical output angle alpha ASS_ Theory of and the actual output angle alpha ASS_ Actual practice is that of of the analog sun sensor is larger than a second threshold value T2; if it is determined that the absolute value of the difference between the theoretical output angle α ASS_ Theory of and the actual output angle α ASS_ Actual practice is that of of the analog sun sensor is greater than the second threshold T2, step 26 is executed; otherwise, directly ending the flow;
Step 25, judging whether the actual output of the simulated sun sensor is in the sun; if it is determined that the simulated sun sensor actually outputs sun, step 26 is performed; otherwise, directly ending the flow;
step 26, the simulated sun sensor inconsistency count is incremented by 1.
5. The method for on-orbit health monitoring of a portable sun sensor according to claim 4, wherein the solution formula of α ASS_ Theory of is as follows:
Wherein C ASS_b represents a posture conversion matrix between the analog sun sensor and the satellite coordinate system, and C DSS_b represents a posture conversion matrix between the digital sun sensor body coordinate system and the satellite coordinate system.
6. The method for on-orbit health monitoring of a portable sun sensor according to claim 4, wherein the second threshold T2 satisfies the following condition:
T2>errinstall_DSS+errinstall_ASS+errASS+errDSS
Wherein err install_DSS represents the installation error of the digital sun sensor, err install_ASS represents the installation error of the analog sun sensor, err ASS represents the measurement error of the analog sun sensor, and err DSS represents the measurement error of the digital sun sensor.
7. The portable on-orbit health monitoring method of a sun sensor according to claim 1, wherein the on-orbit health monitoring of the simulated sun sensor on the sailboard is performed as follows:
Step 31, obtaining a triaxial component [ S ox Soy Soz ] of a sunlight vector under an orbit coordinate system; according to satellite orbit parameters, four parameters K1, K2, K3 and K4 are selected; wherein K1 is more than K2 and less than K3 and less than K4;
Step 32, judging whether the satellite is in the sun-shine area or not; if S oz is E [ K1, K2], determining that the satellite is in the sun-shine 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 in the sun; if it is determined that the mth simulated solar sensor on the broken sailboard actually outputs sunlight, step 35 is executed; otherwise, go to step 37;
step 34, judging whether the satellite is in a shadow area; if S oz is E [ K3, K4], 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 between the actual output angle of the mth simulated solar sensor on the sailboard and the actual output angle of any one of the other simulated solar sensors except the mth simulated solar sensor on the sailboard is larger than a third threshold value T3; if it is determined that the absolute value of the difference between the actual output angle of the mth analog solar sensor on the sailboard and the actual output angle of any one of the other analog solar sensors except the mth analog solar sensor on the sailboard is greater than the third threshold T3, step 37 is executed; otherwise, directly ending the flow;
step 36, judging whether the actual output of the mth simulated solar sensor on the sailboard is in the sun; if it is determined that the mth simulated solar sensor on the windsurfing board actually outputs sunlight, step 37 is executed; otherwise, directly ending the flow;
Step 37, the mth simulated sun sensor inconsistency count on the windsurfing board is incremented by 1.
8. The method for on-orbit health monitoring of a portable sun sensor according to claim 7, wherein the third threshold T3 satisfies the following condition:
T3>errinstall_ASS_m+errinstall_ASS_n+errASS_m+errASS_n
Wherein err install_ASS_m represents the installation error of the mth simulated solar sensor on the sailboard, err install_ASS_n represents the installation error of the nth simulated solar sensor on the sailboard, err ASS_m represents the measurement error of the mth simulated solar sensor on the sailboard, and err ASS_n represents the measurement error of the nth simulated solar sensor on the sailboard.
9. A portable on-orbit health monitoring system for use in performing the portable on-orbit health monitoring method of a sun sensor as set forth in claim 1, comprising:
the judging module is used for judging whether preset on-orbit health monitoring starting conditions are 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 preset on-orbit health monitoring starting condition is determined to be met, and sequentially executing on-orbit health monitoring of the digital sun sensor, on-orbit health monitoring of the fixed installation simulation sun sensor and on-orbit health monitoring of the simulation sun sensor on the sailboard;
and the output module is used for outputting the obtained on-orbit health monitoring result of the digital solar sensor, the on-orbit health monitoring result of the fixed installation simulation solar sensor and the on-orbit health monitoring result of the simulation solar sensor on the sailboard as comprehensive monitoring results.
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