CN114061594A - Multi-view-field starry sky observation satellite target attitude planning method - Google Patents

Multi-view-field starry sky observation satellite target attitude planning method Download PDF

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CN114061594A
CN114061594A CN202111256177.4A CN202111256177A CN114061594A CN 114061594 A CN114061594 A CN 114061594A CN 202111256177 A CN202111256177 A CN 202111256177A CN 114061594 A CN114061594 A CN 114061594A
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star
observation
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point
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王家炜
景泉
陈曦
李少辉
刘希刚
高洪涛
赵利民
郭倩蕊
王倩莹
胡震岳
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China Academy of Space Technology CAST
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Abstract

A multi-view field starry sky observation satellite target attitude planning method comprises the following steps: acquiring seasons or months for starry sky observation of a satellite, the satellite orbit height and a parasitic light suppression angle of imaging optical equipment; step two, providing the selectable sky area of each optical device according to the projection relation between the selectable field of view of the optical device and the observable sky area; selecting an observation point set according to the star distribution in the selectable sky area to obtain the direction of each optical device under the observation point under a celestial coordinate system, judging whether the optical devices are in the usable sky area, and deleting unusable observation points; counting the number of fixed stars in the camera view field under the available observation points, and optimizing the available observation points; and step five, repeating the step three and the step four until a satisfactory observation point set is found, and outputting the right ascension declination and satellite attitude transformation matrix of the optimal observation point. The invention provides an ideal observation sky area and target attitude for a remote sensing satellite and an astronomical observation satellite to perform multi-view-field starry sky imaging.

Description

Multi-view-field starry sky observation satellite target attitude planning method
Technical Field
The invention relates to a multi-view field starry sky observation satellite target attitude planning method, belongs to the field of satellite target attitude planning, and is applied to imaging region selection and attitude planning when a remote sensing satellite and an astronomical observation satellite perform multi-view field starry sky imaging.
Background
When the effective load of the remote sensing satellite is a camera, radiometric calibration or geometric calibration can be carried out on imaging of the fixed star, and a plurality of cameras or star sensors are required to simultaneously image the star sky.
Because the remote sensing satellite is designed according to the ground imaging requirement, the problems exist when imaging the starry sky, for example, the number of observation celestial bodies is limited due to the small field of view of a camera, optical equipment (the camera, the satellite sensor and the like) can see sunlight or ground gas light and cannot be used, and the like, and a corresponding method for planning an observation sky area and a target attitude is also lacked in the related field at present.
Besides the imaging of a remote sensing satellite to the starry sky, a part of astronomical observation space science satellites need to image a specific sky area due to the requirement of a detection task, and in documents in the aspect of task planning of the astronomical observation satellite at the present stage, more problems of increasing fixed point target access times, prolonging observation time, minimizing energy consumption, starry sky coverage and the like are considered, and the attitude planning problem of simultaneously imaging the starry sky by a multi-view-field camera is rarely involved.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for planning the target attitude of the multi-view starry sky observation satellite overcomes the defects of the prior art, provides an ideal observation sky area and target attitude when a remote sensing satellite and an astronomical observation satellite perform multi-view starry sky imaging, ensures that all imaging optical equipment (such as a camera, a starcamera and a star sensor, the number of which is more than or equal to 1, namely, the multi-view field) in the observation process is not interfered by sunlight and ground gas light, ensures the observation effectiveness as much as possible and improves the observation quality.
The technical solution of the invention is as follows:
a multi-view field starry sky observation satellite target attitude planning method comprises the following steps:
acquiring seasons or months for starry sky observation of a satellite, the satellite orbit height and a parasitic light suppression angle of imaging optical equipment;
step two, providing the selectable sky area of each optical device according to the projection relation between the selectable field of view of the optical device and the observable sky area;
selecting an observation point set according to the star distribution in the selectable sky area to obtain the direction of each optical device under the observation point under a celestial coordinate system, judging whether the optical devices are in the usable sky area, and deleting unusable observation points;
counting the number of fixed stars in the camera view field under the available observation points, and optimizing the available observation points;
and step five, repeating the step three and the step four until a satisfactory observation point set is found, and outputting the right ascension declination and satellite attitude transformation matrix of the optimal observation point.
Further, the veiling glare suppression angle specifically means: the optical equipment is influenced by external stray light to cause the imaging effect to be reduced and even lose efficacy, the optical equipment is restrained by a stray light inhibition angle during imaging, when stray light rays are positioned outside the stray light inhibition angle, the optical equipment normally works, otherwise, the imaging effect of the optical equipment is reduced or the optical equipment cannot normally work; the stray light comprises sunlight and earth gas light.
Further, according to the task planning of the satellite, selecting a month or a specific date of starry sky imaging, selecting multi-field starry sky imaging in a shadow area, obtaining satellite orbit data through satellite-ground measurement and control, and extrapolating to obtain the satellite orbit height of a starry sky observation day, wherein when the satellite is a circular orbit, the satellite orbit height directly uses the nominal orbit height.
Further, the two steps of giving the selectable antenna area of each optical device according to the projection relation between the selectable field of view of the optical device and the observable antenna area specifically include:
after the height H of the satellite orbit and the veiling glare suppression angle B of the imaging optical equipment are obtained, the included angle A between the XOY plane of the orbit coordinate system and the earth's atmosphere edge is
Figure BDA0003324178110000021
Useful cones of the field of view of the optical device C are
Figure BDA0003324178110000031
Wherein p is the thickness of the atmospheric layer, ReIs the radius of the earth;
the observation sky area analysis is carried out under an celestial coordinate system, the projection of the available conical view field of the optical equipment view field on the celestial coordinate system is recorded as the selectable sky area of the optical equipment, and when the optical axis of the optical equipment points to RZWhen the direction is any direction in the conical range of the generatrix, the interference of earth gas light is not generated, and alpha is0The right ascension center, alpha, of the optical device in the optional sky region0Related to the particular season/month in which the observation was made; the observation central points of the selectable day areas in the observation of spring equinox, summer solstice, autumn equinox and winter solstice are respectively
Vernal equinox alpha0＝180°
Summer solstice alpha0＝270°
Autumn score alpha0＝0°
Winter solstice alpha0＝90°
The optional sky region set is
S＝{α,δ:cos2(α-α0)cos2δ+sin2δ≤sin2C}
If B is>A, then C<90°，δeE (-C, C), describing the coordinate (alpha) of the edge of the alternative antenna regione,δe) Is obtained by the following formula
Figure BDA0003324178110000032
If B is<A, then C>90°，δe∈[-90°,90°]Coordinates (α) describing the edges of the alternative sky areae,δe) Is obtained by the following formula
Figure BDA0003324178110000033
Further, the selecting of the observation point set in the third step specifically includes:
when the observation points are selected, each observation point comprises two celestial sphere system coordinate points, one coordinate point is a satellite + Z-axis pointing point, and the coordinate is marked as (alpha)1,δ1) The other coordinate point is a pointing point of a vector which is positioned on an XOZ plane of the satellite system and has a certain positive included angle with the + X axis and the + Z axis, and the coordinate is marked as (alpha)2,δ2)；
When the observation point set is selected, the principle of wide to narrow and sparse to dense is followed, when the observation point set is selected for the first time, the maximum optical equipment selectable sky area is covered, and the density is sparse; after the first calculation, when the observation point set is selected for the second time, the observation points are selected near the first available observation points, the density is encrypted for the last time, and the like;
according to the conversion relation between the celestial coordinate system and the inertial coordinate system, the attitude conversion matrix C from the inertial coordinate system of the satellite J2000 to the system of the satelliteibCalculated by the following formula
Figure BDA0003324178110000041
Wherein,
Figure BDA0003324178110000042
XT＝YT×ZT
calculating the direction of each optical device under a celestial coordinate system according to the installation direction of each optical device on the satellite; setting the installation array of the optical equipment under the satellite system as CbCamThen, the attitude matrix of the optical device J2000 inertial system is:
Figure BDA0003324178110000043
wherein,
Figure BDA0003324178110000044
is a vector representation of the optical axis of the optical device under the inertial system, z1、z2、z3Three components of a vector;
the optical axis of the optical device
Figure BDA0003324178110000045
The coordinates (alpha, delta) in the celestial coordinate system are
δ＝arcsin(z3),
Figure BDA0003324178110000051
Next, determining whether the coordinates (α, δ) of the optical device in the celestial coordinate system are within the usable sky area obtained in step two:
when all optical devices are in respective selectable antenna zones, then the observation point is available;
when one or two optical devices point to the optical axis and are not in the selectable sky area and cannot meet the task requirement, the observation point is unavailable;
and deleting unavailable observation points to obtain available observation points.
Further, the fourth step is to count the number of stars in the camera view field under the available observation points, and optimize the available observation points, specifically:
firstly, according to the definition of a camera installation matrix, a view field shape and a coordinate system, establishing a camera view field edge pointing vector array under a satellite body system as
Figure BDA0003324178110000052
Wherein n is the number of the edge points of the field of view, [ z ]1i z2i z3i]TThe orientation of the ith edge vector under the satellite system is represented by i ═ 1, …, n;
coordinate array Cam of camera view field edge vector under celestial sphere systemballObtained by the method in the third step;
Figure BDA0003324178110000053
and judging whether a certain star point is in the detector field of view of the optical equipment or not according to the field of view of the camera detector, calculating the number of star points in the field of view of the camera, and selecting the observation point with the largest number of star points as an optimal observation point.
Further, when judging whether a star point is in the detector field of view of the optical device, if the detector field of view is a circular detector field of view, the following steps are performed:
calculating the coordinates of the star points (alpha)Star,δStar) With the camera optical axis coordinate (alpha)Cam,δCam) Angle between them
Ang＝arccos(ZStar·ZCam)
Wherein, the star point coordinates are derived from the information of the known star catalogue;
Figure BDA0003324178110000061
half cone angle of camera circular field of view is DrThen there is
If Ang is greater than or equal to DrThen the star point is not in the camera detector field of view;
if Ang<DrThen the star point is within the camera detector field of view.
Further, when determining whether a star point is in the detector field of the optical device, if the detector field is a circular detector field, the determination may be performed by using the cross-product directivity to determine whether a star point is in a rectangular field:
the coordinates of the star points are (alpha)Star,δStar) Coordinates of four points of the camera detector are (alpha)1,δ1)、(α2,δ2)、(α3,δ3)、(α4,δ4) Constructing a vector p12(α2-α1,δ2-δ1)、p23(α3-α2,δ3-δ2)、p34(α4-α3,δ4-δ3)、p41(α1-α4,δ1-δ4)、pStar1(α1-αStar,δ1-δStar)、pStar2(α2-αStar,δ2-δStar)、pStar3(α3-αStar,δ3-δStar)、pStar4(α4-αStar,δ4-δStar)；
If (p)12×pStar1)*(p34×pStar3) Is not less than 0 and (p)23×pStar2)*(p41×pStar4) If the star point is more than or equal to 0, the star point is in the field of view of the camera detector; otherwise, the star point is not in the field of view of the camera detector.
Further, when judging whether a star point is in the detector field of view of the optical device, if the detector field of view is a rectangular detector field of view, the following steps are performed:
calculating the area of a rectangular field of view, wherein the star point and four points of the rectangular field of view form four spherical triangles, the sum of the areas of the four spherical triangles is compared with the area of the rectangular field of view, if the areas of the four spherical triangles are equal, the star point is in the field of view, and if the areas of the star point are larger, the star point is out of the field of view;
sphere IIIThe calculation method of the angular area specifically comprises the following steps: spherical triangle P with radius of 1APBPCHas an area of
S＝PA+PB+PC-π
Wherein, PA、PB、PCThe angle of a spherical surface is measured by the angle between two planes, i.e. the angle PAIs a plane PAOPBAnd plane PAOPCThe angle of,
Figure BDA0003324178110000071
and
Figure BDA0003324178110000072
are respectively a point PBAnd point PCTo a straight line OPAPerpendicular line of (1), spherical angle PAAs vectors
Figure BDA0003324178110000073
And
Figure BDA0003324178110000074
at an angle of (1) to
Figure BDA0003324178110000075
Figure BDA0003324178110000076
Wherein, then
Figure BDA0003324178110000077
Respectively from point O to point PAPoint PBPoint PCA vector of (a); then
Figure BDA0003324178110000078
Passing through the inner vector of the sphere
Figure BDA0003324178110000079
Calculating the function of the area of the spherical triangle formed by the spherical triangle as
Figure BDA00033241781100000710
Then there is
Figure BDA00033241781100000711
The coordinates of the star points are (alpha)Star,δStar) Coordinates of four points of the camera detector are (alpha)1,δ1)、(α2,δ2)、(α3,δ3)、(α4,δ4) The corresponding vector coordinate in the inertial system is Zstar、Z1、Z2、Z3、Z4Then, then
The projection area of the detector view field under the celestial coordinate is
S0＝S123+S134＝f(Z1,Z2,Z3)+f(Z1,Z3,Z4)
The sum of the areas of four spherical triangles formed by the star point and the four points of the rectangular field of view is
SStar＝S12Star+S23Star+S34Star+S14Star
＝f(Z1,Z2,ZStar)+f(Z2,Z3,ZStar)+f(Z3,Z4,ZStar)+f(Z1,Z4,ZStar)
Then there is
If SStar>S0Then the star point is not in the camera detector field of view;
if SStar＝S0Then the star point is within the camera detector field of view.
Further, continuously selecting new observation points which are denser near the optimal observation point obtained in the step four, and selecting new observation points andputting the optimal observation points obtained in the third step together to form a new observation point set, repeating the third step and the fourth step to obtain an optimal observation point set, and putting the right ascension declination (alpha) of the optimal observation pointj,δj) J is 1, …, m, and the attitude transformation matrix C from the inertial system of the satellite J2000 to the systemib(j) And j is 1, …, m is used as output, wherein m is the number of optimal observation points.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention provides a target attitude planning method aiming at a multi-view-field starry sky imaging scene of a remote sensing satellite and an astronomical observation satellite, so that all imaging optical equipment in the observation process is not interfered by sunlight and ground-atmosphere light, the number of fixed stars entering the camera view field is as large as possible, the observation effectiveness is ensured, and the observation quality is improved;
(2) the invention provides a observable space analysis model of optical equipment, which can assist in task analysis of a remote sensing satellite and an astronomical observation satellite and design of pointing layout of the optical observation equipment and provide a technical means of quantitative analysis for satellite scheme design;
(3) the invention also provides a specific algorithm for calculating the number of stars in the field of view of the detector aiming at the optical load of imaging the starry sky, so that the method is more feasible.
Drawings
FIG. 1 is a schematic diagram of the system composition of an embodiment;
FIG. 2 is a flow chart of a method embodying the present invention;
FIG. 3 is a schematic view of a projection relationship between an optional field of view and an optional sky area of an optical device;
FIG. 4 is a schematic illustration of the effect of different seasons on alternative day zones;
fig. 5 is a schematic diagram of a method for calculating the area of a spherical triangle.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 2, the method for planning the target attitude of the multi-view starry sky observation satellite provided by the invention comprises the following steps:
acquiring seasons or months for starry sky observation of a satellite, the satellite orbit height and a parasitic light suppression angle of imaging optical equipment;
the parasitic light suppression angle specifically means: the optical equipment is influenced by external stray light to cause the imaging effect to be reduced and even lose efficacy, the optical equipment is restrained by a stray light inhibition angle during imaging, when stray light rays are positioned outside the stray light inhibition angle, the optical equipment normally works, otherwise, the imaging effect of the optical equipment is reduced or the optical equipment cannot normally work; the stray light comprises sunlight and earth gas light.
According to the task planning of the satellite, selecting the month or specific date of starry sky imaging, selecting multi-view-field starry sky imaging in a shadow area, obtaining satellite orbit data through satellite-ground measurement and control, and extrapolating to obtain the satellite orbit height of a starry sky observation day, wherein when the satellite is a circular orbit, the satellite orbit height directly uses the nominal orbit height.
Step two, providing the selectable sky area of each optical device according to the projection relation between the selectable field of view of the optical device and the observable sky area; the method specifically comprises the following steps:
after the height H of the satellite orbit and the veiling glare suppression angle B of the imaging optical equipment are obtained, the included angle A between the XOY plane of the orbit coordinate system and the earth's atmosphere edge is
Figure BDA0003324178110000091
Useful cones of the field of view of the optical device C are
Figure BDA0003324178110000092
Wherein p is the thickness of the atmospheric layer, ReIs the radius of the earth;
the observation sky area analysis is carried out under an celestial coordinate system, the projection of the available conical view field of the optical equipment view field on the celestial coordinate system is recorded as the selectable sky area of the optical equipment, and when the optical axis of the optical equipment points to RZIn any direction within the conical range of the generatrix, the generatrix can not be influencedInterference with ground light, α0The right ascension center, alpha, of the optical device in the optional sky region0Related to the particular season/month in which the observation was made; the observation central points of the selectable day areas in the observation of spring equinox, summer solstice, autumn equinox and winter solstice are respectively
Vernal equinox alpha0＝180°
Summer solstice alpha0＝270°
Autumn score alpha0＝0°
Winter solstice alpha0＝90°
The optional sky region set is
S＝{α,δ:cos2(α-α0)cos2δ+sin2δ≤sin2C}
If B is>A, then C<90°，δeE (-C, C), describing the coordinate (alpha) of the edge of the alternative antenna regione,δe) Is obtained by the following formula
Figure BDA0003324178110000101
If B is<A, then C>90°，δe∈[-90°,90°]Coordinates (α) describing the edges of the alternative sky areae,δe) Is obtained by the following formula
Figure BDA0003324178110000102
Selecting an observation point set according to the star distribution in the selectable sky area to obtain the direction of each optical device under the observation point under a celestial coordinate system, judging whether the optical devices are in the usable sky area, and deleting unusable observation points;
selecting an observation point set, specifically:
when the observation points are selected, each observation point comprises two celestial sphere system coordinate points, one coordinate point is a satellite + Z-axis pointing point, and the coordinate is marked as (alpha)1,δ1) The other coordinate point is a vector pointing point which is positioned on an XOZ plane of the satellite system and has a certain positive included angle with the + X axis and the + Z axis, and the coordinate point is a coordinateIs described as (alpha)2,δ2)；
When the observation point set is selected, the principle of wide to narrow and sparse to dense is followed, when the observation point set is selected for the first time, the maximum optical equipment selectable sky area is covered, and the density is sparse; after the first calculation, when the observation point set is selected for the second time, the observation points are selected near the first available observation points, the density is encrypted for the last time, and the like;
according to the conversion relation between the celestial coordinate system and the inertial coordinate system, the attitude conversion matrix C from the inertial coordinate system of the satellite J2000 to the system of the satelliteibCalculated by the following formula
Figure BDA0003324178110000103
Wherein,
Figure BDA0003324178110000111
XT＝YT×ZT
calculating the direction of each optical device under a celestial coordinate system according to the installation direction of each optical device on the satellite; setting the installation array of the optical equipment under the satellite system as CbCamThen, the attitude matrix of the optical device J2000 inertial system is:
Figure BDA0003324178110000112
wherein,
Figure BDA0003324178110000113
is a vector representation of the optical axis of the optical device under the inertial system, z1、z2、z3Three components of a vector;
the optical axis of the optical device
Figure BDA0003324178110000114
The coordinates (alpha, delta) in the celestial coordinate system are
Figure BDA0003324178110000115
Next, determining whether the coordinates (α, δ) of the optical device in the celestial coordinate system are within the usable sky area obtained in step two:
when all optical devices are in respective selectable antenna zones, then the observation point is available;
when one or two optical devices point to the optical axis and are not in the selectable sky area and cannot meet the task requirement, the observation point is unavailable;
and deleting unavailable observation points to obtain available observation points.
Counting the number of fixed stars in the camera view field under the available observation points, and optimizing the available observation points;
the method specifically comprises the following steps:
firstly, according to the definition of a camera installation matrix, a view field shape and a coordinate system, establishing a camera view field edge pointing vector array under a satellite body system as
Figure BDA0003324178110000121
Wherein n is the number of the edge points of the field of view, [ z ]1i z2i z3i]TThe orientation of the ith edge vector under the satellite system is represented by i ═ 1, …, n;
coordinate array Cam of camera view field edge vector under celestial sphere systemballObtained by the method in the third step;
Figure BDA0003324178110000122
and judging whether a certain star point is in the detector field of view of the optical equipment or not according to the field of view of the camera detector, calculating the number of star points in the field of view of the camera, and selecting the observation point with the largest number of star points as an optimal observation point.
Specifically, the method comprises the following steps:
when judging whether a certain star point is in the detector visual field of the optical equipment, if the detector visual field is a circular detector visual field, the method comprises the following steps:
calculating the coordinates of the star points (alpha)Star,δStar) With the camera optical axis coordinate (alpha)Cam,δCam) Angle between them
Ang＝arccos(ZStar·ZCam)
Wherein, the star point coordinates are derived from the information of the known star catalogue;
Figure BDA0003324178110000123
half cone angle of camera circular field of view is DrThen there is
If Ang is greater than or equal to DrThen the star point is not in the camera detector field of view;
if Ang<DrThen the star point is within the camera detector field of view.
When judging whether a star point is in the detector field of the optical device, if the detector field is a circular detector field, the method can also be carried out by adopting the direction of cross multiplication to judge whether the star point is in a rectangular field:
the coordinates of the star points are (alpha)Star,δStar) Coordinates of four points of the camera detector are (alpha)1,δ1)、(α2,δ2)、(α3,δ3)、(α4,δ4) Constructing a vector p12(α2-α1,δ2-δ1)、p23(α3-α2,δ3-δ2)、p34(α4-α3,δ4-δ3)、p41(α1-α4,δ1-δ4)、pStar1(α1-αStar,δ1-δStar)、pStar2(α2-αStar,δ2-δStar)、pStar3(α3-αStar,δ3-δStar)、pStar4(α4-αStar,δ4-δStar)；
If (p)12×pStar1)*(p34×pStar3) Is not less than 0 and (p)23×pStar2)*(p41×pStar4) If the star point is more than or equal to 0, the star point is in the field of view of the camera detector; otherwise, the star point is not in the field of view of the camera detector.
When judging whether a certain star point is in the detector visual field of the optical equipment, if the detector visual field is a rectangular detector visual field, the method comprises the following steps:
calculating the area of a rectangular field of view, wherein the star point and four points of the rectangular field of view form four spherical triangles, the sum of the areas of the four spherical triangles is compared with the area of the rectangular field of view, if the areas of the four spherical triangles are equal, the star point is in the field of view, and if the areas of the star point are larger, the star point is out of the field of view;
the method for calculating the area of the spherical triangle specifically comprises the following steps: spherical triangle P with radius of 1APBPCHas an area of
S＝PA+PB+PC-π
Wherein, PA、PB、PCThe angle of a spherical surface is measured by the angle between two planes, i.e. the angle PAIs a plane PAOPBAnd plane PAOPCThe angle of,
Figure BDA0003324178110000131
and
Figure BDA0003324178110000132
are respectively a point PBAnd point PCTo a straight line OPAPerpendicular line of (1), spherical angle PAAs vectors
Figure BDA0003324178110000133
And
Figure BDA0003324178110000134
at an angle of (1) to
Figure BDA0003324178110000135
Figure BDA0003324178110000136
Wherein, then
Figure BDA0003324178110000137
Respectively from point O to point PAPoint PBPoint PCA vector of (a); then
Figure BDA0003324178110000138
Passing through the inner vector of the sphere
Figure BDA0003324178110000139
Calculating the function of the area of the spherical triangle formed by the spherical triangle as
Figure BDA00033241781100001310
Then there is
Figure BDA00033241781100001311
The coordinates of the star points are (alpha)Star,δStar) Coordinates of four points of the camera detector are (alpha)1,δ1)、(α2,δ2)、(α3,δ3)、(α4,δ4) The corresponding vector coordinate in the inertial system is Zstar、Z1、Z2、Z3、Z4Then, then
The projection area of the detector view field under the celestial coordinate is
S0＝S123+S134＝f(Z1,Z2,Z3)+f(Z1,Z3,Z4)
The sum of the areas of four spherical triangles formed by the star point and the four points of the rectangular field of view is
SStar＝S12Star+S23Star+S34Star+S14Star
＝f(Z1,Z2,ZStar)+f(Z2,Z3,ZStar)+f(Z3,Z4,ZStar)+f(Z1,Z4,ZStar)
Then there is
If SStar>S0Then the star point is not in the camera detector field of view;
if SStar＝S0Then the star point is within the camera detector field of view.
And step five, repeating the step three and the step four until a satisfactory observation point set is found, and outputting the right ascension declination and satellite attitude transformation matrix of the optimal observation point.
Example (b):
in this embodiment, the satellite is provided with one imaging camera, one star camera and 2 star sensors, and it should be noted that the number of cameras and the number of star sensors can be arbitrarily configured in practical application. Fig. 1 shows a schematic diagram of a system composition of the embodiment, fig. 2 shows a flow chart of an implementation of the method of the present invention, and the following describes in detail a specific embodiment of the present invention with reference to the drawings.
In the first step, according to the mission planning of the satellite, selecting the month or specific date of starry sky imaging, selecting multi-field starry sky imaging in a shadow area, obtaining satellite orbit data through satellite-ground measurement and control, and extrapolating to obtain the satellite orbit height of the starry sky observation day.
In the second step, after the height H of the satellite orbit and the veiling glare suppression angle B of the imaging optical equipment are obtained, the included angle A between the XOY plane of the orbit coordinate system and the earth's atmosphere edge is
Figure BDA0003324178110000141
The usable cone C of the field of view of an optical device is
Figure BDA0003324178110000151
Wherein p is the thickness of the atmospheric layer, ReThe radius of the earth.
Observing sky area analysis is carried out under an celestial coordinate system, the projection of the available conical view field of the optical equipment view field on the celestial coordinate system is recorded as an optional sky area of the optical equipment, the projection relation between the optional conical view field and the optional sky area of certain optical equipment is shown in figures 3 and 4, and when the optical axis of the optical equipment points to RZWhen the direction is any direction in the conical range of the generatrix, the interference of earth gas light is not generated, and alpha is0The right ascension center, alpha, of the optical device in the optional sky region0Related to the particular season/month in which the observation was made. Particularly, the observation center points of the selectable day areas in the observation of spring equinox, summer solstice, autumn equinox and winter solstice are respectively
Vernal equinox alpha0＝180°
Summer solstice alpha0＝270°
Autumn score alpha0＝0°
Winter solstice alpha0＝90°
The optional sky region set is
S＝{α,δ:cos2(α-α0)cos2δ+sin2δ≤sin2C}
If B is>A, then C<90°，δeE (-C, C), describing the coordinate (alpha) of the edge of the alternative antenna regione,δe) Is obtained by the following formula
Figure BDA0003324178110000152
If B is<A, then C>90°，δe∈[-90°,90°]Coordinates (α) describing the edges of the alternative sky areae,δe) Is obtained by the following formula
Figure BDA0003324178110000161
Similarly, the selectable sky areas of the imaging camera, the star camera and the 2 star sensors are SCAM、SSC、SSTSA、SSTSB. The usable day regions of the optical device at different parasitic suppression angles are different, both overlapping and non-overlapping.
In the third step, when the observation points are selected, each observation point comprises two celestial sphere system coordinate points, one point is a satellite + Z-axis pointing point, and the coordinates are marked as (alpha)1,δ1) One point is a vector pointing point which is positioned on an XOZ plane of a satellite system and has a certain positive included angle with the + X axis and the + Z axis, and the coordinate is marked as (alpha)2,δ2)。
When the observation point set is selected, the principle of wide to narrow and sparse to dense is followed, and when the observation point set is selected for the first time, the maximum optical equipment selectable sky area is covered, and the density is sparse; after one calculation, the second observation point should be selected near the first available observation point, the density can be properly encrypted compared with the last one, and so on.
According to the conversion relation between the celestial coordinate system and the inertial system, the attitude conversion matrix C from the satellite J2000 inertial system to the systemibCan be calculated by the following formula
Figure BDA0003324178110000162
Wherein,
Figure BDA0003324178110000163
XT＝YT×ZT
then, the orientation of each optical device in the celestial coordinate system is calculated according to the installation orientation of each optical device on the satellite. An optical device in the satellite bodyThe installation matrix under the system is CbCamThen the attitude matrix under the J2000 inertial system of the optical device is
Figure BDA0003324178110000171
The optical axis of the optical device
Figure BDA0003324178110000172
The coordinates (alpha, delta) in the celestial coordinate system are
Figure BDA0003324178110000173
Next, judging whether the optical axis pointing coordinate (alpha, delta) of certain optical equipment is in the available sky area obtained in the step two
And (3) lining:
Figure BDA0003324178110000174
when all optical devices are in respective selectable antenna zones, then the observation point is available;
Figure BDA0003324178110000175
when one or two optical devices point to the optical axis and are not in the selectable sky area and cannot meet the task requirement, the observation point is unavailable;
and deleting unavailable observation points to obtain available observation points.
In step four, the number of stars in the camera field of view is calculated for the available observation points obtained in step three. Firstly, according to the definition of a camera installation matrix, a view field shape and a coordinate system, establishing a camera view field edge pointing vector array under a satellite body system as
Figure BDA0003324178110000176
Wherein n is the edge point of the field of viewNumber of (c), (d) and [ z ]1i z2i z3i]TI is the orientation of the ith edge vector under the satellite system, 1, …, n.
Coordinate array Cam of camera view field edge vector under celestial sphere systemballCan be obtained by the method described in the third step.
Figure BDA0003324178110000177
And judging whether a certain star point is in the detector field of view of the optical equipment or not according to the field of view of the camera detector, calculating the number of star points in the field of view of the camera, and selecting the observation point with the largest number of star points as an optimal observation point.
The invention provides a specific method for judging whether a certain star point is in the detector field of the optical equipment, and the common judging methods of the camera round detector field and the rectangular detector field are as follows.
First circular field determination method: calculating the coordinates of the star points (alpha)Star,δStar) With the camera optical axis coordinate (alpha)Cam,δCam) Angle between them
Ang＝arccos(ZStar·ZCam)
Wherein, the star point coordinates are derived from the known star catalogue information.
Figure BDA0003324178110000181
Half cone angle of camera circular field of view is DrThen there is
Figure BDA0003324178110000182
If Ang is greater than or equal to DrThen the star point is not in the camera detector field of view;
Figure BDA0003324178110000183
if Ang<DrThen the star point is on the camera detectorWithin the field of view.
A first rectangular field of view determination method: and calculating the area of the rectangular view field, wherein the star point and four points of the rectangular view field can form four spherical triangles, the sum of the areas of the four spherical triangles is compared with the area of the rectangular view field, if the star point is equal, the star point is in the view field, and if the star point is larger, the star point is out of the view field.
Firstly, a method for calculating the area of the spherical triangle is given, as shown in fig. 5, a spherical triangle P with a radius of 1APBPCHas an area of
S＝PA+PB+PC-π
Wherein, PA、PB、PCThe angle of a spherical surface is measured by the angle between two planes, i.e. the angle PAIs a plane PAOPBAnd plane PAOPCThe angle of,
Figure BDA0003324178110000184
and
Figure BDA0003324178110000185
are respectively a point PBAnd point PCTo a straight line OPAPerpendicular line of (1), spherical angle PAAs vectors
Figure BDA0003324178110000186
And
Figure BDA0003324178110000187
at an angle of (1) to
Figure BDA0003324178110000188
Figure BDA0003324178110000189
Wherein, then
Figure BDA00033241781100001810
Respectively from point O to point PAPoint PBPoint PCThe vector of (2). Then
Figure BDA0003324178110000191
Passing through the inner vector of the sphere
Figure BDA0003324178110000192
Calculating the function of the area of the spherical triangle formed by the spherical triangle as
Figure BDA0003324178110000193
Then there is
Figure BDA0003324178110000194
The coordinates of the star points are (alpha)Star,δStar) Coordinates of four points of the camera detector are (alpha)1,δ1)、(α2,δ2)、(α3,δ3)、(α4,δ4) The corresponding vector coordinate in the inertial system is Zstar、Z1、Z2、Z3、Z4Then, then
The projection area of the detector view field under the celestial coordinate is
S0＝S123+S134＝f(Z1,Z2,Z3)+f(Z1,Z3,Z4)
The sum of the areas of four spherical triangles formed by the star point and the four points of the rectangular field of view is
SStar＝S12Star+S23Star+S34Star+S14Star
＝f(Z1,Z2,ZStar)+f(Z2,Z3,ZStar)+f(Z3,Z4,ZStar)+f(Z1,Z4,ZStar)
Then there is
Figure BDA0003324178110000195
If SStar>S0Then the star point is not in the camera detector field of view;
Figure BDA0003324178110000196
if SStar＝S0Then the star point is within the camera detector field of view.
A second rectangular field of view determination method: and judging whether a certain star point is in the rectangular field of view by adopting the directivity of cross multiplication. The coordinates of the star points are (alpha)Star,δStar) Coordinates of four points of the camera detector are (alpha)1,δ1)、(α2,δ2)、(α3,δ3)、(α4,δ4) Constructing a vector p12(α2-α1,δ2-δ1)、p23(α3-α2,δ3-δ2)、p34(α4-α3,δ4-δ3)、p41(α1-α4,δ1-δ4)、pStar1(α1-αStar,δ1-δStar)、pStar2(α2-αStar,δ2-δStar)、pStar3(α3-αStar,δ3-δStar)、pStar4(α4-αStar,δ4-δStar)。
Then there is
Figure BDA0003324178110000197
If (p)12×pStar1)*(p34×pStar3) Is not less than 0 and (p)23×pStar2)*(p41×pStar4) If the star point is more than or equal to 0, the star point is in the field of view of the camera detector;
Figure BDA0003324178110000198
otherwise, the star point is not in the field of view of the camera detector.
It should be noted that, because the spherical surface has a radian, there is a certain error in the determination of the star points located at the edge of the field of view by using the method.
And in the fifth step, repeating the third step and the fourth step until a satisfactory observation point set is found, and outputting the right ascension and declination of the optimal observation point and the satellite attitude transformation matrix.
Continuously selecting more dense new observation points near the optimal observation point obtained in the step four, putting the selected new observation points and the optimal observation point obtained in the step three together to form a new observation point set, repeating the step three and the step four to obtain an optimal observation point set, and setting the right ascension declination (alpha) of the optimal observation pointj,δj) J is 1, …, m, and the attitude transformation matrix C from the inertial system of the satellite J2000 to the systemib(j) And j is 1, …, m is used as output, wherein m is the number of optimal observation points.
And repeating the third step, the fourth step and the fifth step for many times according to the task requirements and the tolerance degree of the calculated amount to achieve the required optimization result.
Those matters not described in detail in the present specification are well known in the art.

Claims (10)

1. A multi-view field starry sky observation satellite target attitude planning method is characterized by comprising the following steps:
acquiring seasons or months for starry sky observation of a satellite, the satellite orbit height and a parasitic light suppression angle of imaging optical equipment;
step two, providing the selectable sky area of each optical device according to the projection relation between the selectable field of view of the optical device and the observable sky area;
selecting an observation point set according to the star distribution in the selectable sky area to obtain the direction of each optical device under the observation point under a celestial coordinate system, judging whether the optical devices are in the usable sky area, and deleting unusable observation points;
counting the number of fixed stars in the camera view field under the available observation points, and optimizing the available observation points;
and step five, repeating the step three and the step four until a satisfactory observation point set is found, and outputting the right ascension declination and satellite attitude transformation matrix of the optimal observation point.
2. The method for planning the target attitude of the multi-view starry sky observation satellite according to claim 1, wherein: the parasitic light suppression angle specifically means: the optical equipment is influenced by external stray light to cause the imaging effect to be reduced and even lose efficacy, the optical equipment is restrained by a stray light inhibition angle during imaging, when stray light rays are positioned outside the stray light inhibition angle, the optical equipment normally works, otherwise, the imaging effect of the optical equipment is reduced or the optical equipment cannot normally work; the stray light comprises sunlight and earth gas light.
3. The method for planning the target attitude of the multi-view starry sky observation satellite according to claim 1, wherein: according to the task planning of the satellite, selecting the month or specific date of starry sky imaging, selecting multi-view-field starry sky imaging in a shadow area, obtaining satellite orbit data through satellite-ground measurement and control, and extrapolating to obtain the satellite orbit height of a starry sky observation day, wherein when the satellite is a circular orbit, the satellite orbit height directly uses the nominal orbit height.
4. The method for planning the target attitude of the multi-view starry sky observation satellite according to claim 1, wherein: the two steps of giving the selectable sky area of each optical device according to the projection relation between the selectable field of view of the optical device and the observable sky area specifically include:
after the height H of the satellite orbit and the veiling glare suppression angle B of the imaging optical equipment are obtained, the included angle A between the XOY plane of the orbit coordinate system and the earth's atmosphere edge is
Figure FDA0003324178100000021
Useful cones of the field of view of the optical device C are
Figure FDA0003324178100000022
Wherein p is the thickness of the atmospheric layer, ReIs the radius of the earth;
the observation sky area analysis is carried out under an celestial coordinate system, the projection of the available conical view field of the optical equipment view field on the celestial coordinate system is recorded as the selectable sky area of the optical equipment, and when the optical axis of the optical equipment points to RZWhen the direction is any direction in the conical range of the generatrix, the interference of earth gas light is not generated, and alpha is0The right ascension center, alpha, of the optical device in the optional sky region0Related to the particular season/month in which the observation was made; the observation central points of the optional day areas are respectively spring equinox alpha when the spring equinox, summer solstice, autumn equinox and winter solstice are observed0＝180°
Summer solstice alpha0＝270°
Autumn score alpha0＝0°
Winter solstice alpha0＝90°
The optional sky region set is
S＝{α,δ:cos2(α-α0)cos2δ+sin2δ≤sin2C}
If B is>A, then C<90°，δeE (-C, C), describing the coordinate (alpha) of the edge of the alternative antenna regione,δe) Is obtained by the following formula
Figure FDA0003324178100000023
If B is<A, then C>90°，δe∈[-90°,90°]Coordinates (α) describing the edges of the alternative sky areae,δe) Is obtained by the following formula
Figure FDA0003324178100000031
5. The method for planning the target attitude of the multi-view starry sky observation satellite according to claim 4, wherein: selecting an observation point set in the third step, specifically:
when the observation points are selected, each observation point comprises two celestial sphere system coordinate points, one coordinate point is a satellite + Z-axis pointing point, and the coordinate is marked as (alpha)1,δ1) The other coordinate point is a pointing point of a vector which is positioned on an XOZ plane of the satellite system and has a certain positive included angle with the + X axis and the + Z axis, and the coordinate is marked as (alpha)2,δ2)；
When the observation point set is selected, the principle of wide to narrow and sparse to dense is followed, when the observation point set is selected for the first time, the maximum optical equipment selectable sky area is covered, and the density is sparse; after the first calculation, when the observation point set is selected for the second time, the observation points are selected near the first available observation points, the density is encrypted for the last time, and the like;
according to the conversion relation between the celestial coordinate system and the inertial coordinate system, the attitude conversion matrix C from the inertial coordinate system of the satellite J2000 to the system of the satelliteibCalculated by the following formula
Figure FDA0003324178100000032
Wherein,
Figure FDA0003324178100000033
XT＝YT×ZT
calculating the direction of each optical device under a celestial coordinate system according to the installation direction of each optical device on the satellite; setting the installation array of the optical equipment under the satellite system as CbCamThen, the attitude matrix of the optical device J2000 inertial system is:
Figure FDA0003324178100000041
wherein,
Figure FDA0003324178100000042
is a vector representation of the optical axis of the optical device under the inertial system, z1、z2、z3Three components of a vector;
the optical axis of the optical device
Figure FDA0003324178100000043
The coordinates (alpha, delta) in the celestial coordinate system are
Figure FDA0003324178100000044
Next, determining whether the coordinates (α, δ) of the optical device in the celestial coordinate system are within the usable sky area obtained in step two:
when all optical devices are in respective selectable antenna zones, then the observation point is available;
when one or two optical devices point to the optical axis and are not in the selectable sky area and cannot meet the task requirement, the observation point is unavailable;
and deleting unavailable observation points to obtain available observation points.
6. The method for planning the target attitude of the multi-view starry sky observation satellite according to claim 5, wherein: counting the number of fixed stars in the camera view field under the available observation points, and optimizing the available observation points, specifically:
firstly, according to the definition of a camera installation matrix, a view field shape and a coordinate system, establishing a camera view field edge pointing vector array under a satellite body system as
Figure FDA0003324178100000045
Where n is the number of the edge points of the field of viewNumber, [ z ]1i z2i z3i]TThe orientation of the ith edge vector under the satellite system is represented by i ═ 1, …, n;
coordinate array Cam of camera view field edge vector under celestial sphere systemballObtained by the method in the third step;
Figure FDA0003324178100000051
and judging whether a certain star point is in the detector field of view of the optical equipment or not according to the field of view of the camera detector, calculating the number of star points in the field of view of the camera, and selecting the observation point with the largest number of star points as an optimal observation point.
7. The method for planning the target attitude of the multi-view starry sky observation satellite according to claim 6, wherein: when judging whether a certain star point is in the detector visual field of the optical equipment, if the detector visual field is a circular detector visual field, the method comprises the following steps:
calculating the coordinates of the star points (alpha)Star,δStar) With the camera optical axis coordinate (alpha)Cam,δCam) Angle between them
Ang＝arccos(ZStar·ZCam)
Wherein, the star point coordinates are derived from the information of the known star catalogue;
Figure FDA0003324178100000052
half cone angle of camera circular field of view is DrThen there is
If Ang is greater than or equal to DrThen the star point is not in the camera detector field of view;
if Ang<DrThen the star point is within the camera detector field of view.
8. The method for planning the target attitude of the multi-view starry sky observation satellite according to claim 6, wherein: when judging whether a star point is in the detector field of the optical device, if the detector field is a circular detector field, the method can also be carried out by adopting the direction of cross multiplication to judge whether the star point is in a rectangular field:
the coordinates of the star points are (alpha)Star,δStar) Coordinates of four points of the camera detector are (alpha)1,δ1)、(α2,δ2)、(α3,δ3)、(α4,δ4) Constructing a vector p12(α2-α1,δ2-δ1)、p23(α3-α2,δ3-δ2)、p34(α4-α3,δ4-δ3)、p41(α1-α4,δ1-δ4)、pStar1(α1-αStar,δ1-δStar)、pStar2(α2-αStar,δ2-δStar)、
pStar3(α3-αStar,δ3-δStar)、pStar4(α4-αStar,δ4-δStar)；
If (p)12×pStar1)*(p34×pStar3) Is not less than 0 and (p)23×pStar2)*(p41×pStar4) If the star point is more than or equal to 0, the star point is in the field of view of the camera detector; otherwise, the star point is not in the field of view of the camera detector.
9. The method for planning the target attitude of the multi-view starry sky observation satellite according to claim 6, wherein: when judging whether a certain star point is in the detector visual field of the optical equipment, if the detector visual field is a rectangular detector visual field, the method comprises the following steps:
calculating the area of a rectangular field of view, wherein the star point and four points of the rectangular field of view form four spherical triangles, the sum of the areas of the four spherical triangles is compared with the area of the rectangular field of view, if the areas of the four spherical triangles are equal, the star point is in the field of view, and if the areas of the star point are larger, the star point is out of the field of view;
the method for calculating the area of the spherical triangle specifically comprises the following steps: spherical triangle P with radius of 1APBPCHas an area of
S＝PA+PB+PC-π
Wherein, PA、PB、PCThe angle of a spherical surface is measured by the angle between two planes, i.e. the angle PAIs a plane PAOPBAnd plane PAOPCThe angle of,
Figure FDA0003324178100000061
and
Figure FDA0003324178100000062
are respectively a point PBAnd point PCTo a straight line OPAPerpendicular line of (1), spherical angle PAAs vectors
Figure FDA0003324178100000063
And
Figure FDA0003324178100000064
at an angle of (1) to
Figure FDA0003324178100000065
Figure FDA0003324178100000066
Wherein, then
Figure FDA0003324178100000067
Respectively from point O to point PAPoint PBPoint PCA vector of (a); then
Figure FDA0003324178100000068
Passing through the inner vector of the sphere
Figure FDA0003324178100000069
Calculating the function of the area of the spherical triangle formed by the spherical triangle as
Figure FDA00033241781000000610
Then there is
Figure FDA00033241781000000611
The coordinates of the star points are (alpha)Star,δStar) Coordinates of four points of the camera detector are (alpha)1,δ1)、(α2,δ2)、(α3,δ3)、(α4,δ4) The corresponding vector coordinate in the inertial system is Zstar、Z1、Z2、Z3、Z4Then, then
The projection area of the detector view field under the celestial coordinate is
S0＝S123+S134＝f(Z1,Z2,Z3)+f(Z1,Z3,Z4)
The sum of the areas of four spherical triangles formed by the star point and the four points of the rectangular field of view is
SStar＝S12Star+S23Star+S34Star+S14Star
＝f(Z1,Z2,ZStar)+f(Z2,Z3,ZStar)+f(Z3,Z4,ZStar)+f(Z1,Z4,ZStar)
Then there is
If SStar>S0Then the star point is not in the camera detector field of view;
if SStar＝S0Then the star point is within the camera detector field of view.
10. The method for planning the target attitude of the multi-view starry sky observation satellite according to claim 6, wherein: continuously selecting more dense new observation points near the optimal observation point obtained in the step four, putting the selected new observation points and the optimal observation point obtained in the step three together to form a new observation point set, repeating the step three and the step four to obtain an optimal observation point set, and setting the right ascension declination (alpha) of the optimal observation pointj,δj) J is 1, …, m, and the attitude transformation matrix C from the inertial system of the satellite J2000 to the systemib(j) And j is 1, …, m is used as output, wherein m is the number of optimal observation points.
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