CN114510673A - Method for calculating satellite measurement and control angle in real time based on Euler angle conversion - Google Patents

Method for calculating satellite measurement and control angle in real time based on Euler angle conversion Download PDF

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CN114510673A
CN114510673A CN202111652976.3A CN202111652976A CN114510673A CN 114510673 A CN114510673 A CN 114510673A CN 202111652976 A CN202111652976 A CN 202111652976A CN 114510673 A CN114510673 A CN 114510673A
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satellite
coordinate system
measurement
angle
control angle
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饶爱水
王恒
汪毅
邓育民
伊瑞海
张龙
龚席熠
顾晓霞
吴关鹏
吴学军
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China Satelite Maritime Measurement And Control Bureau
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Abstract

The invention relates to a method for calculating a satellite measurement and control angle in real time based on Euler angle conversion. The method is mainly used for calculating the measurement and control angles of the plurality of satellite measurement and control antennas in real time so as to realize real-time display of the beam coverage areas of the plurality of measurement and control antennas and provide decision information for a user to judge whether a measurement and control line enters an interference area or not in real time. The method realizes the simultaneous calculation of the measurement and control angles of a plurality of satellite multi-pair antennas by using a plurality of attitude angles through designing a universal real-time calculation framework of the satellite measurement and control angles, and solves the problem of simultaneous calculation of the measurement and control angles of the plurality of satellite multi-pair antennas during multi-target tracking; the invention designs a scheme for separating a reference coordinate system and a space reference coordinate system, and the reference coordinate system is converted into the space reference coordinate system defined by the attitude angle by configuring Euler angles and a conversion sequence thereof, so that the universality of the invention is greatly improved; the invention provides a database design scheme consisting of seven database tables, and improves the applicability of the invention by configuring the parameters of the database.

Description

Method for calculating satellite measurement and control angle in real time based on Euler angle conversion
Technical Field
The invention belongs to the field of aerospace measurement and control data processing, relates to a satellite antenna beam coverage area calculation method widely used in space-ground channel analysis, and particularly relates to a method for calculating a satellite measurement and control angle in real time based on Euler angle conversion, so that real-time display of the coverage areas of a plurality of measurement and control antenna beams is realized, and decision information is provided for a user to judge whether a measurement and control line enters an interference region in real time.
Background
The satellite measurement and control antenna is installed under a satellite body coordinate system, and an included angle between an antenna gain central axis of the satellite measurement and control antenna and the direction of the measurement and control antenna of the ground measurement and control equipment is called a satellite measurement and control angle. When the ground measurement and control equipment stably tracks, the antenna points to the satellite, the satellite is within the main lobe range of the ground measurement and control antenna, and the included angle between a connecting line (i.e. a measurement and control line) between the measurement station and the satellite antenna can be considered as a satellite measurement and control angle.
In order to meet the measurement and control requirements, a pair of measurement and control antennas is respectively installed on the ground and the sky of the satellite, and a directional diagram similar to total space radiation is formed. The wave beam signal is strong near the central axis of the antenna gain, a signal interference area exists at the joint part of the two antennas, the radiation signal of the interference area fluctuates sharply, the target is easy to lose, and the satellite tracking needs to avoid entering the interference area.
When planning an aerospace task, calculating a satellite measurement and control angle according to theoretical data, and pre-judging the strength of a measurement and control signal when tracking a satellite in advance by combining a directional diagram of a satellite antenna; because the actual position and the attitude of the satellite always have some differences from the theoretical position and the attitude, the theoretical calculation and the actual situation have differences, the satellite measurement and control angle is calculated and displayed in real time, and the method has important reference value for judging the fluctuation and the strength of the satellite measurement and control signal in real time.
In order to calculate the satellite measurement and control angle, the spatial orientation of the gain central axis of the satellite measurement and control antenna needs to be obtained, and the spatial orientation is obtained through satellite position and attitude calculation. At least two reference coordinate systems are required to be established for defining the satellite attitude, one is a space reference coordinate system, and the other is an inertial principal axis coordinate system fixedly connected with the satellite. There are many spatial reference coordinate systems, such as a satellite orbit coordinate system, a solar orientation coordinate system, a J2000.0 geocentric equatorial coordinate system, a geocentric-solar coordinate system, a solar-ecliptic coordinate system, etc., wherein the satellite orbit coordinate system is most commonly used; the inertial principal axis coordinate system is generally a satellite body coordinate system, and installation shafts of gyroscopes for measuring satellite postures of some satellites are not consistent with the coordinate axes of the satellite body, so that a conversion relation between the two coordinate systems needs to be introduced.
Because of numerous satellite model designers, various satellite attitude angle definition and description methods and a varying attitude angle measurement method, a measurement and control angle calculation algorithm compatible with various types of satellites is not available at present.
Disclosure of Invention
The invention aims to solve the technical problem of providing a general calculation method for calculating the satellite measurement and control angles in real time based on Euler angle conversion aiming at the prior art, the method can be used for various space reference coordinate systems, and the satellite measurement and control angles of a plurality of target multi-pair measurement and control antennas are calculated in real time by adopting a data driving mode after attitude angle data downloaded by a satellite is received.
The technical scheme adopted by the invention for solving the problems is as follows: a method for calculating a satellite measurement and control angle in real time based on Euler angle conversion comprises the following steps:
step A, designing a database. The invention designs seven database tables: the method comprises the following steps of (1) a satellite orbit root description table, (a satellite attitude angle description table), (a reference coordinate system definition table), (an inertia principal axis coordinate system definition table), (a satellite antenna description table) and (a satellite measurement and control angle output table).
Step A.1, designing a 'description table of satellite orbit root number', storing the satellite orbit root number, initially storing the theoretical orbit root number of the satellite, and updating the latest data to the latest value after receiving the latest data through a network. And when the multi-target is tracked, the database table has a plurality of rows of records.
TABLE 1 satellite orbit root description table
Figure BDA0003445200210000021
Figure BDA0003445200210000031
And A.2, designing a satellite attitude angle description table and storing the satellite attitude angle definition. Wherein the field 'attitude angle number' is a main key; the field 'reference coordinate system number' is an external key and points to 'reference coordinate system definition table'; the field "inertia principal axis coordinate system number" is an external key and points to "inertia principal axis coordinate system definition table".
TABLE 2 satellite attitude angle description table
Figure BDA0003445200210000032
And step A.3, designing a reference coordinate system definition table, storing reference coordinate system definitions and describing a spatial reference coordinate system referred by the attitude angle. Wherein the field "reference coordinate system number" is a foreign key and points to the "reference coordinate system definition table". When the reference coordinate system can be changed into a space reference coordinate system referred by the attitude angle through Euler angle conversion, a user sets fields such as conversion sequence, X-axis angle, Y-axis angle, Z-axis angle and the like; when the spatial coordinate system referenced by the attitude angle completely coincides with the reference coordinate system of the reference, the user sets the conversion order to 0.
Table 3 reference coordinate system definition table
Figure BDA0003445200210000033
Figure BDA0003445200210000041
And step A.4, designing a 'standard reference coordinate system definition table' and storing a standard space reference coordinate system realized by the invention. The field "reference coordinate system transformation matrix function" is used to calculate a transformation matrix for transforming from the J2000.0 geocentric equatorial coordinate system to the reference spatial reference coordinate system, which function is implemented in a dynamically linked library.
When the existing reference space reference coordinate systems in the system can not be converted into the space reference coordinate system referred by the attitude angle through the Euler angle, a new reference space reference coordinate system conversion function is added in the dynamic link library, and a new record is added in the table.
Table 4 reference coordinate system definition table
Figure BDA0003445200210000042
And step A.5, designing an inertial principal axis coordinate system definition table, storing definitions of the inertial principal axis coordinate system, and describing a target coordinate system converted from the attitude angle. The inertial principal axis coordinate system is generally a satellite body coordinate system; the installation axis of the gyroscope for measuring the satellite attitude is not always consistent with the coordinate axis of the satellite body, and generally, the inertial principal axis coordinate system is converted into the satellite body coordinate system through at most 3 euler angles and the conversion sequence thereof.
TABLE 5 definition table of coordinate system of principal axis of inertia
Figure BDA0003445200210000043
And step A.6, designing a satellite antenna description table, describing the installation angle of the satellite antenna under a satellite body coordinate system, and installing the installation angles of a plurality of satellite multiple antennas.
TABLE 6 description of satellite antenna
Field(s) Type (B) Means of
Antenna numbering Integer number of Primary key, numbering in order from 1
Antenna name Character string Brief name of the antenna
Satellite numbering Integer number of An external key pointing to the satellite orbit root description table; there may be multiple sets of antennas for a satellite
Antenna mounting angle 1 Floating point number Antenna and YbObZbIncluded angle of plane-90 deg
Antenna mounting angle 2 Floating point number The antenna is at YbObZbThe included angle between the projection on the plane and the Zb axis is-180 to 180 DEG
And step A.7, designing a satellite measurement and control angle output table. Each target may have multiple antennas, each antenna may adopt multiple sets of attitude angle data for calculation, and may simultaneously track multiple satellites, so that a user needs to define a satellite measurement and control angle to be output during real-time calculation.
TABLE 7 satellite measurement and control angle output table
Figure BDA0003445200210000051
And step B, initializing data. Reading a satellite measurement and control angle output table from small to large according to the measurement and control angle number nTheta, and executing the following operations according to the antenna number nAnten and the attitude angle number nAngle in a row of records:
b.1, searching a record with the antenna number of nAnten in a satellite antenna description table, and acquiring a satellite number nSat and an antenna installation angle corresponding to the record; searching a record with the satellite number of nSat in a satellite orbit root number description table to obtain a corresponding orbit root number value; if the relevant records are not searched, the configuration error of the database is indicated, and the initialization operation fails.
B.2, searching a record with the attitude angle number of nANGLE in a satellite attitude angle description table, and acquiring a reference coordinate system number nRef and an inertia main shaft coordinate system number nInert corresponding to the record; searching a record with the reference coordinate system number of nRef in a reference coordinate system definition table, and acquiring a reference coordinate system number nBase corresponding to the record; searching records with the number of nBase in a reference coordinate system definition table, and searching records with the number of nInert in an inertia main shaft coordinate system definition table; if the relevant records are not searched, the configuration error of the database is indicated, and the initialization operation fails.
Step B.3, if the operation of the step (1) or the step (2) fails, the initialization operation fails; otherwise, generating a 'measurement and control angle index table', wherein the index table consists of a plurality of groups of data, and each group of data has the following form: [ nTheta, nAngle, nAnten, nSat, nRef, nBase, nInert ]
The index table establishes a mapping relation between a measurement and control angle number and an attitude angle number, an antenna number, a satellite number, a reference coordinate system number, a reference coordinate system number and an inertia main shaft coordinate system number, wherein the measurement and control angle number is a keyword, and the structural body is defined as follows:
struct S_AngleIndex{int nTheta；int nAngle；int nAnten；int nSat；int nRef；int nBase；int nInert；}；
and B.4, reading the satellite antenna description table, the satellite orbit root description table, the satellite attitude angle description table, the reference coordinate system definition table and the inertial principal axis coordinate system definition table into a memory in sequence according to the sequence of key words of the tables from small to large, and converting the angle parameter dimension from the degree to the radian. When a satellite orbit root number description table is read, if the orbit root number type configured by a user is a DX-2 initial orbit root number, the instantaneous orbit root number is converted into a J2000 instantaneous fine orbit root number.
And step C, classifying and processing the network received data. Judging the type of network reception data, if the orbit root of the satellite is received, updating the orbit root of the corresponding satellite in the system after dimension conversion, and writing the orbit root into a satellite orbit root description table; if the survey station position data is received, after dimension conversion, the survey station positions in the system are updated and accumulated, and because the attitude angle measurement time is different from the current time and the attitude angle updating frequency is low, the latest 10s of survey station position information needs to be stored in the system for time scale matching; if satellite attitude angle data is received, performing the following steps:
and C.1, generating a measurement and control angle calculation demand table. Searching a measurement and control angle index table according to the attitude angle number in the net-collected attitude angle data, acquiring data items with consistent attitude angle numbers, and generating a temporary measurement and control angle calculation demand table which is an array, wherein each data element is of an S _ AngleIndex type. The structural body of the net-collected attitude angle data is defined as:
struct S_AttitudeAngle{int nAngle；int nSat；double t；double dAngles[3]；}；
the fields in the structure body are sequentially the attitude angle number, the satellite number, the absolute time (unit s) of Beijing on the day and 3 attitude angles (°) (arranged according to an X axis, a Y axis and a Z axis).
And C.2, calling a satellite measurement and control angle calculation function. And for each data element in the measurement and control angle calculation requirement table, calling a satellite measurement and control angle calculation function to calculate the satellite measurement and control angle, forming a satellite measurement and control angle output result, storing the satellite measurement and control angle output result locally, and sending the satellite measurement and control angle output result to display software through a network. The structure definition of the satellite measurement and control angle output result is as follows:
struct S_ThetaAngle{int nTheta；int nAngle；int nAnten；int nSat；double t；double dTheta；}；
the data in the structure body are a measurement and control angle number, an attitude angle number, an antenna number, a satellite number, the Beijing absolute time (unit s) of the day and a measurement and control angle value (°) in sequence.
And D, designing a satellite measurement and control angle calculation function. The satellite measurement and control angle calculation function interface comprises:
int thetaCalculate(S_AngleIndex,S_AttitudeAngle,S_ThetaAngle&)；
the first parameter is the index of the measurement and control angle in the "measurement and control angle calculation requirement table" in the step c.1, and the relevant data required by the measurement and control angle calculation can be sequentially retrieved through each field in the S _ AngleIndex.
The second parameter is satellite attitude angle data, which includes time of the attitude angle and euler angles in three directions.
The third parameter is the satellite measurement and control angle output result, the meaning of which is explained in step c.2, and the result is valid only when the return value of the function is 1.
Fourthly, when the function return value is 1, the calculation result is available; when other values are returned, the calculation result is not available.
The main steps of the calculation function of the satellite measurement and control angle are as follows:
and D.1, calculating the satellite position of the satellite in the J2000.0 geocentric equatorial coordinate system according to the satellite orbit root data.
And D.2, calculating the position of the measuring station under the J2000.0 geocentric equatorial coordinate system according to the longitude, latitude and elevation data of the measuring station and the earth model.
And D.3, calculating a unit vector R of the measuring station relative to the center of mass of the satellite under a J2000.0 geocentric equatorial coordinate system according to the results of the steps D.1 and D.2.
D.4, calculating a conversion matrix A for converting the J2000.0 geocentric equatorial coordinate system to the reference coordinate system according to the definition of the reference coordinate system1。
D.5, calculating a conversion matrix A for converting the reference coordinate system into the satellite inertial principal axis coordinate system according to the satellite attitude angle data and the definition thereof2。
D.6, according to the definition of the satellite inertia principal axis coordinate system, calculating a conversion matrix A for converting the satellite inertia principal axis coordinate system into the satellite body coordinate system3。
And D.7, calculating a conversion matrix A from the satellite body coordinate system to the J2000.0 geocentric equatorial coordinate system according to the calculation results of the steps D.4-D.6.
And D.8, calculating a unit vector Z of the satellite antenna under the satellite body coordinate system according to the antenna installation angle.
And D.9, calculating a unit vector N of the satellite antenna relative to the center of mass of the satellite in the J2000.0 geocentric equatorial coordinate system according to the calculation results of the steps D.7 and D.8.
And D.10, calculating to obtain a satellite measurement and control angle theta according to the calculation results of the steps D.3 and D.9 and the definition of the satellite measurement and control angle.
The method for describing the attitude angle of the satellite comprises a direction cosine method, an Euler angle method, a four-element method and the like, and the most common method is to use three Euler angles of an inertial principal axis coordinate system relative to a space reference coordinate system.
1. The coordinate system used in the present invention.
(1) J2000.0 equatorial coordinate system OjXjYjZj。OjAt the center of mass of the earth, XjThe axis points from the origin to the J2000.0 epoch vernal equinox point direction, ZjAxis pointing from origin to epoch plano-zenith, YjAxis and Xj、ZjThe shaft is a right-handed system.
(2) Satellite orbit coordinate system O0X0Y0Z0. The orbital plane of the satellite about the earth is the coordinate plane, O0At the center of mass of the satellite, Z0The axis pointing from the centre of mass of the satellite to the centre of the earth, X0The axis being in the plane of the track and Z0The axis being perpendicular and pointing in the direction of flight of the satellite, Y0Axis and X0、Z0The shaft is a right-handed system.
(3) Coordinate system of orientation to the sun OsXsYsZs. The orbital plane of the sun rotating about the earth is the coordinate plane, OsAt the center of mass of the satellite, ZsAxial direction from sun to earth center, XsThe axis being in the plane of the track and ZsThe axis being perpendicular and pointing in the direction of flight of the sun, YsAxis and Xs、ZsThe shaft is a right-handed system.
(4) Satellite inertia principal axis coordinate system OiXiYiZi。OiAt the satellite centroid, XiAxis, YiAxis, ZiThe axes are satellite inertia main axes and are used for installing a gyroscope for measuring the attitude. The relationship between the satellite inertia principal axis coordinate system and the satellite body coordinate system is fixed, the two are usually consistent, and when the two are inconsistent, the conversion relationship between the two needs to be further explained.
(5) Satellite body coordinate system ObXbYbZb。ObAt the satellite centroid, XbThe axis being forward (pointing in the direction of flight) along the longitudinal axis of the satellite, ZbThe axis being perpendicular to X in the longitudinal plane of symmetrybAxially downwards (directed towards the earth's centre after orientation to the earth), YbThe axis is perpendicular to the longitudinal symmetry plane to the right (pointing in the direction of deployment of the windsurfing board).
In the above 5 coordinate systems, the J2000.0 earth center equatorial coordinate system, the satellite orbit coordinate system and the solar orientation coordinate system are all space reference coordinate systems, and the satellite inertial principal axis coordinate system and the satellite body coordinate system are all satellite coordinate systems.
2. And (4) transforming Euler angles and coordinates.
According to the Euler theorem, rotating the space reference coordinate system 3 times to obtain an inertia principal axis coordinate system, wherein each rotating axis is a certain coordinate axis of the rotated coordinate system, each rotating angle is an Euler angle, and the rotating angles are respectively recorded as X-axis attitude angles according to different rotating axes
Figure BDA0003445200210000091
Attitude angle of Y axis
Figure BDA0003445200210000092
And Z-axis attitude angle
Figure BDA0003445200210000093
The attitude matrix determined by the euler angle is the product of cubic coordinate transformation matrices, which have the form:
Figure BDA0003445200210000094
Figure BDA0003445200210000101
Figure BDA0003445200210000102
the orientation matrix is related to the sequence of 3 rotations, usually represented by the numbers 1, 2, 3, respectively, for the coordinate axis X, Y, Z of the various coordinate systems, and the euler angular rotation sequence can be expressed as: 1-2-3,1-3-2,2-1-3,2-3-1,3-1-2,3-2-1. The 6 euler angle conversion sequences are sequentially defined as sequences 1 to 6 in the present invention.
3. The invention relies on external software.
Besides depending on system software such as an operating system and a database system, the real-time calculation also needs the support of the following application software in order to complete the real-time calculation and display of the satellite measurement and control angle:
(1) and (4) track processing software. The invention needs to receive the satellite orbit number generated by the orbit processing software, the data is sent by a UPD multicast mode through the network, and the orbit numbers of a plurality of tracking targets are sent out during multi-target tracking.
(2) Station position processing software. The invention needs to receive geodetic longitude and latitude and elevation data of ground measurement and control equipment generated by survey station position processing software, the data is sent by a UPD multicast mode through a network, and the update frequency of the survey station position data is not less than the download frequency of satellite telemetry data.
(3) Satellite telemetry software. The satellite attitude angle data generated by the satellite telemetry software needs to be received, the data is sent by a UPD multicast mode through a network, and the satellite telemetry software can simultaneously resolve a plurality of groups of attitude angle data of a plurality of satellites.
(4) And (5) measuring and controlling angle display software. The satellite measurement and control angle data output by the invention is sent to measurement and control angle display software through a network in a UPD multicast mode. And after receiving the satellite measurement and control angle data, the measurement and control angle display software displays the satellite measurement and control angle data to a user in the forms of curves, charts and the like.
Compared with the prior art, the invention has the advantages that:
1. the invention provides a universal satellite measurement and control angle real-time calculation framework, which can realize simultaneous calculation of measurement and control angles of multiple satellite multiple antennas by utilizing multiple attitude angles and solves the problem of simultaneous calculation of the measurement and control angles of the multiple measurement and control antennas during multi-target tracking.
2. In order to solve the problem of various spatial reference coordinate systems used in attitude angle definition, the invention designs a scheme for separating a reference coordinate system from the spatial reference coordinate system, and the reference coordinate system can be gradually expanded according to the actual use condition.
3. The invention designs a scheme for converting Euler angle rotation of the reference coordinate system into a space reference coordinate system, reduces the number of the reference coordinate systems and improves the universality of the invention.
Drawings
FIG. 1 is a relational diagram of seven database tables designed by the present invention. The satellite measurement and control angle output table points to a satellite antenna description table through a field antenna serial number, and points to a satellite attitude angle description table through a field attitude angle serial number; the satellite antenna description table points to a satellite orbit root description table through a field 'satellite number'; the satellite attitude angle description table points to a reference coordinate system definition table through a field 'reference coordinate system number', and points to an inertia principal axis coordinate system definition table through a field 'inertia principal axis coordinate system number'; the "reference coordinate system definition table" is referred to as a "reference coordinate system definition table" by a field "reference coordinate system number".
Fig. 2 is a data exchange diagram of satellite measurement and control angle calculation software developed based on the invention and other external software. The satellite measurement and control angle calculation software receives the multi-target satellite orbit number generated by the orbit processing software in real time, receives the station position information generated by the station position processing software and receives the satellite attitude angle data generated by the satellite remote measurement software, and the satellite measurement and control angle data is sent to the measurement and control angle display software in real time after the satellite measurement and control angle calculation is completed.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
Based on 7 database tables designed by the invention, the implementation steps of the satellite measurement and control angle calculation function comprise:
(1) and acquiring the corresponding satellite orbit root from a satellite orbit root description table according to the satellite number in the measurement and control angle index, extrapolating the orbit root to the t moment in the satellite attitude angle data S _ Attitudeangle, and solving the position S of the satellite at the t moment under the J2000.0 geocentric equatorial coordinate system through the orbit root. Assuming that the number of satellite orbits is e, i, omega and M, the calculation method of the satellite position is as follows:
Figure BDA0003445200210000121
wherein
Figure BDA0003445200210000122
In the formula, E is a departure point angle, and the Kepler equation is solved by an iterative method to obtain:
M＝E-e·sinE………………(6)
(2) and searching the longitude, latitude and elevation data of the measuring station which is consistent with the t moment from the accumulated data of the measuring station positions according to the t moment in the satellite attitude angle data, and converting the data into a position C under a J2000.0 geocentric equatorial coordinate system. Assuming that the geodetic longitude L, the geodetic latitude B and the geodetic elevation h of the survey station at the time t are easily converted into positions under a J2000.0 geocentric equatorial coordinate system according to an earth model, the calculation method comprises the following steps:
Figure BDA0003445200210000123
wherein
Figure BDA0003445200210000124
aeIs the radius of the earth, beIs the short radius of the earth, thetaGGreenwich sidereal time angle at time t relative to J2000.0 vernal equinox:
θG＝280.4606184°+360.9856122863°·d(t)......(9)
d (t) is the corresponding julian day from epoch J2000.0 at time t.
(3) Calculating a unit vector R of the station relative to the satellite according to the satellite position S in the step (1) and the station position C in the step (2):
Figure BDA0003445200210000131
(4) according to "measuringThe ' reference coordinate system number ' in the angle control index ' acquires a corresponding ' reference coordinate system conversion matrix function ' from a ' reference coordinate system definition table ', calls the function, and calculates to obtain a conversion matrix for converting the J2000.0 geocentric equatorial coordinate system to the reference coordinate system
Figure BDA0003445200210000132
(5) According to the reference coordinate system number in the measurement and control angle index, obtaining the corresponding conversion sequence and three angle values from the reference coordinate system definition table, calling the Euler angle conversion matrix function to obtain the Euler conversion matrix and the left multiplication matrix
Figure BDA0003445200210000133
Obtaining a transformation matrix A for transforming the J2000.0 geocentric equatorial coordinate system to the reference coordinate system1。
(6) Acquiring a corresponding attitude angle conversion sequence from a satellite attitude angle description table according to an attitude angle number of a measurement and control angle index, calling an Euler angle conversion matrix function according to three Euler angles in an input parameter satellite attitude angle data, and calculating to obtain a conversion matrix A for converting a reference coordinate system into a satellite inertial principal axis coordinate system2。
(7) According to the number of the inertial principal axis coordinate system in the measurement and control angle index, acquiring a corresponding conversion sequence and three conversion angles from an inertial principal axis coordinate system definition table, calling an Euler angle conversion matrix function, and calculating to obtain a conversion matrix A for converting the satellite inertial principal axis coordinate system to the satellite body coordinate system3。
(8) Obtaining a transformation matrix A from the satellite body coordinate system to the J2000.0 geocentric equatorial coordinate system according to the calculation results of the steps (5), (6) and (7):
A＝(A3·A2·A1)-1…………………(11)
(9) obtaining corresponding antenna installation from satellite antenna description table according to antenna number in measurement and control angle indexAnd calculating to obtain a unit vector Z of the satellite antenna under the satellite body coordinate system. Suppose alpha1Is the angle alpha between the satellite antenna and the Y0Z plane of the satellite body coordinate system2For the satellite antenna to be angled from the Z axis in the Y0Z plane, then:
Figure BDA0003445200210000141
(10) according to the calculation results of the steps (8) and (9), obtaining a unit vector N of the satellite antenna relative to the centroid of the satellite in the J2000.0 geocentric equatorial coordinate system:
N＝A·Z…………………(13)
(11) obtaining a satellite measurement and control angle theta according to the calculation results of the steps (3) and (10):
θ＝cos-1(R·N)………………(14)
(12) and generating data in a corresponding format according to the definition of the structure body S _ ThetaAngle, and outputting the data.
2. Based on the 'definition table of reference coordinate system' designed by the invention, the field 'conversion matrix function of reference coordinate system' is specifically realized in a dynamic link library so as to facilitate the subsequent addition of a new reference coordinate system.
The function is used for calculating a conversion matrix for converting a J2000.0 geocentric equatorial coordinate system to a reference coordinate system, and is the key for realizing the generalized calculation of the satellite measurement and control angle. The function interface is:
int(*funName)(S_SatOrbitEle,double eTm[3][3])；
the 1 st parameter S _ SatOrbitEle represents the orbital element number of the satellite, and the total number of the orbital element number is 8, namely the date and the time of the orbital element number and 6 orbital elements; the 2 nd parameter bTm [3] [3] is the conversion matrix obtained by calculation; when the function return value is 1, the calculation result is available; when other values are returned, the calculation result is not available.
(1) J2000.0 method for converting the geocentric equator coordinate system into the satellite orbit coordinate system conversion matrix:
A1＝Rx(-π/2)·Rz(u+π/2)·Rx(i)·Rz(Ω)····(15)
where u is the argument of the satellite relative to the point of intersection, and has the value:
u＝ω+f…………………(16)
f is a true near point angle, and the trigonometric function relationship of f and the approximate point angle E is used for solving the following steps:
Figure BDA0003445200210000151
(2) j2000.0 transformation matrix calculation method for transforming geocentric equatorial coordinate system to counterglow directional coordinate system. The orbit number in the formula (15) is replaced by the orbit number of the sun relative to the satellite, and the astronomical calendar gives the average orbit number of the sun including long-term change, namely:
Figure BDA0003445200210000152
in the formula, aeIs the equatorial radius of the earth, StIn order to calculate the total right ascension time difference from the time t to the time of the standard epoch J2000.0, the calculation formula is as follows:
St＝4612.4362″T+1.39656″T2+0.036201″T3····(19)
t is the number of the time interval Ru-century counted from the standard epoch J2000.0, and the calculation formula is as follows:
Figure BDA0003445200210000153
3. based on the Euler angle rotation sequence in the database table designed by the invention, the 'Euler angle conversion matrix function' interface is shown as follows:
int eulerTransMatrix(int nTrans,double dAngles[3],double eTm[3][3])；
the first parameter nTrans represents the Euler angle rotation sequence, the value range is 0-6, 0 represents that conversion is not needed, and the unit matrix is returned; 1-6 respectively represent the sequence of 1-2-3, 1-3-2, 2-1-3, 2-3-1, 3-1-2, 3-2-1; the second parameter dAngles [3] represents three Euler angles, which are an X-axis attitude angle, a Y-axis attitude angle and a Z-axis attitude angle in sequence; the third parameter eTm [3] [3] is the transformation matrix obtained by calculation; when the function return value is 1, the calculation result is available; when other values are returned, the calculation result is not available.
(1) The Euler angle rotation sequence is 1, namely 1-2-3, and then the conversion matrix calculation method is as follows:
A＝Rz(φz)·Ry(φy)·Rx(φx)…………………(21)
(2) the Euler angle rotation sequence is 2, namely 1-3-2, and then the conversion matrix calculation method is as follows:
A＝Ry(φy)·Rz(φz)·Rx(φx)…………………(22)
(3) the Euler angle rotation sequence is 3, namely 2-1-3, and then the conversion matrix calculation method is as follows:
A＝Rz(φz)·Rx(φx)·Ry(φy)…………………(23)
(4) the Euler angle rotation sequence is 4, namely 2-3-1, and then the conversion matrix calculation method is as follows:
A＝Rx(φx)·Rz(φz)·Ry(φy)…………………(24)
(5) the Euler angle rotation sequence is 5, namely 3-1-2, and then the conversion matrix calculation method is as follows:
A＝Ry(φy)·Rx(φx)·Rz(φz)…………………(25)
(6) the Euler angle rotation sequence is 6, namely 3-2-1, and then the conversion matrix calculation method is as follows:
A＝Rx(φx)·Ry(φy)·Rz(φz)……………………(26)
4. the data interaction relationship between the satellite measurement and control angle calculation software developed based on the invention and other external software is shown in fig. 2, and is specifically described as follows:
(1) track processing software: and receiving the number of the multi-target satellite orbits generated by the orbit processing software in real time.
(2) Station position processing software: and receiving geodetic longitude and latitude and elevation data of the ground measurement and control equipment generated by the survey station position processing software in real time.
(3) Satellite telemetry software: satellite attitude angle data generated by satellite telemetry software is received.
(4) Measurement and control angle display software: and sending satellite measurement and control angle data to measurement and control angle display software.
In addition to the above embodiments, the present invention also includes other embodiments, and any technical solutions formed by equivalent transformation or equivalent replacement should fall within the scope of the claims of the present invention.

Claims (10)

1. A method for calculating a satellite measurement and control angle in real time based on Euler angle conversion is characterized by comprising the following steps:
step A, designing a database: the system comprises a satellite orbit root description table, a satellite attitude angle description table, a reference coordinate system definition table, an inertia principal axis coordinate system definition table, a satellite antenna description table, a reference coordinate system definition table and a satellite measurement and control angle output table, wherein the tables have dependency relations;
b, data initialization operation: starting from a satellite measurement and control angle output table, sequentially reading seven database tables according to the dependency relationship among the database tables, reading data into a memory, and generating a measurement and control angle index table in the memory;
step C, network received data classification processing: receiving the satellite orbit number, the survey station position data and the satellite attitude angle data through a network, and calling a satellite measurement and control angle calculation function for real-time calculation according to a satellite attitude angle data driving mode;
d, satellite measurement and control angle calculation processing: according to the input parameter measurement and control angle index, relevant data required by measurement and control angle calculation is sequentially retrieved through the content of each field in the measurement and control angle index, and a scheme for calculating the satellite measurement and control angle in real time by utilizing different types of attitude angles is realized by calling a reference coordinate system conversion matrix function in a dynamic link library.
2. The Euler angle conversion-based method for calculating the satellite measurement and control angle in real time according to claim 1, wherein the satellite measurement and control angle output table comprises a measurement and control angle number as a main key, and an antenna number and an attitude angle number as an external key, which respectively point to a satellite antenna description table and a satellite attitude angle description table; the satellite attitude angle description table comprises a reference coordinate system number and an inertia main shaft coordinate system number which are used as external keys and respectively point to a reference coordinate system definition table and an inertia main shaft coordinate system definition table.
3. The method according to claim 1, wherein the reference coordinate system definition table stores a start coordinate system of the attitude angle of the satellite, includes a reference coordinate system number as a foreign key, points to a reference coordinate system definition table, includes a field conversion order, an X-axis angle, a Y-axis angle, and a Z-axis angle, and defines conversion parameters for converting the reference coordinate system to the reference coordinate system.
4. The method of claim 1, wherein the reference coordinate system definition table is used to store the definitions of the spatial reference coordinate systems implemented in the dynamic link library and the transformation functions thereof, and the field "reference coordinate system transformation matrix function" is the name of the transformation matrix function used to compute the transformation from the J2000.0 geocentric equatorial coordinate system to the reference coordinate system in the dynamic link library.
5. The method according to claim 1, wherein the inertial principal axis coordinate system definition table is used for storing a target coordinate system to which the satellite attitude angle is converted, and includes fields "conversion sequence", "X-axis angle", "Y-axis angle", and "Z-axis angle", which are respectively used for defining conversion parameters for converting the inertial principal axis coordinate system into the satellite body coordinate system, and when the "conversion sequence" is 0, the coordinate system is consistent with the satellite body coordinate system.
6. The method for calculating the satellite measurement and control angle in real time based on the Euler angle conversion as claimed in claim 1, wherein the satellite orbit root description table is used for storing the satellite orbit root, storing the satellite theoretical orbit root initially, updating the latest data to the latest value after receiving the latest data through a network, and the database table has a plurality of rows of records during multi-target tracking.
7. The method for calculating the satellite measurement and control angle in real time based on the euler angle conversion as claimed in claim 1, wherein in step B, starting from the satellite measurement and control angle output table, the satellite antenna description table, the satellite orbit root description table, the satellite attitude angle description table, the reference coordinate system definition table, the reference coordinate system definition table, the inertial principal axis coordinate system definition table are sequentially read according to the small key, the large key and the external key, and the measurement and control angle index table is generated in the memory, and is composed of a plurality of groups of data, wherein each group of data has the following form: [ measurement and control angle number, attitude angle number, antenna number, satellite number, reference coordinate system number, inertial principal axis coordinate system number ], wherein the measurement and control angle number is a keyword, and various data during satellite measurement and control angle calculation are conveniently searched by utilizing the index table.
8. The method for calculating the satellite measurement and control angle in real time based on the Euler angle conversion according to claim 1, wherein in the step C, each field of a network-received attitude angle data structure body is sequentially numbered by an attitude angle, a satellite, and a unit of s and 3 attitude angles are arranged according to an X axis, a Y axis and a Z axis when Beijing absolute time is given on the day; after receiving satellite attitude angle data, generating a temporary measurement and control angle calculation demand table according to attitude angle numbers in the network-received attitude angle data, calling a satellite measurement and control angle calculation function to calculate a satellite measurement and control angle for each data element in the measurement and control angle calculation demand table, forming a satellite measurement and control angle output result, and sending the satellite measurement and control angle output result to display software through a network.
9. The method for calculating the satellite measurement and control angle in real time based on the Euler angle conversion according to claim 8, wherein the fields of the structure of the satellite measurement and control angle output result sequentially include a measurement and control angle number, an attitude angle number, an antenna number, a satellite number, a measurement and control angle value when Beijing is absolute time on day.
10. The method for calculating the satellite measurement and control angle in real time based on the euler angle conversion according to claim 1, wherein the method for calculating the satellite measurement and control angle in the step D mainly comprises the following steps:
d.1, calculating the satellite position of the satellite in a J2000.0 geocentric equatorial coordinate system according to the satellite orbit root data;
d.2, calculating the position of the measuring station under a J2000.0 geocentric equatorial coordinate system according to the longitude, latitude and elevation data of the measuring station and the earth model; .
D.3, calculating a unit vector R of the measuring station relative to the center of mass of the satellite in a J2000.0 geocentric equatorial coordinate system according to the results of the steps D.1 and D.2;
d.4, calculating a conversion matrix A for converting the J2000.0 geocentric equatorial coordinate system to the reference coordinate system according to the definition of the reference coordinate system1；
D.5, calculating a conversion matrix A for converting the reference coordinate system into the satellite inertial principal axis coordinate system according to the satellite attitude angle data and the definition thereof2；
D.6, according to the definition of the satellite inertia principal axis coordinate system, calculating a conversion matrix A for converting the satellite inertia principal axis coordinate system into the satellite body coordinate system3；
D.7, calculating a conversion matrix A from the satellite body coordinate system to a J2000.0 geocentric equatorial coordinate system according to the calculation results of the steps D.4-D.6;
d.8, calculating a unit vector Z of the satellite antenna under a satellite body coordinate system according to the antenna installation angle;
d.9, calculating a unit vector N of the satellite antenna relative to the center of mass of the satellite in a J2000.0 geocentric equatorial coordinate system according to the calculation results of the steps D.7 and D.8;
and D.10, calculating to obtain a satellite measurement and control angle theta according to the calculation results of the steps D.3 and D.9 and the definition of the satellite measurement and control angle.
CN202111652976.3A 2021-12-30 2021-12-30 Method for calculating satellite measurement and control angle in real time based on Euler angle conversion Pending CN114510673A (en)

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* Cited by examiner, † Cited by third party
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CN115276760A (en) * 2022-06-24 2022-11-01 中国联合网络通信集团有限公司 Method and device for determining position of beam center and computer storage medium
CN115578247A (en) * 2022-11-11 2023-01-06 中国科学院空天信息创新研究院 Euler angle calculation method, device, equipment and medium based on right ascension and declination
CN116910107A (en) * 2023-09-13 2023-10-20 北京航天驭星科技有限公司 Track data extraction method, track calculation method, track data extraction device, track data storage medium and track calculation device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115276760A (en) * 2022-06-24 2022-11-01 中国联合网络通信集团有限公司 Method and device for determining position of beam center and computer storage medium
CN115276760B (en) * 2022-06-24 2023-06-23 中国联合网络通信集团有限公司 Beam center position determining method and device and computer storage medium
CN115578247A (en) * 2022-11-11 2023-01-06 中国科学院空天信息创新研究院 Euler angle calculation method, device, equipment and medium based on right ascension and declination
CN115578247B (en) * 2022-11-11 2023-03-14 中国科学院空天信息创新研究院 Euler angle calculation method, device, equipment and medium based on right ascension and declination
CN116910107A (en) * 2023-09-13 2023-10-20 北京航天驭星科技有限公司 Track data extraction method, track calculation method, track data extraction device, track data storage medium and track calculation device
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