CN114526742A - Component-based general construction method and system for attitude reference of micro-nano satellite - Google Patents
Component-based general construction method and system for attitude reference of micro-nano satellite Download PDFInfo
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- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
Abstract
The invention provides a component-based general construction method and system for a micro/nano satellite attitude reference, which comprises the following steps: step S1: acquiring required space reference vector information and motion speed information according to the vector component information; step S2: acquiring double-vector cross-multiplication coordinate system component information according to the required space reference vector information and the movement speed information; step S3: acquiring attitude biasing component information according to the component information of the dual-vector cross-product coordinate system; step S4: acquiring various attitude reference information according to the attitude biasing component information; step S5: and acquiring the component general construction information of the attitude reference of the micro-nano satellite according to various attitude reference information. According to the invention, a plurality of spatial position reference bases among the satellite, the moon, the sun, the earth and the earth surface target are defined by considering satellite spatial attitude control, the whole process of satellite in-orbit attitude control is covered, the relative motion relation of the attitude references is calculated, and the precision of satellite orbit determination and attitude control is improved.
Description
Technical Field
The invention relates to a micro-nano satellite attitude reference component general construction method and system.
Background
With the continuous expansion of the application field of commercial satellites, the application requirements of micro-nano satellites are increasing day by day. The traditional satellite needs to construct a corresponding attitude control scheme according to the task requirement of each satellite and establish a specific attitude control reference of the traditional satellite. In order to meet the attitude control requirements of different types of micro-nano satellites, the patent provides a micro-nano satellite general attitude reference construction method based on a component construction, which can meet the attitude control requirements of most micro-nano satellites and establish attitude references universally and quickly.
Patent CN106767811A discloses a large elliptic orbit attitude reference determination method, which defines a relative position reference coordinate system of a ground surface target and the sun and a relative position reference coordinate system of the geocentric and the sun. The patent only defines the spatial position reference bases of the earth surface target, the earth and the sun, does not define the spatial attitude reference relative to the satellite, and does not contain relative motion speed information. The patent does not consider that satellite spatial attitude control defines a plurality of spatial position references between satellites, the moon, the sun, the earth, and surface targets.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a component-based universal construction method and system for a micro/nano satellite attitude reference.
The invention provides a component-based general construction method for a micro/nano satellite attitude reference, which comprises the following steps:
step S1: acquiring required space reference vector information and motion speed information according to the vector component information;
step S2: acquiring double-vector cross-product coordinate system component information according to the required space reference vector information and the movement speed information;
step S3: acquiring attitude biasing component information according to the component information of the dual-vector cross-product coordinate system;
step S4: acquiring various attitude reference information according to the attitude biasing component information;
step S5: and acquiring the component general construction information of the attitude reference of the micro-nano satellite according to various attitude reference information.
Preferably, the step S1 includes:
step S1.1: and acquiring required space reference vector information and motion speed information according to the star-ground vector component information, the earth-sun vector component information, the earth-moon vector component information and the earth surface target vector component information.
Preferably, the step S3 includes:
step S3.1: and acquiring the offset attitude and the guiding attitude information according to the attitude guiding component information.
Preferably, the step S3 includes:
step S3.2: and acquiring coordinate system information according to the attitude biasing member information.
Preferably, the step S3 includes:
step S3.3: and acquiring attitude biasing component information according to the biasing attitude, the guiding attitude information and the coordinate system information.
The invention provides a micro-nano satellite attitude reference component general construction system, which comprises:
module M1: acquiring required space reference vector information and motion speed information according to the vector component information;
module M2: acquiring double-vector cross-product coordinate system component information according to the required space reference vector information and the movement speed information;
module M3: acquiring attitude biasing component information according to the component information of the dual-vector cross-product coordinate system;
module M4: acquiring various attitude reference information according to the attitude biasing component information;
module M5: and acquiring the component general construction information of the attitude reference of the micro-nano satellite according to various attitude reference information.
Preferably, said module M1 comprises:
module M1.1: and acquiring required space reference vector information and motion speed information according to the star-ground vector component information, the earth-sun vector component information, the earth-moon vector component information and the earth surface target vector component information.
Preferably, said module M3 comprises:
module M3.1: and acquiring the offset attitude and the guiding attitude information according to the attitude guiding component information.
Preferably, said module M3 comprises:
module M3.2: and acquiring coordinate system information according to the attitude biasing member information.
Preferably, said module M3 comprises:
module M3.3: and acquiring attitude biasing component information according to the biasing attitude, the guiding attitude information and the coordinate system information.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the method, a plurality of spatial position reference bases among the satellite, the moon, the sun, the earth and earth surface targets are defined by considering satellite spatial attitude control, the whole process of satellite in-orbit attitude control is covered, the relative motion relation of the attitude references is calculated, and the precision of satellite orbit determination and attitude control is improved;
2. the invention specifically defines a sun-oriented reference coordinate system of the solar sailboard and a sun-oriented reference coordinate system of the load, calculates the motion angular speeds of the two coordinate systems relative to the satellite orbit system, and improves the control precision of the sun-oriented solar sailboard and the sun-oriented load;
3. the invention calculates the relative motion relation between two reference systems through the double-vector cross multiplication component, and can realize the tracking process of the satellite to the moving coordinate system.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic diagram of a micro/nano satellite attitude reference calculation process in the invention.
Fig. 2 is a schematic diagram of spatial reference vectors and their motion speeds in the present invention.
Wherein the content of the first and second substances,
1-space vector of satellite pointing to earth center
2-motion velocity vector of satellite relative to earth
3-space vector of satellite pointing to sun
4-speed vector of movement of the sun relative to the satellite
5-space vector of satellite pointing to moon
6-velocity vector of movement of the moon relative to the satellite
7-space vector of satellite pointing to earth surface target
8-velocity vector of motion of earth's surface object relative to satellite
9-space vector of satellite pointing space target
10-motion velocity vector of space object relative to satellite
11-space vector of satellite pointing star
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention discloses a component attitude reference establishing method capable of meeting most micro/nano satellite attitude control requirements.
The invention provides a micro/nano satellite attitude reference component general construction method, which comprises the following steps:
step 1: converting satellite orbit parameters into information such as a space vector of the satellite pointing to the earth center, a motion velocity vector of the satellite relative to the earth, a normal direction of an orbit surface and the like by using a satellite-earth vector component;
step 2: calculating a space vector of the geocenter pointing to the sun and a motion velocity vector of the sun relative to the earth at the moment by using a ground-sun vector component, and further calculating a space vector of the satellite pointing to the sun and a motion velocity vector of the sun relative to the satellite;
and step 3: calculating a space vector of the geocentric pointing to the moon and a movement velocity vector of the moon relative to the earth at the moment by using the earth-moon vector component, and further calculating a space vector of the satellite pointing to the moon and a movement velocity vector of the moon relative to the satellite;
and 4, step 4: converting longitude and latitude height and ground speed information of the ground surface target into a space vector of which the center of the earth points to the ground surface target and a motion speed vector of the target relative to the earth by using a ground surface target vector component, and further calculating the space vector of the satellite points to the ground surface target and the motion speed vector of the ground surface target relative to the satellite;
and 5: converting the orbit parameters of the space target into a space vector of which the earth center points to the space target and a motion velocity vector of the space target relative to the earth by using a satellite-earth vector component, and further calculating the space vector of which the satellite points to the space target and the motion velocity vector of the space target relative to the satellite;
step 6: calculating a micro-nano satellite attitude reference based on space vector definition by using a double-vector cross-product coordinate system component;
and 7: calculating attitude guidance information required by satellite attitude guidance by using the attitude guidance component;
and 8: and (4) superposing the offset attitude on the existing coordinate system by utilizing the attitude offset component, and calculating the attitude reference after the offset.
Preferably, the micro/nano satellite attitude reference component general construction method comprises the following components: the system comprises a star-ground vector component, a ground-sun vector component, a earth-moon vector component, a ground surface target vector component, an attitude guide component, a double-vector cross-multiplication coordinate system component and an attitude biasing component. And constructing a space attitude standard required by attitude control of various micro-nano satellites by taking a vector in a space as a reference and calling the component once or for multiple times.
Preferably, the space attitude reference required by the attitude control of various micro/nano satellites comprises the following steps: a satellite orbit coordinate system, a solar array sun-to-sun directional coordinate system, a load moon directional coordinate system, a load fixed star directional coordinate system, a load tracking target coordinate system, an attitude offset coordinate system under an inertial system, an attitude offset coordinate system under an orbit system, an attitude guide coordinate system under the orbit system and the like.
The satellite orbit coordinate system brings the space vector of the earth center pointing to the satellite, the motion velocity vector of the satellite relative to the earth and the normal direction information of the orbit plane into a double-vector cross-product coordinate system component to obtain the attitude reference.
The sun array-to-sun directional coordinate system is characterized in that a sun array installation matrix, a space vector of a satellite pointing to the sun, a motion velocity vector of the sun relative to the satellite, a space vector of a geocentric pointing to the satellite and a motion velocity vector of the satellite relative to the earth are substituted into a double-vector cross-product coordinate system component to obtain an attitude reference.
The load-to-sun directional coordinate system is characterized in that a load mounting matrix, a space vector of a satellite pointing to the sun, a motion velocity vector of the sun relative to the satellite, a space vector of a geocentric pointing to the satellite and a motion velocity vector of the satellite relative to the earth are substituted into a double-vector cross-product coordinate system component to obtain an attitude reference.
And the load-to-moon directional coordinate system is used for substituting the load installation matrix, the space vector of the satellite pointing to the moon, the motion velocity vector of the moon relative to the satellite, the space vector of the earth center pointing to the satellite and the motion velocity vector of the satellite relative to the earth into a double-vector cross-product coordinate system component to obtain the attitude reference.
And the load-to-star directional coordinate system brings a load installation matrix, a space vector of the satellite pointing to the star, a space vector of the earth center pointing to the satellite and a motion velocity vector of the satellite relative to the earth into a double-vector cross-product coordinate system component to obtain an attitude reference.
And the load tracking target coordinate system is used for substituting the load installation matrix, the space vector of the satellite pointing to the target, the motion velocity vector of the target relative to the satellite, the space vector of the earth center pointing to the satellite and the motion velocity vector of the satellite relative to the earth into a double-vector cross-product coordinate system component to obtain the attitude reference.
And the load-to-star directional coordinate system brings a load mounting matrix, a space vector of the satellite pointing to the star, a space vector of the satellite pointing to the sun and a motion velocity vector of the sun relative to the satellite into a double-vector cross-product coordinate system component to obtain an attitude reference.
And in the attitude offset coordinate system under the inertial system, the offset attitude information is brought into the attitude offset component to obtain an attitude reference.
And in the attitude offset coordinate system under the orbit system, the offset attitude information and the satellite orbit coordinate system reference are brought into the attitude offset component to obtain the attitude reference.
And in the attitude guide coordinate system under the orbit system, attitude guide information and the satellite orbit coordinate system reference are brought into the attitude biasing component to obtain the attitude reference.
Preferably, the two-vector cross-product coordinate system component of the micro/nano satellite attitude reference componentization general construction method is input with 2 space vectors R1 and R2 for reference and motion velocity vectors V1 and V2 thereof, and the attitude reference is calculated according to a specified coordinate axis association order n.
The coordinate axis association sequence n includes 6 cases, which are respectively:
n is 0, the x axis of the attitude reference is parallel to R1, the z axis is parallel to the direction of R1 cross multiplying R2, and the y axis is determined according to the right hand rule;
n is 1, the x axis of the attitude reference is parallel to R1, the y axis is parallel to the direction of R1 cross-multiplying R2, and the z axis is determined according to the right-hand rule;
n is 2, the y axis of the attitude reference is parallel to R1, the z axis is parallel to the direction of R1 cross-multiplying R2, and the x axis is determined according to the right-hand rule;
n is 3, the y axis of the attitude reference is parallel to R1, the x axis is parallel to the direction of R1 cross-multiplying R2, and the z axis is determined according to the right-hand rule;
n is 4, the posture reference z axis is parallel to R1, the y axis is parallel to the direction of R1 cross-multiplying R2, and the x axis is determined according to the right hand rule;
and n is 5, the z axis of the attitude reference is parallel to R1, the x axis is parallel to the direction of R1 cross-multiplying R2, and the y axis is determined according to the right-hand rule.
Preferably, the two-vector cross-multiplication coordinate system component of the micro/nano satellite attitude reference componentization general construction method comprises the following calculation steps:
step 1, normalizing components of input space vectors to obtain modules and unit vectors of the input space vectors;
normR1＝norm(R1)；
normR2＝norm(R2)；
P1＝R1/normR1；
P2＝R2/normR2；
the norm () represents the modulo of the component of the vector in brackets.
R3＝cross(P1,P2)；
normR3＝norm(R3)；
R4＝cross(R3,P1)；
normR4＝norm(R4)；
P3＝R3/normR3；
P4＝R4/normR4；
The cross () represents a cross-product vector for two vectors within parentheses.
Cmi＝[P1,P4,P3]T
The [ 2 ]]TIndicating that the matrix in the centering brackets is transposed.
pv1_m＝Cmi*V1/normR1；
pv2_m＝Cmi*V2/normR2；
wr_m(2,1)＝-pv1_m(3)；
wr_m(3,1)＝pv1_m(2)；
wr_m(1,1)＝(pv2_m(3)*normR2+wr_m(2,1)*dot(R2,P1)/dot(R2,P4)；
The dot () represents the inner product of the two vectors in parentheses.
And 5, determining a direction cosine matrix from the middle coordinate system to the attitude reference coordinate system according to the specified coordinate axis association sequence n:
when n is 0, Crm is [1,0, 0; 0,1, 0; 0,0,1 ];
when n is 1, Crm is [1,0, 0; 0,0, -1; 0,1,0 ];
when n is 2, Crm is [0,1, 0; 1,0, 0; 0,0, -1 ];
when n is 3, Crm is [0,0, 1; 1,0, 0; 0,1,0 ];
when n is 4, Crm is [0,1, 0; 0,0, 1; 1,0,0 ];
when n is 5, Crm is [0,0, -1; 0,1, 0; 1,0,0 ];
Cri＝Crm*Cmi；
wr_r＝Crm*wr_m。
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A component universal construction method of a micro-nano satellite attitude reference is characterized by comprising the following steps:
step S1: acquiring required space reference vector information and motion speed information according to the vector component information;
step S2: acquiring double-vector cross-product coordinate system component information according to the required space reference vector information and the movement speed information;
step S3: acquiring attitude biasing component information according to the component information of the dual-vector cross-product coordinate system;
step S4: acquiring various attitude reference information according to the attitude biasing component information;
step S5: and acquiring the component general construction information of the attitude reference of the micro-nano satellite according to various attitude reference information.
2. The micro-nano satellite attitude reference structuralized general construction method according to claim 1, wherein the step S1 includes:
step S1.1: and acquiring required space reference vector information and motion speed information according to the star-earth vector component information, the earth-sun vector component information, the earth-moon vector component information and the earth surface target vector component information.
3. The micro-nano satellite attitude reference component general construction method according to claim 1, wherein the step S3 includes:
step S3.1: and acquiring the offset attitude and the guiding attitude information according to the attitude guiding component information.
4. The micro-nano satellite attitude reference component general construction method according to claim 3, wherein the step S3 includes:
step S3.2: and acquiring coordinate system information according to the attitude biasing member information.
5. The micro-nano satellite attitude reference component general construction method according to claim 4, wherein the step S3 includes:
step S3.3: and acquiring attitude biasing component information according to the biasing attitude, the guiding attitude information and the coordinate system information.
6. A micro-nano satellite attitude reference component universal construction system is characterized by comprising:
module M1: acquiring required space reference vector information and motion speed information according to the vector component information;
module M2: acquiring double-vector cross-product coordinate system component information according to the required space reference vector information and the movement speed information;
module M3: acquiring attitude biasing component information according to the component information of the dual-vector cross-product coordinate system;
module M4: acquiring various attitude reference information according to the attitude biasing component information;
module M5: and acquiring the component general construction information of the attitude reference of the micro-nano satellite according to various attitude reference information.
7. The micro-nano satellite attitude reference structuralized general construction system according to claim 6, wherein the module M1 comprises:
module M1.1: and acquiring required space reference vector information and motion speed information according to the star-ground vector component information, the earth-sun vector component information, the earth-moon vector component information and the earth surface target vector component information.
8. The micro-nano satellite attitude reference structuralized general construction system according to claim 6, wherein the module M3 comprises:
module M3.1: and acquiring the offset attitude and the guiding attitude information according to the attitude guiding component information.
9. The micro-nano satellite attitude reference structured general construction system according to claim 8, wherein the module M3 comprises:
module M3.2: and acquiring coordinate system information according to the attitude biasing member information.
10. The micro-nano satellite attitude reference structuralized general construction system according to claim 9, wherein the module M3 comprises:
module M3.3: and acquiring attitude biasing component information according to the biasing attitude, the guiding attitude information and the coordinate system information.
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