CN114537715A - Multi-satellite-sensitive cluster self-adaptive layout method and system based on occlusion judgment - Google Patents
Multi-satellite-sensitive cluster self-adaptive layout method and system based on occlusion judgment Download PDFInfo
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Abstract
The invention provides a multi-star sensitive cluster self-adaptive layout method and system based on occlusion judgment, which comprises the steps of establishing a parameterized transfer coordinate system by referring to a whole star coordinate system, and establishing the parameterized coordinate system at the origin of the transfer system; establishing a star sensor mounting coordinate system in the center of a star sensor mounting surface; establishing and assembling a sheltered model and a sheltering model, and carrying out position self-adaptive biasing of a single star sensor in a cluster based on sheltering judgment and carrying out corner self-adaptive biasing of the star sensor based on sheltering judgment on the basis of the position self-adaptive biasing; after the layout of a single star sensor in the cluster is finished, other star sensors in the cluster are laid out, the star sensor model which is laid out is used as a newly-added shielding model to be introduced into the layout process of other star sensors, and then star sensor judgment is carried out, so that the self-adaptive layout of other star sensors in the multi-star sensor cluster is realized; after the self-adaptive layout of the multi-satellite-sensor cluster is finished, the output result is the offset relation among each satellite-sensor installation system, the transfer system, the X-axis rotation angle system, the Y-axis rotation angle system and the Z-axis rotation angle system.
Description
Technical Field
The invention relates to the field of satellites, in particular to a multi-satellite-sensitive cluster self-adaptive layout method and system based on occlusion judgment.
Background
With the rapid development of earth observation remote sensing satellites, the guarantee of high-precision observation performance puts higher requirements on the attitude control precision and the attitude measurement precision of the satellites. The star sensor is a common high-precision attitude measurement device, has the advantages of high precision and absolute measurement, and is widely applied to attitude measurement of spacecrafts. At present, in order to obtain higher attitude measurement accuracy, a satellite is generally provided with a plurality of high-accuracy star sensors, and a plurality of star sensors are used for simultaneously performing attitude measurement during orbital operation so as to improve the measurement accuracy of a system. Meanwhile, considering the influence of the orbit thermal environment of the satellite on the star sensors and the star sensor mounting structure during the long-term orbit operation, the high-precision star sensors on the star are preferably arranged in a cluster type dense layout, so that the star sensor mounting structure with high rigidity and low deformation is convenient to mount, and the influence of the orbit thermal deformation of the star sensor mounting structure on the precision of the star sensor measuring system is reduced. Therefore, for the satellite which is provided with a plurality of star sensors and needs to be subjected to cluster type dense layout, the superior multi-star-sensitive cluster layout scheme is adopted, so that the attitude measurement precision of a star sensor measurement system is improved, and the design and thermal deformation control of a star sensor mounting structure are facilitated.
Because the starry sky is a darker background space, stray light such as sunlight, moonlight, earth atmosphere light and the like easily influences background noise during detection of the star sensor, and therefore the measurement accuracy of the star sensor is influenced. Therefore, when the star sensor is arranged on the star, the view field condition of the star sensor needs to be strictly controlled, and the star sensor is ensured not to be influenced by stray light. Meanwhile, for the optical detector of the star sensor, no part can be shielded in the field of view, but due to the improvement of the complexity of the overall design of the satellite, the off-star parts, especially off-star movable parts such as a solar array, a large antenna and the like, all adopt an unfolded form and generally have motion envelopes with a large range during the orbit, and the motion envelopes are more and more easy to shield the field of view of the star sensor, so that the use of the star sensor is influenced. Therefore, when the multi-star sensor cluster type dense layout is adopted, the external parts on the star, including the motion envelope, and the shielding of the view field of the star sensor need to be considered in the star sensor layout.
For the design of multi-star sensitive clustered dense layout, the most key objective is to optimize the installation position and the detection orientation (namely the pointing angle of the star sensitive detector) of each star sensor so as to realize the multi-star sensitive clustered dense layout.
The invention patent with publication number CN102372093A discloses a method for the head layout of a star sensor, which mainly comprises the following steps: establishing a space digital ball with a coordinate system parallel to the track coordinate system; calculating the range of an included angle between sunlight and an orbit coordinate system and the range of an included angle between earth reflected light and the orbit coordinate system; cutting off the space of the digital sphere occupied by the two parts of areas in the space digital sphere to form an effective space digital sphere with the head layout of the star sensor on the spacecraft in the single flight attitude; and converting the rotating angles of the effective space digital spheres obtained in the single flight postures according to the postures of the spacecraft, rotating the digital spheres by corresponding angles, combining the digital spheres, splicing the effective space digital spheres together, taking the intersection parts of the effective space digital spheres, and finally determining the pointing direction of the head of the star sensor on the spacecraft. The invention has certain limitations, mainly comprising: 1) according to the step 3 of the invention, the space of the digital sphere occupied by the two parts of areas is cut off in the space digital sphere to form an effective space digital sphere which can be used for the head layout of the star sensor on the single-flight attitude spacecraft, and the method can be known by combining the context, only the two parts of areas of sunlight and earth reflected light are excluded from the effective space for the head layout of the star sensor, and the influence of other stray light, extra-star components and the like on the star sensor layout is not considered, so that the obvious limitation exists; 2) the method disclosed in step 5 according to the invention is that the effective space digital balls obtained in a plurality of single flight attitudes are combined after rotating the digital balls by corresponding angles according to the rotating angle required by the attitude conversion of the spacecraft, and the effective space digital balls are spliced together. The method disclosed in claim 2 is "step 7.1: placing the head of the star sensor in the sphere center of the space digital sphere; step 7.2: connecting the sphere center with any point on the sphere to determine the direction of the probe axis vector of the star sensor head under the orbital coordinate system. In the above disclosure, the method of digital ball rotation angle post-combination and splicing is not disclosed in step 5. Meanwhile, as is well known, the sphere center of the space digital sphere is a space point, but the invention does not disclose how to place the head of the star sensor in the sphere center of the space digital sphere, "connect the sphere center with any point on the sphere to determine the direction of the detection axis vector of the head of the star sensor in the orbital coordinate system," connect the sphere center with any point on the sphere to obtain a vector along the radial direction of the space digital sphere, and the relationship between the vector and the direction of the detection axis vector of the head of the star sensor in the orbital coordinate system "is not disclosed, and the specific relationship between the connection line of the sphere center with any point on the sphere and the direction of the detection axis vector of the head of the star sensor in the orbital coordinate system and the specific function in the invention cannot be described, and in conclusion, step 5 and steps 7.1 to 7.2 and the like in the invention do not disclose specific implementation methods. 3) The invention disclosed in claim 2 is: "step 7.4: interference analysis is carried out by utilizing the digital view field and the available space pointing ball at the head of the star sensor; step 7.5: selecting a digital view field direction completely contained by an available space direction ball to obtain the direction of the star sensor head under the spacecraft flight coordinate system; step 7.6: and determining the final layout of the star sensor head on the spacecraft according to the relationship between the flight coordinate system and the spacecraft layout coordinate system, so that interference analysis is performed by using the digital field of view and the available space pointing ball of the star sensor head to obtain the pointing direction of the star sensor head under the spacecraft flight coordinate system, and finally, the step 7.6 is carried out, the final layout of the star sensor head on the spacecraft is determined according to the relationship between the flight coordinate system and the spacecraft layout coordinate system, and the final layout result form of the star sensor head on the spacecraft is not disclosed. 4) The invention does not disclose a specific method for realizing the technical problems that the requirement of multiple flight attitudes can be met simultaneously, and the pointing direction of the star sensor head cannot flexibly rotate along with the spacecraft and cannot meet the requirement of the multiple flight attitudes.
The invention patent with publication number CN108225306A discloses a star sensor installation layout method based on remote sensing satellite staring attitude, and the method disclosed by the invention patent is as follows: establishing a space spherical surface, determining an area on the established space spherical surface for effectively avoiding the terrestrial gas and the sunlight, taking intersection of the avoiding areas, taking the spherical center of the space spherical surface as a starting point of an optical axis vector, and taking any point on the area as an end point of an optical axis vector of the star sensor, namely determining the installation layout orientation of the star sensor. The method only discloses how to determine the optical axis vector of the star sensor, and the related position, the overall orientation and the like of the star sensor installation layout are not disclosed.
The chinese patent publication No. CN104296751A discloses a layout design method for a multi-star sensor configuration, which comprises the following steps: the method comprises the following steps: defining the minimum included angle between the optical axis of the star sensor and sunlight, ground gas light and star objects; step two: creating a layout design model; step three: creating a sunlight inhibition pyramid, a terrestrial gas light inhibition pyramid and a star object inhibition pyramid of each star sensor in a satellite three-dimensional model; step four: adjusting the layout of each star sensor on the satellite model in real time; step five: adjusting the included angle between the optical axes of every two star sensors between 2 theta s-180 degrees to make the included angle more than twice of the sunlight inhibition angle; step six: and rotating the star sensors to enable the relative motion of the fixed star to be uniformly distributed on two coordinate axes vertical to the optical axis of each star sensor. The invention has a certain limitation habit, mainly comprising: 1) the invention discloses a method for designing a star sensor, which comprises the following steps of determining a limit condition of stray light of the star sensor, namely determining a minimum included angle between an optical axis of the star sensor and sunlight, namely a sunlight suppression angle of the star sensor, a minimum included angle between the optical axis of the star sensor and earth gas light, namely an earth gas light suppression angle and a minimum included angle between a star sensitive optical axis and a star object according to the requirements in the technical specifications of the star sensor, namely knowing the included angles between the optical axis of the star sensor and the sunlight, the earth gas light and the star object, and further developing the configuration layout design of the star sensor in the subsequent steps only by obtaining the included angles. As is well known, the configuration layout design of the star sensor requires not only the layout of the star sensor mounting position, but also the design of the orientation of the star sensor detector, so that the method requires the known included angle between the optical axis of the star sensor and sunlight, terrestrial gas light and a star object, and has obvious limitation in the configuration layout design of the star sensor; 2) the invention discloses contents in the third step and the fourth step as follows: step three: creating a sunlight inhibition pyramid, a terrestrial gas light inhibition pyramid and a star object inhibition pyramid of each star sensor in a satellite three-dimensional model; step four: the layout of each star sensor is adjusted on a satellite model in real time, the angle relation between the view field condition of each star sensor and a star sensitive optical axis is directly observed, so that the sun shading pyramid of each star sensor cannot enter sunlight envelope, the earth gas shading pyramid cannot enter earth gas envelope, and no star object can enter a star object suppression pyramid, thus obtaining a layout scheme. The method of the invention is to create a pyramid in a satellite three-dimensional model, adjust the layout of each star sensor in real time, and directly observe the angle relationship between the view field condition of each star sensor and the star sensitive optical axis to obtain a layout scheme, and does not disclose how to adjust the star sensitive layout in real time and how to judge the angle relationship between the view field condition of the star sensor and the star sensitive optical axis. 3) The invention discloses contents in the fifth step and the sixth step as follows: step five: adjusting the included angle between the optical axes of every two star sensors between 2 theta s-180 degrees to make the included angle more than twice of the sunlight inhibition angle; step six: the included angle relation between the optical axes of the star sensors is not changed, the optical axis direction of the star sensors is adjusted, and the star relative motion is uniformly distributed on two coordinate axes vertical to the optical axis of each star sensor by rotating the star sensors. The disclosure of claim 2 is that "the angle between the optical axes of two star sensors is 90 degrees". The disclosure of claim 3 is "a method for determining a solar light envelope" comprising: the minimum included angle alpha min between sunlight and an orbit surface in one year is taken as a critical condition, if the orbit is a sun synchronous orbit of the morning at a descending intersection point place, a-Y surface is selected, a conical surface with a half-cone angle of 90-alpha min is established, otherwise, a conical surface with a half-cone angle of 90-alpha min is established on a star body and a Y surface, and the installation of the star sensor must ensure that a sun suppression angular field of view does not enter the conical body of 90-alpha min. According to the disclosure, the method disclosed by the invention needs to make the included angle between the optical axes of two star sensors be 2 θ s-180 degrees and larger than twice of the sunlight suppression angle, make the relative motion of the fixed star uniformly distributed on two coordinate axes perpendicular to the optical axis of each star sensor, make the included angle between the optical axes of two star sensors be 90 degrees, and aim at the situation that the orbit is the sun synchronization orbit of the morning when the orbit is at the descending intersection point, and do not disclose what the other situations mainly include. These steps and the claims set forth above further increase the limitations of the inventive method.
Aiming at the limitation of the existing method, the invention provides a multi-star-sensitive cluster self-adaptive layout method based on shielding judgment, which aims to meet the requirement of multi-star-sensitive cluster type dense layout, simultaneously describes the layout position of a star sensor and the detection direction of the star sensor by using 3-direction translation bias and 3-direction corner bias, equivalently converts constraints such as the field of view of the star sensor, stray light to be avoided, shielding of parts outside the star and the like into three-dimensional models and performs shielding judgment among the three-dimensional models, parameterizes and adaptively adjusts the 3-direction translation bias and the 3-direction corner bias, and conducts and drives the shielding relation of the three-dimensional models to synchronously perform self-adaptive judgment, thereby finally realizing the self-adaptive layout of a multi-star-sensor cluster.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a multi-star sensor cluster self-adaptive layout method and system based on occlusion judgment.
The invention provides a multi-star sensor cluster self-adaptive layout method based on occlusion judgment, which comprises the following steps:
establishing a transfer coordinate system: establishing a parameterized transfer coordinate system by referring to a whole satellite coordinate system in a space needing planet sensitive layout;
a parameter coordinate system establishing step: sequentially establishing an X-axis angle system, a Y-axis angle system and a Z-axis angle system based on the transfer coordinate system;
the installation is the establishment step: establishing a star sensor mounting coordinate system at the center of a star sensor mounting surface to form a mounting system, wherein the Z axis of the mounting system is consistent with the optical axis direction of the star sensor;
a model establishing step: defining an occluded model and an occluding model, respectively establishing corresponding three-dimensional models according to respective envelope ranges, and establishing the occluding model and the occluded model;
assembling: assembling the star sensor model, the shielded model and the shielding model;
a single satellite sensitive position judgment step: performing position self-adaptive bias iteration of a single satellite sensor based on shielding judgment until the shielded model and all shielding models are not shielded;
judging the star sensitive rotation angle of a single satellite: performing corner self-adaptive bias iteration of a single satellite sensor based on shielding judgment until the shielded model and all shielding models are not shielded;
a plurality of star sensitive cluster layout judgment steps: judging whether the layout of a plurality of star sensor clusters is finished, if so, outputting star sensor layout parameters and locking star sensor assembly; and if the judgment result is negative, distributing other satellite sensors in the cluster.
Preferably, the transfer system and the whole-star coordinate system realize position parameterization bias between the transfer system and the whole-star coordinate system through a parameterization coordinate value of the transfer system origin under the whole-star coordinate system; the origin of the transfer system has parameterized coordinate values in the whole star coordinate system, and the coordinate values along the X, Y, Z axis are denoted as dx, dy, dz, respectively.
Preferably, the parameter coordinate system establishing step includes:
establishing an X-axis angle system taking an X-axis rotation angle around a transfer system as a parameter at the origin of a transfer coordinate system, wherein the rotation angle parameter is marked as alpha;
establishing a Y-axis rotation angle system taking a Y-axis rotation angle around the X-axis rotation angle system as a parameter at the origin of the X-axis rotation angle system, wherein the rotation angle parameter is marked as beta;
and establishing a Z-axis angle system taking a Z-axis rotation angle of the Y-axis angle system as a parameter at the origin of the Y-axis angle system, wherein the rotation angle parameter is marked as gamma.
Preferably, in the model establishing step, the field range of the star sensor is defined as a shielded model, and the earth atmosphere reflected light, sunlight and the rotating envelope of the extraterrestrial movable part are defined as a shielded model.
Preferably, in the assembling step, the mounting system is assembled by referring to the Z-axis angle system in a coordinate system reference mode, and after the assembling is finished, the direction of the mounting system is completely consistent with that of the Z-axis angle system and the origin is the same; sunlight, earth atmosphere reflected light and the rotating envelope of the extraterrestrial movable part are all assembled in a coordinate system reference mode.
Preferably, the output star sensor layout parameters comprise coordinate values (dx, dy, dz) of an origin of the installation coordinate system under the transfer system, an included angle alpha between an X-axis rotation system and the transfer system, a Y-axis included angle beta between the Y-axis rotation system and the X-axis rotation system, and a Z-axis included angle beta between the Z-axis rotation system and the Y-axis rotation system.
Preferably, the angles of alpha, beta, gamma and the like are in the range of 0-180 degrees.
Preferably, in the single satellite-sensitive corner determination step, the corner adaptive bias based on the occlusion determination of the single satellite-sensitive is performed on the basis of the position adaptive bias, starting from the angle [ α β γ ] (to [ 000 ]), sequentially iterating 3 angles one by one in an order of α, β, and γ, and performing occlusion determination of the three-dimensional model once at each iteration step until the occluded model and all the occluded models are not occluded.
The invention provides a multi-star sensor cluster self-adaptive layout system based on occlusion judgment, which comprises the following modules:
a transfer coordinate system establishing module: establishing a parameterized transfer coordinate system by referring to a whole satellite coordinate system in a space needing planet sensitive layout;
a parameter coordinate system establishing module: sequentially establishing an X-axis angle system, a Y-axis angle system and a Z-axis angle system based on a transfer coordinate system;
installation is a building block: establishing a star sensor mounting coordinate system at the center of a star sensor mounting surface to form a mounting system, wherein the Z axis of the mounting system is consistent with the optical axis direction of the star sensor;
a model building module: defining an occluded model and an occluding model, respectively establishing corresponding three-dimensional models according to respective envelope ranges, and establishing the occluding model and the occluded model;
assembling the module: assembling the star sensor model, the shielded model and the shielding model;
the single satellite sensitive position judgment module: performing position self-adaptive bias iteration of a single satellite sensor based on shielding judgment until the shielded model and all shielding models have no shielding;
the single satellite sensitive corner judgment module: performing corner self-adaptive bias iteration of a single satellite sensor based on shielding judgment until the shielded model and all shielding models are not shielded;
a plurality of star sensor cluster layout judgment modules: judging whether the layout of a plurality of star sensor clusters is finished, if so, outputting star sensor layout parameters and locking star sensor assembly; and if the judgment result is negative, distributing other satellite sensors in the cluster.
Compared with the prior art, the invention has the following beneficial effects:
(1) when the star sensor is ingeniously arranged on a satellite, the conditions that the field of view of the star sensor is not irradiated by stray light and is not shielded by an external star part are converted into a shielding and shielded relation, the field of view range of the star sensor is defined as a shielded model, the stray light range and the external star part envelope range are defined as shielding models for the star sensitive field of view, the shielded three-dimensional model and the shielded three-dimensional model which correspond to the field of view of the star sensor are respectively established according to the field of view range of the star sensor, the stray light range and the external star part envelope range, and the shielding relation between the shielded three-dimensional model and the shielded three-dimensional model is judged to visually represent the relation between the field of view of the star sensor and the stray light, the external star part envelope and the like so as to judge whether the star sensitive field of view meets the requirements of being not irradiated by the stray light and not shielded by the external star part.
(2) The method skillfully utilizes continuous reference of a coordinate system, sequentially establishes 4 parameterized coordinate systems such as a transfer system, an X-axis angle system, a Y-axis angle system, a Z-axis angle system and the like, then combines the reference assembly of the coordinate system, associates a star sensitive installation system with the whole star coordinate system through the 4 parameterized coordinate systems, utilizes the transfer system to represent the translation offset of the star sensitive installation system relative to the whole star coordinate system in 3 coordinate axis directions in a mode of sharing an original point, and utilizes the X-axis angle system, the Y-axis angle system and the Z-axis angle system to represent the pivoting angle offset. The whole star coordinate system is introduced into the star sensor layout process, the conversion between the whole star coordinate system and the satellite flight coordinate system is simplified, and the star sensor layout can be accurately described only through 3 translation offsets and 3 rotation angle offsets.
(3) According to the method, the adjustment of the position and the orientation of the star sensor layout is realized by ingeniously utilizing the adjustment of 3 translation offset parameters and 3 corner offset parameters such as a transfer system, an X-axis corner system, a Y-axis corner system and a Z-axis corner system, and the self-adaptive adjustment of the 3 translation offset parameters and the 3 corner offset parameters based on the judgment of the shielding relationship can be realized by combining the judgment of the shielding relationship, so that the self-adaptive layout of the star sensor is finally realized.
(4) The method of the invention can be applied to single star sensitivity layout and multi-star sensitivity cluster layout. When the multi-star-sensitive cluster is distributed, on the basis of realizing self-adaptive distribution of the front-sequence single star-sensitive cluster, the star sensor which is distributed is added to the back-sequence star-sensitive distribution process as a shielding model, and self-adaptive adjustment of 3 translation offset parameters and 3 rotation angle offset parameters which are judged based on shielding relations is still utilized, so that the self-adaptive distribution of the multi-star-sensitive cluster is finally and conveniently realized.
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 discloses a flow chart of a multi-star sensor cluster adaptive layout method based on occlusion determination.
Fig. 2 discloses an exemplary graph of the establishment of the transition series.
FIG. 3 discloses an example graph of the offset of the transfer system and the whole star coordinate system.
Fig. 4 discloses an exemplary diagram of the angular offset between the X-axis angular system and the transfer system.
Fig. 5 discloses an exemplary graph of the angular offset between the Y-axis angular system and the X-axis angular system.
Fig. 6 discloses an exemplary graph of the angular offset between the Z-axis angular system and the Y-axis angular system.
FIG. 7 discloses an assembly view of the satellite sensitive mounting system with reference to a Z axis angular system using a coordinate system reference.
FIG. 8 discloses an example graph of an occlusion model and an occluded model.
FIG. 9 discloses an example graph of occlusion determination between an occlusion model and an occluded model.
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.
As shown in fig. 1 to 9, according to the method and system for self-adaptive layout of a multi-star sensor cluster based on occlusion determination provided by the invention, the layout position of a star sensor and the detection direction of the star sensor are described by using 3-direction translation bias and 3-direction corner bias, constraints such as the field of view of the star sensor, stray light to be avoided, and external star component occlusion are equivalently converted into three-dimensional models, occlusion determination among the three-dimensional models is performed, and the three-dimensional model occlusion relationship is conducted and driven to perform self-adaptive determination synchronously by parameterizing and adaptively adjusting the 3-direction translation bias and the 3-direction corner bias, so that the self-adaptive layout of the multi-star sensor cluster is finally realized.
The invention provides a multi-satellite-sensitive cluster self-adaptive layout method based on occlusion judgment, which comprises the following steps:
step 1: and establishing a parameterized transfer coordinate system (a transfer system for short) by referring to the whole-satellite coordinate system in a space needing to be subjected to planet sensitive layout, wherein the coordinate system is consistent with the whole-satellite coordinate system in direction, so that the transfer system and the whole-satellite coordinate system have parameterized relation in the translation direction of 3 axes of the whole-satellite coordinate system (namely, the origin of the transfer system has parameterized coordinate values under the whole-satellite coordinate system, and the coordinate values along the X, Y, Z axes are respectively marked as dx, dy and dz).
Step 2: on the basis of the step 1, establishing a parameterized coordinate system (X-axis angle system for short) taking a rotation angle around the X-axis of the transfer system as a parameter at the origin of the transfer system, wherein the rotation angle parameter is marked as alpha; establishing a parameterized coordinate system (Y-axis angle system for short) taking a Y-axis rotation angle around the X-axis angle system as a parameter at the origin of the X-axis angle system, wherein the rotation angle parameter is recorded as beta; and establishing a parameterized coordinate system (referred to as a Z-axis angle system for short) taking a Z-axis rotation angle around the Y-axis angle system as a parameter at the origin of the Y-axis angle system, wherein the rotation angle parameter is marked as gamma.
And step 3: and establishing a star sensor mounting coordinate system (a mounting system for short) in the center of the star sensor mounting surface, so that the Z axis of the mounting system is consistent with the optical axis direction of the star sensor.
And 4, step 4: establishing an occlusion model and an occluded model, defining the field range of the star sensor as the occluded model, defining the earth atmosphere reflected light, sunlight, the rotating envelope of the extraterrestrial movable part and the like as the occlusion model, and respectively establishing corresponding three-dimensional models according to the respective envelope ranges.
And 5: assembling the star sensor and the shielded model, and assembling the installation system by referring to a Z-axis angle system in a coordinate system reference mode, wherein the installation system and the Z-axis angle system have the same direction and the same origin after the assembly is finished; occluded models were assembled using the same method.
Step 6: and assembling the shielding model, wherein sunlight, earth atmosphere reflected light, the rotating envelope of the extraterrestrial movable part and the like are assembled by using a coordinate system reference mode. The sunlight and earth atmosphere reflection light model is assembled by using a coordinate system assembly method according to a transfer system, and the extraterrestrial movable part rotation envelope model is assembled by referring to the whole-satellite coordinate system.
And 7: and performing position self-adaptive biasing of a single satellite sensor based on shielding judgment, starting from a bias value [ dx dy dz ] (000) of a position, sequentially iterating 3 position bias values one by using a set fixed bias distance as a step length according to the sequence of firstly itering by dx and then by dy and then by dz, performing shielding judgment of the three-dimensional model once every iteration step until the shielded model and all shielded models are not shielded, and setting bias ranges of dx, dy, dz and the like according to needs.
And 8: and performing corner self-adaptive bias based on shielding judgment on a single satellite sensor on the basis of position self-adaptive bias, starting from an angle [ alpha beta gamma ] (in terms of [ 000 ]), sequentially iterating 3 angles one by taking 0.5 degrees as a step length according to the sequence of alpha, beta and gamma, and performing shielding judgment on the three-dimensional model once per iteration step until the shielded model and all shielded models are not shielded, wherein the angle ranges of alpha, beta, gamma and the like are 0-180 degrees.
And step 9: and after the layout of a single star sensor in the cluster is finished, repeating the steps 1 to 6 for the layout of other star sensors in the cluster, introducing the finished pre-star sensor model into the subsequent star sensor layout to further serve as a shielding model, and then executing the steps 7 and 8 to realize the self-adaptive layout of other subsequent star sensors in the multi-star sensor cluster.
Step 10: after the self-adaptive layout of the multi-satellite-sensitive cluster is finished, the output result is the offset relation among each satellite-sensitive installation coordinate system, the transfer system, the X-axis rotating angle system, the Y-axis rotating angle system and the Z-axis rotating angle system, and the method comprises the following steps: coordinate values (dx, dy and dz) of an original point of the installation coordinate system under the transfer system, an included angle alpha between an X-axis rotating angle system and the transfer system, an included angle beta between a Y-axis rotating angle system and the X-axis rotating angle system, an included angle beta between a Z-axis rotating angle system and the Z-axis rotating angle system, and the like.
The transfer system is in the same direction with the whole star coordinate system and has a parameterized relationship with the whole star coordinate system along the translation direction of 3 axes of the whole star coordinate system (namely, the origin of the transfer system has a parameterized coordinate value under the whole star coordinate system, and the coordinate values along the X, Y, Z axes are respectively marked as dx, dy and dz). And the coordinate value of the origin of the transfer system under the whole star coordinate system represents the offset direction and the offset distance of the transfer system relative to the whole star coordinate system. The parameterized relationship can be used for conveniently adjusting the position of the transfer system by adjusting the coordinate value of the origin of the transfer system in the whole star coordinate system, so that the position of the mounting system can be adjusted.
The X-axis angle system, the Y-axis angle system and the Z-axis angle system are all established at the coordinate origin of a transfer system, the X-axis angle system refers to the transfer system and rotates around the X axis of the transfer system, the rotation angle is a parameter alpha, the Y-axis angle system refers to the X-axis angle system and rotates around the Y axis of the X-axis angle system, the rotation angle is a parameter beta, the Z-axis angle system refers to the Y-axis angle system and rotates around the Z axis of the Y-axis angle system, the rotation angle is a parameter gamma, the 3 coordinate systems and the transfer system are sequentially and continuously established by reference, and a parameterized rotation angle relation exists between the subsequent sequence and the preamble sequence.
The whole-star coordinate system, the transfer system, the X-axis angle system, the Y-axis angle system and the Z-axis angle system are all Cartesian coordinate systems and all accord with right-hand rules.
When the single satellite sensor in the multi-satellite sensor cluster is distributed, position self-adaptive bias based on shielding judgment and corner self-adaptive bias based on shielding judgment are needed to be carried out on the basis of the position self-adaptive bias. The position self-adaptive bias is used for adjusting the satellite sensitive installation position, and the corner self-adaptive bias is used for adjusting the satellite sensitive installation orientation. Because the transfer system is the same as the origin of the X-axis angle system, the Y-axis angle system and the Z-axis angle system, the installation system and the Z-axis angle system are in a coordinate system reference relationship, and the Z-axis angle system represents the installation system. The position offset of the transfer system relative to the whole star coordinate system is transmitted to the X-axis angle system, the Y-axis angle system and the Z-axis angle system, so that the position offset of the transfer system relative to the whole star coordinate system also represents the installation position of the star sensor under the whole star coordinate system. And because the offset of the three rotation angles alpha, beta and gamma is finally reflected to the Z-axis rotation angle system by referring to the Y-axis rotation angle system, the Y-axis rotation angle system to the X-axis rotation angle system and the X-axis rotation angle system to the transfer system, each rotation angle offset also represents the star-sensitive installation orientation through the sequential continuous reference and offset of the X-axis rotation angle system, the Y-axis rotation angle system and the Z-axis rotation angle system.
When the star sensor is arranged on a satellite, the view field condition of the star sensor is strictly controlled to ensure that the star sensor is not influenced by stray light and is not shielded by the envelope of an extra-satellite movable part. In view of the above, the field range of the star sensor is defined as a shielded model, the stray light range, the envelope range of the extra-star movable part and the like are equivalently converted into a three-dimensional model, the three-dimensional model is defined as a shielding model for the star sensor field, and the relationship between the star sensor field and the stray light and the envelope of the extra-star movable part is visually represented through the shielding relationship between the shielding model and the shielded model;
after the multi-satellite-sensitive cluster self-adaptive layout is completed, the output result is the offset relation among each satellite-sensitive installation coordinate system, the transfer system, the X-axis rotation angle system, the Y-axis rotation angle system and the Z-axis rotation angle system, and the method comprises the following steps: coordinate values (dx, dy and dz) of an original point of the installation coordinate system under the transfer system, an included angle alpha between an X-axis rotating angle system and the transfer system, an included angle beta between a Y-axis rotating angle system and the X-axis rotating angle system, an included angle beta between a Z-axis rotating angle system and the Z-axis rotating angle system, and the like.
The invention also provides a multi-satellite-sensitive cluster self-adaptive layout system based on occlusion judgment, which comprises a transfer coordinate system establishing module: establishing a parameterized transfer coordinate system by referring to a whole satellite coordinate system in a space needing planet sensitive layout; a parameter coordinate system establishing module: sequentially establishing an X-axis angle system, a Y-axis angle system and a Z-axis angle system based on a transfer coordinate system; installation is a building block: establishing a star sensor mounting coordinate system at the center of a star sensor mounting surface to form a mounting system, wherein the Z axis of the mounting system is consistent with the optical axis direction of the star sensor; a model building module: defining an occluded model and an occluding model, respectively establishing corresponding three-dimensional models according to respective envelope ranges, and establishing the occluding model and the occluded model; assembling the module: assembling the star sensor model, the shielded model and the shielding model; the single satellite sensitive position judgment module: performing position self-adaptive bias iteration of a single satellite sensor based on shielding judgment until the shielded model and all shielding models are not shielded; the single satellite sensitive corner judgment module: performing corner self-adaptive bias iteration of a single satellite sensor based on shielding judgment until the shielded model and all shielding models are not shielded; a plurality of star sensitive cluster layout judgment modules: judging whether the layout of a plurality of star sensor clusters is finished, if so, outputting star sensor layout parameters and locking star sensor assembly; and if the judgment result is negative, distributing other satellite sensors in the cluster.
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 (9)
1. A multi-satellite-sensitive cluster self-adaptive layout method based on occlusion judgment is characterized by comprising the following steps:
establishing a transfer coordinate system: establishing a parameterized transfer coordinate system by referring to a whole satellite coordinate system in a space needing planet sensitive layout;
establishing a parameter coordinate system: sequentially establishing an X-axis angle system, a Y-axis angle system and a Z-axis angle system based on the transfer coordinate system;
the installation is the establishment step: establishing a star sensor mounting coordinate system at the center of a star sensor mounting surface to form a mounting system, wherein the Z axis of the mounting system is consistent with the optical axis direction of the star sensor;
a model establishing step: defining an occluded model and an occluding model, respectively establishing corresponding three-dimensional models according to respective envelope ranges, and establishing the occluding model and the occluded model;
assembling: assembling the star sensor model, the shielded model and the shielding model;
a single satellite sensitive position judgment step: performing position self-adaptive bias iteration of a single satellite sensor based on shielding judgment until the shielded model and all shielding models are not shielded;
judging the star sensor rotation angle of a single satellite: performing corner self-adaptive bias iteration of a single satellite sensor based on shielding judgment until the shielded model and all shielding models are not shielded;
a plurality of star sensitive cluster layout judgment steps: judging whether the layout of a plurality of star sensor clusters is finished, if so, outputting star sensor layout parameters and locking star sensor assembly; and if the judgment result is negative, distributing other satellite sensors in the cluster.
2. The occlusion decision-based multi-star-sensitive cluster adaptive layout method according to claim 1, characterized in that position parametric bias between the transfer system and the whole-star coordinate system is realized through a parametric coordinate value of the transfer system origin under the whole-star coordinate system; the origin of the transfer system has parameterized coordinate values in the whole star coordinate system, and the coordinate values along the X, Y, Z axis are denoted as dx, dy, dz, respectively.
3. The occlusion decision-based multi-star sensitive cluster adaptive layout method according to claim 1, wherein the parameter coordinate system establishing step comprises:
establishing an X-axis angle system taking an X-axis rotation angle around a transfer system as a parameter at the origin of a transfer coordinate system, wherein the rotation angle parameter is marked as alpha;
establishing a Y-axis rotation angle system taking a Y-axis rotation angle around the X-axis rotation angle system as a parameter at the origin of the X-axis rotation angle system, wherein the rotation angle parameter is marked as beta;
and establishing a Z-axis angle system taking a Z-axis rotation angle of the Y-axis angle system as a parameter at the origin of the Y-axis angle system, wherein the rotation angle parameter is marked as gamma.
4. The occlusion decision-based multi-star sensor cluster adaptive layout method according to claim 1, wherein in the model building step, the field of view of the star sensor is defined as an occluded model, and the earth atmosphere reflected light, sunlight and the rotation envelope of the extraterrestrial movable parts are defined as an occluded model.
5. The shading-determination-based multi-star sensor cluster self-adaptive layout method according to claim 1, characterized in that in the assembling step, an installation system is assembled by referring to a Z-axis angle system in a coordinate system reference mode, and after the assembly is completed, the installation system and the Z-axis angle system have the same direction and the same origin; sunlight, earth atmosphere reflected light and the rotating envelope of the extraterrestrial movable part are all assembled in a coordinate system reference mode.
6. The occlusion determination-based multi-star-sensitive cluster adaptive layout method according to claim 1, wherein the output star-sensitive layout parameters include coordinate values (dx, dy, dz) of an installation coordinate system origin under a transfer system, an X-axis included angle α between an X-axis rotation system and the transfer system, a Y-axis included angle β between the Y-axis rotation system and the X-axis rotation system, and a Z-axis included angle β between the Z-axis rotation system and the Y-axis rotation system.
7. The occlusion decision-based multi-star-sensitive cluster adaptive layout method according to claim 3 or 6, wherein the angles of α, β, γ, etc. range from 0 to 180 degrees.
8. The occlusion determination-based multi-satellite-sensitive cluster adaptive layout method according to claim 3, wherein in the single satellite-sensitive corner determination step, on the basis of position adaptive bias, the corner adaptive bias of the single satellite-sensitive based on occlusion determination is performed, starting from the angle [ α β γ ] ([ 000 ]), with a set number of degrees as a step length, 3 angles are sequentially iterated one by one in an order of α, β, and γ, and occlusion determination of the three-dimensional model is performed once at each iteration step until the occluded model and all the occluded models are not occluded.
9. A multi-satellite-sensitive cluster self-adaptive layout system based on occlusion judgment is characterized by comprising the following modules:
a transfer coordinate system establishing module: establishing a parameterized transfer coordinate system by referring to a whole satellite coordinate system in a space needing planet sensitive layout;
a parameter coordinate system establishing module: sequentially establishing an X-axis angle system, a Y-axis angle system and a Z-axis angle system based on a transfer coordinate system;
installation is a building block: establishing a star sensor mounting coordinate system at the center of a star sensor mounting surface to form a mounting system, wherein the Z axis of the mounting system is consistent with the optical axis direction of the star sensor;
a model building module: defining an occluded model and an occluding model, respectively establishing corresponding three-dimensional models according to respective envelope ranges, and establishing the occluding model and the occluded model;
assembling the module: assembling the star sensor model, the shielded model and the shielding model;
the single satellite sensitive position judgment module: performing position self-adaptive bias iteration of a single satellite sensor based on shielding judgment until the shielded model and all shielding models are not shielded;
the single satellite sensitive corner judgment module: performing corner self-adaptive bias iteration of a single satellite sensor based on shielding judgment until the shielded model and all shielding models are not shielded;
a plurality of star sensitive cluster layout judgment modules: judging whether the layout of a plurality of star sensor clusters is finished, if so, outputting star sensor layout parameters and locking star sensor assembly; and if the judgment result is negative, distributing other satellite sensors in the cluster.
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