CN115808675A - Laser ranging error compensation method - Google Patents
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Abstract
The invention discloses a laser ranging error compensation method, relates to the technical field of laser ranging, and solves the technical problem that continuous ranging between two satellites cannot be performed due to the fact that a laser ranging module cannot be accurately adjusted in the prior art; the invention comprises a central analysis module, a data acquisition module and a laser ranging module; after basic position information of a satellite is obtained from a satellite service center, a satellite operation and maintenance model is built based on a three-dimensional modeling technology, a running track of a target ranging moment is extracted, time consumed in the whole data processing process is calculated, the real-time position of the satellite is corrected according to the consumed time, and accurate control over a laser transmitter in the follow-up process is guaranteed; the invention adjusts the laser emitter in advance according to the laser ranging curve corresponding to the target ranging time, accurately controls the laser emitter by combining the light speed and the running track, plans the emitting route of the laser in advance, controls the laser emitter to continuously move by combining the running track, and realizes the continuous ranging between satellites.
Description
Technical Field
The invention belongs to the field of laser ranging, relates to a laser ranging error compensation technology of a satellite, and particularly relates to a laser ranging error compensation method.
Background
The satellite laser ranging technology is one of high-precision satellite precise positioning observation means, and the technology emits laser through a plurality of observation stations arranged on the ground and calculates the distance of a satellite according to the laser reflected by the satellite; if the distance between the two satellites needs to be measured, the observation station needs to measure the distances between the two satellites and the observation station respectively and then convert the distances to obtain the distance between the two satellites, and the measurement accuracy is influenced by many factors.
In the prior art, the distance between two satellites is measured through laser ranging modules arranged on the satellites, namely, one laser ranging module emits laser, the other laser ranging module receives the laser returned by the other laser ranging module, and the distance between the two is calculated according to the time difference; however, two satellites move continuously in space, and distance measurement can be completed only by continuously adjusting the laser ranging module, the laser ranging module cannot be accurately adjusted in the prior art, and laser cannot accurately reach the other laser ranging module in space, so that the distance measurement between the satellites cannot be continuously performed; therefore, a laser ranging error compensation method is needed.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art; therefore, the invention provides a laser ranging error compensation method, which is used for solving the technical problem that continuous ranging between two satellites cannot be carried out due to the fact that a laser ranging module cannot be accurately adjusted in the prior art.
In order to achieve the above object, a first aspect of the present invention provides a laser ranging error compensation method, including:
acquiring basic position information of a satellite through a satellite service center, and simultaneously pre-starting a laser ranging module; wherein the basic position information comprises current position and track information;
analyzing and correcting the received basic position information, and constructing a satellite operation model according to the orbit information of the two satellites; determining a continuous ranging time period, and uniformly dividing the continuous ranging time period into a plurality of target ranging time periods; marking the initial time of the target ranging time period as the target ranging time;
determining the running tracks of two satellites in a target ranging time period in a satellite running model; and acquiring a laser ranging route of a target ranging time in the running track, adjusting the laser emitter according to the laser ranging route corresponding to the nearest target ranging time, and controlling the laser emitter by combining the light speed and the running track.
Preferably, basic position data is obtained through retrieval and arrangement of a satellite service center, and the basic position data is sent to any satellite in time; after the satellite receives the basic position data, analyzing the orbit information based on a three-dimensional modeling technology to construct a satellite operation model; and
and counting the sending time of the basic position information and the construction time of the satellite operation model, adding the sending time and the construction time to be used as error time, and determining the laser ranging route by combining the error time.
Preferably, after the satellite operation model is constructed, determining a continuous ranging time period, dividing a plurality of target ranging time periods based on the continuous ranging time period and determining target ranging time, counting the processing time of the continuous ranging time period, and superposing the processing time into the error time; or
Processing a continuous ranging period in the process of constructing a satellite operation model; and when the processing time length of the continuous ranging time period exceeds the construction time length of the satellite operation model, overlapping the exceeded time length into the error time length.
Preferably, the determining the laser ranging routes of the two satellites at the target ranging time in the satellite operation model includes:
determining the real-time positions of the two satellites in the satellite operation model by comprehensively considering the error duration;
combining the real-time positions of the two satellites with the orbit information, and determining the running tracks of the two satellites in the target ranging time period; and determining a laser ranging route of the target ranging time based on the running tracks of the two satellites.
Preferably, the adjusting the laser transmitter according to the laser ranging route at the closest target ranging time, and controlling the laser transmitter in combination with the speed of light, includes:
before the latest laser ranging time arrives, overlapping the laser emission angle of the laser emitter with the laser ranging route corresponding to the laser ranging time in advance;
extracting a linear distance between two satellites at the time of laser ranging from a satellite operation model, calculating the time required for the laser to reach the other end from one end of the linear distance by combining the environment, and marking the time as preparation time; and determining the laser emission time according to the laser ranging time and the preparation time, and further controlling the laser emitter to emit laser.
Preferably, after the laser emitter is controlled to emit laser at the laser emission time, a plurality of laser ranging routes are obtained according to the running tracks of the two satellites in the target ranging time period in a simulated mode; and
extracting the emission angle of the laser emitter according to the plurality of laser ranging routes, and establishing an angle change curve; and adjusting the laser emission angle of the laser emitter according to the angle change curve in the target ranging time period.
Preferably, when the laser ranging is from one target ranging time to another laser ranging time, verifying the adjustment accuracy of the laser transmitter according to the laser ranging route corresponding to the target ranging time between the two target ranging times, comprises:
the method comprises the steps that the operation tracks of two satellites in the next laser ranging time period are obtained through simulation of a satellite operation model, and a laser ranging route at the target ranging time is extracted and used as a ranging verification curve;
when the laser emission angle at the last moment of the previous laser ranging period is consistent with the laser emission angle of the ranging verification curve, determining that the verification is passed; otherwise, readjusting the laser transmitter according to the ranging verification curve.
The invention provides a laser ranging error compensation system, which is arranged in a satellite and comprises a central analysis module, a data acquisition module and a laser ranging module; a pivot analysis module: analyzing and correcting the received basic position information, and constructing a satellite operation model according to the orbit information of the two satellites; acquiring the running tracks of the two satellites by combining the satellite running model, and adjusting the laser transmitter according to the running tracks;
a data acquisition module: acquiring basic position information of a satellite through a satellite service center connected with the satellite service center, and sending the basic position information to a central pivot analysis module in time; wherein the basic position information comprises current position and track information;
the laser ranging module: and emitting laser by a laser emitter to measure the distance between the two satellites.
Preferably, the central analysis module is respectively in communication and/or electrical connection with the data acquisition module and the laser ranging module; the data acquisition module is in communication connection with the satellite service center;
the laser ranging module comprises a control processing unit, a laser emitter and a laser reflector.
A second aspect of the present invention provides a laser ranging error compensation apparatus, comprising a storage medium and a processor; the storage medium stores operating instructions, and the processor executes the operating instructions to realize the working steps of the laser ranging error compensation method.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the method, after basic position information of the satellite is acquired from a satellite service center, a satellite operation and maintenance model is constructed based on a three-dimensional modeling technology, the operation track of a target ranging moment is extracted, meanwhile, the time consumed in the whole data processing process is calculated, the real-time position of the satellite is corrected according to the consumed time, and accurate control over a laser transmitter is guaranteed subsequently.
2. According to the invention, the laser emitter is adjusted in advance according to the laser ranging curve corresponding to the target ranging time, the laser emitter is accurately controlled by combining the light speed and the running track, the emitting route of the laser is planned in advance, and the laser emitter can be controlled to continuously move by combining the running track, so that the continuous ranging between satellites is realized.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the working steps of the present invention;
fig. 2 is a schematic diagram of the system of the present invention.
Detailed description of the preferred embodiments
The technical solution of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the prior art, the laser ranging is generally measured by a ground observation station, namely the observation station measures to obtain the relative positions of two satellites, and then the distance between the two satellites is determined according to the relative positions, so that the obtained satellite distance is time-consuming and labor-consuming, and has a certain time delay; the other is that the distance is directly measured according to a laser ranging module installed on a satellite, but the relative displacement of two satellites in a short time in the vast universe is very large, and the laser emission angle cannot be adjusted in time, so that the distance of the satellite cannot be continuously measured.
Referring to fig. 1, a first embodiment of the present invention provides a laser ranging error compensation method, including: acquiring basic position information of a satellite through a satellite service center, and simultaneously pre-starting a laser ranging module; analyzing and correcting the received basic position information, and constructing a satellite operation model according to the orbit information of the two satellites; determining a continuous ranging time period, and uniformly dividing the continuous ranging time period into a plurality of target ranging time periods; marking the initial moment of the target ranging time period as a target ranging moment; determining the running tracks of two satellites in a target ranging time period in a satellite running model; and acquiring a laser ranging route of the target ranging time in the running track, adjusting the laser transmitter according to the laser ranging route corresponding to the nearest target ranging time, and controlling the laser transmitter by combining the running track and the light speed.
After basic position information of a satellite is obtained from a satellite service center, a satellite operation and maintenance model is built based on a three-dimensional modeling technology, a running track of a target ranging moment is extracted, time consumed in the whole data processing process is calculated, the real-time position of the satellite is corrected according to the consumed time, and accurate control over a laser transmitter in the follow-up process is guaranteed; the laser ranging method and the device adjust the laser transmitter in advance according to the laser ranging curve corresponding to the target ranging time, accurately control the laser transmitter by combining the light speed and the running track, plan the transmitting route of the laser in advance, control the laser transmitter to move continuously by combining the running track, and realize continuous ranging between satellites.
The basic position information in the invention comprises the current position and the orbit information, the orbit information is a preset orbit of the satellite running around the earth, the satellite runs along the preset orbit under the condition of no other accident, and the current position is the specific position of the satellite on the orbit at the current moment, and is an important basis for constructing the satellite running model.
After the central analysis module receives the satellite basic position information, the laser ranging module is started in advance, namely, the laser ranging preparation is started; one purpose is to preheat relevant equipment and prepare for ranging, and the other purpose is to facilitate error duration statistics and reasonably adjust the satellite position.
In the invention, basic position data is obtained through retrieval and arrangement of a satellite service center, and the basic position data is sent to any satellite in time; after the satellite receives the basic position data, analyzing the orbit information based on a three-dimensional modeling technology to construct a satellite operation model; and counting the sending time of the basic position information and the construction time of the satellite operation model, adding the sending time and the construction time to be used as error time, and determining the laser ranging route by combining the error time.
The arbitrary satellite is at least one of two satellites needing distance measurement, after a central analysis module in the satellite analyzes basic position data, an orbit model of the two satellites relative to the earth can be constructed, namely a satellite operation model, and the positions of the satellites in corresponding operation orbits can be extracted from the satellite operation model; at this time, the sending time required for sending the basic position data to the satellite and the construction time from analyzing the basic position data to constructing the satellite operation model need to be counted, the sending time and the construction time are added to obtain the error time, and the satellite can generate large offset relative to the current position in the basic position data in the error time, so that the laser ranging route needs to be extracted according to the error time.
The orbit information mainly determines the shape and size of the satellite, and comprises six elements of the satellite orbit: the long axis, the short axis, the intersection angle, the argument of the perigee, the track inclination angle and the time of passing the perigee; the satellite operation model is constructed according to the orbit information by actually constructing six elements through an algorithm (such as OpenGL) or existing software (such as COMSOL), and the constructed satellite operation model can be visualized after rendering.
The nearest target ranging time is the target ranging time which arrives firstly after the current time; the three-dimensional modeling technology is mainly used for constructing the satellite operation model, so that the three-dimensional modeling technology comprises the steps of constructing the operation track of the satellite according to an algorithm or software and rendering and displaying the operation track, and the three-dimensional modeling technology is a general term for constructing the whole satellite operation model.
After a satellite operation model is constructed, a continuous ranging time period is determined, a plurality of target ranging time periods are divided based on the continuous ranging time period, and when the target ranging time is determined, the processing duration of the continuous ranging time period is counted and the processing duration is superposed into the error duration.
The continuous ranging time interval is preset, if continuous ranging is carried out in the future one day, the future one day is the continuous ranging time interval, each hour can be used as a target ranging time interval, and the time corresponding to each hour is used as a target ranging time; a certain time is also required from the continuous ranging period to the target ranging time, that is, the processing time length is also superposed into the error time length.
It should be noted that, when the satellite operation model is constructed and then processed to continuously measure the distance, the processing time length needs to be superposed to the error time length; the model construction and the continuous ranging time period processing can be continuously carried out, namely the continuous ranging time period is processed in the process of constructing the satellite operation model; and when the processing time length of the continuous ranging time period exceeds the construction time length of the satellite operation model, overlapping the exceeded time length into the error time length.
The invention determines laser ranging routes of two satellites at a target ranging time in a satellite operation model, and comprises the following steps: determining the real-time positions of the two satellites in the satellite operation model by comprehensively considering the error duration; combining the real-time positions of the two satellites with the orbit information, and determining the running tracks of the two satellites in the target ranging time period; and determining a laser ranging route of the target ranging time based on the running tracks of the two satellites.
The real-time positions of the two satellites in the satellite operation model can be calculated according to the error duration and the operation track, the operation track of the satellites in a short time in the future can be extracted by combining the orbit information of the satellites, namely, the two satellites can operate according to the corresponding operation tracks in a short time; after the running tracks of the two satellites are determined, a straight line between the two satellites (satellite centers) at the target ranging time can be determined, the straight line is adjusted according to the position of the laser ranging module relative to the satellite centers, and a laser ranging route at the target ranging time is obtained; that is, when the ranging is started, the laser emitter emits laser along the laser ranging route, and the laser reflector corresponding to the satellite reflects the laser along the laser ranging route.
As mentioned above, the invention can also continuously measure the distance between the ground fixed target and the satellite, namely, the laser reflector is arranged at the ground fixed target position to reflect the laser emitted by the satellite laser emitter to finish the distance measurement.
The invention adjusts the laser transmitter according to the laser ranging route of the nearest target ranging time, and controls the laser transmitter by combining the light speed, comprising: before the latest laser ranging time arrives, overlapping the laser emission angle of the laser emitter with the laser ranging route corresponding to the laser ranging time in advance; extracting a linear distance between two satellites at the moment of laser ranging from a satellite operation model, calculating the time required for the laser to reach the other end from one end of the linear distance by combining the environment, and marking the time as preparation time; and determining the laser emission time according to the laser ranging time and the preparation time, and further controlling the laser emitter to emit laser.
Starting to carry out laser ranging in a continuous ranging time period, and adjusting a laser transmitter along a corresponding laser ranging route in advance before the nearest laser ranging time arrives, and similarly adjusting a laser reflector of the opposite satellite along the laser ranging route; controlling a laser emitter to emit laser according to the time required by the laser velocity (which can be replaced by the light velocity in vacuum) in the space environment from the laser emitter to a laser reflector of an opposite satellite; it should be noted that the distance between two satellites extracted according to the satellite operation model is calculated according to the model, and has a certain error from the actual situation, but the error does not affect the preparation time greatly.
In the invention, after a laser transmitter is controlled to transmit laser at the laser transmitting time, a plurality of laser ranging routes are obtained according to the running tracks of two satellites in a target ranging time period in a simulated mode; extracting the emission angle of the laser emitter according to the plurality of laser ranging routes, and establishing an angle change curve; and adjusting the laser emission angle of the laser emitter according to the angle change curve in the target ranging time period.
Dividing the target ranging time interval into parts on average, wherein each initial time corresponds to one laser ranging route; the angle change of the laser emitter (or the laser reflector) relative to the corresponding satellite can be fitted according to the plurality of laser ranging routes, an angle change curve can be obtained through curve fitting, the angle of the laser emitter (or the laser reflector) can be timely adjusted through the angle change curve in the ranging time period, and continuous ranging between the satellites can be completed.
In other preferred embodiments, enough laser ranging routes can be set in the target ranging period, so as to extract an angle change table, and the angle change table is interpolated at any time, so that the angle of the laser emitter (or the laser reflector) can be continuously adjusted.
When the laser ranging reaches another laser ranging time period from one target ranging time period, the invention verifies the adjustment precision of the laser transmitter according to the laser ranging route corresponding to the target ranging time between the two target ranging time periods, and the method comprises the following steps: the method comprises the steps that the operation tracks of two satellites in the next laser ranging time period are obtained through simulation of a satellite operation model, and a laser ranging route at the target ranging time is extracted and used as a ranging verification curve; when the laser emission angle at the last moment of the previous laser ranging period is consistent with the laser emission angle of the ranging verification curve, determining that the verification is passed; otherwise, readjusting the laser transmitter according to the ranging verification curve.
Actually, the laser ranging routes in the process of fitting and obtaining the angle change curve can be used for verifying the laser ranging process, namely, whether the actual angle at the corresponding moment is consistent with the angle of the corresponding laser ranging route or not is judged, and if so, the laser ranging between the two satellites is normally carried out; otherwise, the angle change curve or the interpolation distance of the angle change table needs to be readjusted.
The actual laser emitter angle or the laser reflector angle is continuously judged through the laser ranging route in the whole continuous ranging time period, and once abnormity is found, the adjustment is carried out in time, so that the accurate ranging between satellites in the continuous ranging time period can be maintained.
Referring to fig. 2, a second embodiment of the present invention provides a laser ranging error compensation system, which is built in a satellite and includes a central analysis module, a data acquisition module and a laser ranging module; a central analysis module: analyzing and correcting the received basic position information, and constructing a satellite operation model according to the orbit information of the two satellites; acquiring the running tracks of the two satellites by combining the satellite running model, and adjusting the laser transmitter according to the running tracks; a data acquisition module: acquiring basic position information of a satellite through a satellite service center connected with the satellite service center, and sending the basic position information to a central pivot analysis module in time; wherein the basic position information comprises current position and track information; the laser ranging module: and emitting laser by a laser emitter to measure the distance between the two satellites.
A third aspect of the present invention provides a laser range error compensation apparatus, including a storage medium and a processor; the storage medium stores operating instructions, and the processor executes the operating instructions to realize the working steps of the laser ranging error compensation method.
The working principle of the invention is as follows:
acquiring basic position information of a satellite through a satellite service center connected with a data acquisition module, and simultaneously pre-starting a laser ranging module; the central analysis module analyzes and corrects the received basic position information and constructs a satellite operation model according to the orbit information of the two satellites; determining a continuous ranging time period, and uniformly dividing the continuous ranging time period into a plurality of target ranging time periods; and marking the initial moment of the target ranging time interval as the target ranging moment.
The central analysis module determines the running tracks of two satellites in a target ranging time period in the satellite running model; and acquiring a laser ranging route of a target ranging time in the running track, adjusting the laser emitter according to the laser ranging route corresponding to the nearest target ranging time, and controlling the laser emitter by combining the light speed.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present invention.
Claims (7)
1. A laser ranging error compensation method, comprising:
acquiring basic position information of a satellite through a satellite service center, and simultaneously pre-starting a laser ranging module; wherein the basic position information comprises current position and track information;
analyzing and correcting the received basic position information, and constructing a satellite operation model according to the orbit information of the two satellites; determining a continuous ranging time period, and uniformly dividing the continuous ranging time period into a plurality of target ranging time periods; marking the initial time of the target ranging time period as the target ranging time;
determining the running tracks of two satellites in a target ranging time period in a satellite running model; and acquiring a laser ranging route of the target ranging time in the running track, adjusting the laser transmitter according to the laser ranging route corresponding to the nearest target ranging time, and controlling the laser transmitter by combining the light speed.
2. The laser ranging error compensation method according to claim 1, wherein the basic position data is obtained by a satellite service center through retrieval and arrangement, and is sent to any satellite in time; after the satellite receives the basic position data, analyzing the orbit information based on a three-dimensional modeling technology to construct a satellite operation model; and
and counting the sending time length of the basic position information and the construction time length of the satellite operation model, adding the sending time length and the construction time length to be used as error time length, and determining a laser ranging route by combining the error time length.
3. The laser ranging error compensation method according to claim 2, wherein after the satellite operation model is constructed, a continuous ranging period is determined, and when a plurality of target ranging periods are divided and a target ranging time is determined based on the continuous ranging period, the processing duration of the continuous ranging period is counted and the processing duration is superimposed to the error duration; or
Processing a continuous ranging period in the process of constructing a satellite operation model; and when the processing time length of the continuous ranging time period exceeds the construction time length of the satellite operation model, overlapping the exceeded time length into the error time length.
4. The method of claim 3, wherein the determining the laser ranging routes of the two satellites at the target ranging time in the satellite operation model comprises:
determining the real-time positions of the two satellites in the satellite operation model by comprehensively considering the error duration;
combining the real-time positions of the two satellites with orbit information, and determining the running tracks of the two satellites in a target ranging period; and determining a laser ranging route of the target ranging time based on the running tracks of the two satellites.
5. The method as claimed in claim 4, wherein the adjusting the laser transmitter according to the laser ranging route at the nearest target ranging time, and controlling the laser transmitter according to the speed of light comprises:
before the latest laser ranging time arrives, overlapping the laser emission angle of the laser emitter with the laser ranging route corresponding to the laser ranging time in advance;
extracting a linear distance between two satellites at the time of laser ranging from a satellite operation model, calculating the time required for the laser to reach the other end from one end of the linear distance by combining the environment, and marking the time as preparation time; and determining the laser emission time according to the laser ranging time and the preparation time, and further controlling the laser emitter to emit laser.
6. The laser ranging error compensation method as claimed in claim 5, wherein after controlling the laser emitter to emit laser at the laser emission time, a plurality of laser ranging routes are obtained according to the running track simulation of two satellites in the target ranging period; and
extracting the emission angle of the laser emitter according to the plurality of laser ranging routes, and establishing an angle change curve; and adjusting the laser emission angle of the laser emitter according to the angle change curve in the target ranging time period.
7. The method of claim 6, wherein verifying the laser transmitter adjustment accuracy based on a laser ranging path corresponding to a target ranging time between two target ranging periods when the laser ranging reaches another laser ranging period from one target ranging period comprises:
the method comprises the steps that the operation tracks of two satellites in the next laser ranging time period are obtained through simulation of a satellite operation model, and a laser ranging route at the target ranging time is extracted and used as a ranging verification curve;
when the laser emission angle at the last moment of the previous laser ranging time interval is consistent with the laser emission angle of the ranging verification curve, judging that the verification is passed; otherwise, readjusting the laser transmitter according to the ranging verification curve.
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| CN117420533A (en) * | 2023-12-18 | 2024-01-19 | 中国科学院长春光学精密机械与物理研究所 | Distance measurement error and accurate measurement rate detection method of photoelectric turret |
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