CN116068549B - On-orbit spacecraft instantaneous attitude inversion method based on ground-based light thunder image fusion - Google Patents

On-orbit spacecraft instantaneous attitude inversion method based on ground-based light thunder image fusion Download PDF

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CN116068549B
CN116068549B CN202310202608.1A CN202310202608A CN116068549B CN 116068549 B CN116068549 B CN 116068549B CN 202310202608 A CN202310202608 A CN 202310202608A CN 116068549 B CN116068549 B CN 116068549B
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spacecraft
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CN116068549A (en
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钟卫军
何健
马岩
杜鹃
马晨
王静
李�浩
张虹
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Chinese People's Liberation Army 32035
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Chinese People's Liberation Army 32035
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation

Abstract

The invention discloses an on-orbit spacecraft instantaneous attitude inversion method based on foundation light thunder image fusion, which comprises the following steps: calculating coordinate positions of key points on the spacecraft under a corresponding orbit coordinate system under a certain gesture; calculating the coordinate position of the key point under the inertial coordinate system based on the coordinate transformation matrix from the inertial coordinate system to the orbit coordinate system; respectively calculating two-dimensional coordinate theoretical positions of the key points on the ground radar imaging plane and the ground optical imaging plane based on coordinate transformation matrixes from the inertial coordinate system to the radar measurement coordinate system and the optical measurement coordinate system; respectively extracting actual measurement coordinate positions corresponding to key points from the instantaneous radar image and the optical image of the spacecraft foundation; and carrying out the instantaneous attitude inversion of the spacecraft according to the theoretical position and the actually measured coordinate position of the key point to obtain the instantaneous attitude angle of the spacecraft. The method has strong timeliness, accuracy and operability aiming at the instantaneous attitude inversion of the space target with the known structure size.

Description

On-orbit spacecraft instantaneous attitude inversion method based on ground-based light thunder image fusion
Technical Field
The invention belongs to the technical field of aerospace radar detection, and particularly relates to an on-orbit spacecraft instantaneous attitude inversion method based on ground-based light thunder image fusion.
Background
With the continuous development of space technology, space has become a high point for maintaining national security and winning modern informatization war, and the accurate grasp of spacecraft track information, motion state, geometric shape, physical parameters and other characteristic information is a core key for acquiring on-orbit spacecraft state parameters. The space target gesture analysis is an important means for space target recognition, evaluation and early warning, and can realize evaluation of task states, detector orientation analysis, satellite recognition, abnormal behavior detection and the like, and has important research significance.
Currently, spatial target pose estimation based on a single image can be broadly divided into two ideas, template-based and model-based. The template-based method needs to construct a template library reflecting the representation of the target in different gestures in advance, and the gesture of the target is determined through the feature matching of the input image and the template library. Model-based methods require three-dimensional models of known targets, and three-dimensional poses of the targets are calculated by feature correlation between the 3-dimensional model of the target and the input image. Compared with the former method, the method does not depend on a large number of target templates, but obtains accurate attitude values of the targets through solving strict characteristic association equations, and can obtain higher estimation accuracy.
However, the accuracy of the template-based method is limited by the number of templates in the template library, and an increase in the number of templates can significantly increase the template library construction cost and reduce the algorithm speed. The key point of the model-based method is that the characteristic association of the input image and the target three-dimensional model is accurately established, and because the image is the dimension reduction expression of the three-dimensional space, a larger candidate space is often generated in the process of establishing the characteristic association, the mismatching of the characteristics is easy to cause, and the algorithm efficiency and accuracy are reduced.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an on-orbit spacecraft instantaneous attitude inversion method based on foundation light thunder image fusion. The technical problems to be solved by the invention are realized by the following technical scheme:
an on-orbit spacecraft instantaneous attitude inversion method based on ground-based light thunder image fusion comprises the following steps:
step 1: calculating key points on spacecraft
Figure SMS_1
At a roll angle +.>
Figure SMS_2
The pitch angle is->
Figure SMS_3
Yaw angle is +.>
Figure SMS_4
Coordinate position +.in corresponding orbital coordinate system under the posture of (2)>
Figure SMS_5
；
Step 2: coordinate transformation matrix for calculating inertial coordinate system to orbit coordinate system
Figure SMS_6
In combination with the coordinate position obtained in step 1 +.>
Figure SMS_7
Calculating the key point +.>
Figure SMS_8
Coordinate position in inertial coordinate system +.>
Figure SMS_9
；
Step 3: coordinate transformation matrix for calculating inertial coordinate system to radar measurement coordinate system
Figure SMS_10
And combining the coordinate positions obtained in the step 2 +.>
Figure SMS_11
Calculating the key point +.>
Figure SMS_12
Two-dimensional coordinate theory position of ground-based radar imaging plane/>
Figure SMS_13
；
Step 4: coordinate transformation matrix for calculating inertial coordinate system to optical measurement coordinate system
Figure SMS_14
And combining the coordinate positions obtained in the step 2 +.>
Figure SMS_15
Calculating the key point +.>
Figure SMS_16
Two-dimensional coordinate theory position of foundation optical imaging plane
Figure SMS_17
；
Step 5: extracting the key points from the instantaneous radar image and the optical image of the spacecraft foundation respectively
Figure SMS_18
Corresponding measured coordinate position->
Figure SMS_19
and />
Figure SMS_20
；
Step 6: according to the key points
Figure SMS_23
Theoretical position +.>
Figure SMS_24
、/>
Figure SMS_25
Measured coordinate position +.>
Figure SMS_22
、/>
Figure SMS_26
Performing instantaneous attitude inversion of the spacecraft to obtain an instantaneous attitude roll angle of the spacecraft>
Figure SMS_27
Pitch angle->
Figure SMS_28
And yaw angle->
Figure SMS_21
。
In one embodiment of the present invention, step 1 comprises:
1a) Obtaining key points on spacecraft
Figure SMS_29
The three-dimensional coordinates in the spacecraft body coordinate system are recorded as:
Figure SMS_30
；
wherein the spacecraft body coordinate system takes the mass center of the spacecraft as an origin, and the spacecraft body coordinate system comprises a plurality of coordinate systems
Figure SMS_32
The axis is consistent with the longitudinal symmetry axis of the spacecraft and points to the head of the spacecraft; />
Figure SMS_35
The axis is perpendicular to +.>
Figure SMS_38
The shaft is positioned in the main symmetry plane of the spacecraft and points to the upper part of the space; />
Figure SMS_33
Shaft and->
Figure SMS_34
Shaft(s)>
Figure SMS_36
The shaft meets the right-hand rectangular coordinate system criterion; />
Figure SMS_37
Coordinate components of three directions respectively, +.>
Figure SMS_31
Is an integer used for distinguishing different key points;
1b) Establishing an attitude transformation matrix from a spacecraft orbit coordinate system to a spacecraft body coordinate system
Figure SMS_39
The expression is:
Figure SMS_40
；
1c) According to the gesture conversion matrix in step 1 b)
Figure SMS_41
Calculating the key point +.>
Figure SMS_42
Coordinate position in the track coordinate system +.>
Figure SMS_43
The calculation formula is as follows: />
Figure SMS_44
。
In one embodiment of the present invention, step 2 comprises:
2a) Obtaining the position parameter of the mass center of the satellite under an inertial coordinate system through orbit extrapolation based on the TLE number of the satellite
Figure SMS_45
) The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>
Figure SMS_46
Respectively representing time, position vectors and velocity vectors;
2b) By using the above parameters
Figure SMS_47
Calculating each coordinate axis of the orbit coordinate systemx、y、z) The unit vector of (2) is calculated as:
Figure SMS_48
，/>
Figure SMS_49
，/>
Figure SMS_50
；
wherein ,
Figure SMS_51
representing a modulus value;
coordinate transformation matrix from inertial coordinate system to orbit coordinate system
Figure SMS_52
The method comprises the following steps:
Figure SMS_53
；
2c) The coordinate transformation matrix obtained according to step 2 b)
Figure SMS_54
And the coordinate position obtained in step 1 +.>
Figure SMS_55
Calculating the key point +.>
Figure SMS_56
Coordinate position in inertial coordinate system +.>
Figure SMS_57
The calculation formula is as follows:
Figure SMS_58
。
in one embodiment of the present invention, step 3 comprises:
3a) Based on the steps of2a) Calculating each coordinate axis of radar measurement coordinate system
Figure SMS_59
、/>
Figure SMS_60
、/>
Figure SMS_61
) The unit vector under the inertial coordinate system has the following calculation formula:
Figure SMS_62
，/>
Figure SMS_63
，/>
Figure SMS_64
；
in the formula ,
Figure SMS_65
the position vector is the position vector of the radar station under the inertial coordinate system; />
Figure SMS_66
and />
Figure SMS_67
The initial and end points of the radar imaging angle accumulation>
Figure SMS_68
An axis component;
coordinate transformation matrix from inertial coordinate system to radar measurement coordinate system
Figure SMS_69
Expressed as: />
Figure SMS_70
；
3b) The coordinate transformation matrix obtained according to step 3 a)
Figure SMS_71
And the coordinate position obtained in step 2 +.>
Figure SMS_72
Calculating the key point +.>
Figure SMS_73
Coordinate position in radar measurement coordinate system +.>
Figure SMS_74
The calculation formula is as follows:
Figure SMS_75
；
wherein ,
Figure SMS_76
representing a transpose;
3c) Imaging radar plane
Figure SMS_77
Setting the axis component to 0 to obtain the key point +.>
Figure SMS_78
Two-dimensional coordinate theory position of imaging plane of foundation radar +.>
Figure SMS_79
The expression is:
Figure SMS_80
；
wherein ,
Figure SMS_81
，/>
Figure SMS_82
and
Figure SMS_83
respectively representing coordinate axes of imaging planes of foundation radar>
Figure SMS_84
、/>
Figure SMS_85
A component of direction.
In one embodiment of the present invention, step 4 comprises:
4a) Calculating each coordinate axis of the optical measurement coordinate system based on the result of the step 2 a)
Figure SMS_86
、/>
Figure SMS_87
、/>
Figure SMS_88
) The unit vector under the inertial coordinate system has the following calculation formula:
Figure SMS_89
，/>
Figure SMS_90
，/>
Figure SMS_91
；
coordinate transformation matrix from inertial coordinate system to optical measurement coordinate system
Figure SMS_92
Expressed as:
Figure SMS_93
；
4b) The coordinate transformation matrix obtained according to step 4 a)
Figure SMS_94
And the coordinate position obtained in step 2 +.>
Figure SMS_95
Calculating the key point +.>
Figure SMS_96
Coordinate position in optical measurement coordinate system +.>
Figure SMS_97
The calculation formula is as follows:
Figure SMS_98
；
4c) To optically image plane
Figure SMS_99
Setting the axis component to 0 to obtain the key point +.>
Figure SMS_100
Two-dimensional coordinate theory position of foundation optical imaging plane +.>
Figure SMS_101
The expression is:
Figure SMS_102
；
wherein ,
Figure SMS_103
，/>
Figure SMS_104
and
Figure SMS_105
respectively represents the coordinate axes of the foundation optical imaging plane +.>
Figure SMS_106
、/>
Figure SMS_107
A component of direction.
In one embodiment of the present invention, step 5 includes:
5a) Spacecraft ground-based radar chart based on certain instant T0Image, extracting the key points
Figure SMS_108
Two-dimensional measured coordinates corresponding to radar imaging plane +.>
Figure SMS_109
The expression is:
Figure SMS_110
；
wherein ,
Figure SMS_111
，/>
Figure SMS_112
and />
Figure SMS_113
Respectively represent radar imaging plane coordinate axes +.>
Figure SMS_114
、/>
Figure SMS_115
A component of direction;
5b) Extracting the key points based on spacecraft foundation optical images at a certain instant T0
Figure SMS_116
Two-dimensional measured coordinates corresponding to the optical imaging plane +.>
Figure SMS_117
The expression is:
Figure SMS_118
；
wherein ,
Figure SMS_119
，/>
Figure SMS_120
and />
Figure SMS_121
Respectively represent the coordinate axes of the optical imaging plane +.>
Figure SMS_122
、/>
Figure SMS_123
A component of direction.
In one embodiment of the present invention, step 6 includes:
6a) By the key points
Figure SMS_124
Theoretical position +.>
Figure SMS_125
、/>
Figure SMS_126
And the measured coordinate position
Figure SMS_127
、/>
Figure SMS_128
The Euclidean distance between the two is used as an optimization target, and an objective function is constructed as follows: />
Figure SMS_129
；
wherein ,nsubtracting 1 for the number of the selected key points;
6b) Definition of roll angle
Figure SMS_130
Pitch angle->
Figure SMS_131
Yaw angle +.>
Figure SMS_132
The solution space of (2) is:
Figure SMS_133
；
wherein, the gesture angle is positive clockwise and negative anticlockwise;
6c) The objective function is optimized and solved through a particle swarm algorithm to obtain the instantaneous attitude rolling angle of the spacecraft
Figure SMS_134
Pitch angle->
Figure SMS_135
And yaw angle->
Figure SMS_136
。
The invention has the beneficial effects that:
the invention provides an on-orbit spacecraft instantaneous attitude inversion method, which comprises the steps of mapping three-dimensional key point coordinates under a spacecraft body coordinate system to two-dimensional coordinates of a ground imaging plane by establishing a strict mathematical calculation model, and fusing a ground instantaneous radar imaging result and an optical imaging result to establish an inversion model of the spacecraft instantaneous attitude, so that the on-orbit spacecraft instantaneous attitude is inverted. Aiming at the space target with known structure size, the method has strong timeliness, accuracy and operability.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic flow chart of an on-orbit spacecraft instantaneous attitude inversion method based on ground-based light thunder image fusion provided by the embodiment of the invention;
FIG. 2 is a schematic view of a track coordinate system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a radar measurement coordinate system provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of an optical measurement coordinate system according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a first palace and key points thereof according to an embodiment of the present invention;
fig. 6 is a schematic diagram of extracting key points of a radar image according to an embodiment of the present invention;
fig. 7 is a schematic diagram of extracting key points of an optical image according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but embodiments of the present invention are not limited thereto.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart of an on-orbit spacecraft instantaneous attitude inversion method based on ground-based light thunder image fusion, which includes:
step 1: calculating key points on spacecraft
Figure SMS_137
At a roll angle +.>
Figure SMS_138
The pitch angle is->
Figure SMS_139
Yaw angle is +.>
Figure SMS_140
Coordinate position +.in corresponding orbital coordinate system under the posture of (2)>
Figure SMS_141
。
In the embodiment, the roll angle of the spacecraft key point can be calculated through the gesture conversion matrix
Figure SMS_142
Pitch angle->
Figure SMS_143
And yaw angle->
Figure SMS_144
Orbital coordinate system (++rotation order is yaw, roll, pitch)>
Figure SMS_145
) And (5) coordinate positions. The key points can be contour points, connection points or boundary points on the spacecraft.
Specifically, step 1 includes:
1a) Obtaining key points on spacecraft
Figure SMS_146
The three-dimensional coordinates in the spacecraft body coordinate system are recorded as:
Figure SMS_147
；
wherein the spacecraft body coordinate system takes the mass center of the spacecraft as an origin, and the mass center of the spacecraft body coordinate system
Figure SMS_148
The axis is consistent with the longitudinal symmetry axis of the spacecraft and points to the head of the spacecraft; />
Figure SMS_149
The axis is perpendicular to +.>
Figure SMS_150
The shaft is positioned in the main symmetry plane of the spacecraft and is directed upwards; />
Figure SMS_151
Shaft and->
Figure SMS_152
Shaft(s)>
Figure SMS_153
The shaft meets the right-hand rectangular coordinate system criterion; />
Figure SMS_154
The coordinate components of the three directions are respectively,iis an integer used to distinguish between different keypoints.
1b) Establishing an attitude transformation matrix from a spacecraft orbit coordinate system to a spacecraft body coordinate system
Figure SMS_155
The expression is:
Figure SMS_156
；
1c) According to the gesture conversion matrix in step 1 b)
Figure SMS_157
Calculating the key point +.>
Figure SMS_158
Coordinate position in the track coordinate system +.>
Figure SMS_159
The calculation formula is as follows:
Figure SMS_160
；
step 2: coordinate transformation matrix for calculating inertial coordinate system to orbit coordinate system
Figure SMS_161
In combination with the coordinate position obtained in step 1 +.>
Figure SMS_162
Calculate key point->
Figure SMS_163
Coordinate position in inertial coordinate system +.>
Figure SMS_164
。
2a) Based on the TLE number of the satellite, obtaining the position parameter of the mass center of the satellite under an inertial coordinate system (J2000 coordinate system) through orbit extrapolation
Figure SMS_165
) The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>
Figure SMS_166
Respectively indicate time and positionVector and velocity vector.
2b) By using the above parameters
Figure SMS_167
Calculating each coordinate axis of the orbit coordinate systemx、y、z) Is a unit vector of (a).
Referring to fig. 2, fig. 2 is a schematic diagram of a track coordinate system according to an embodiment of the present invention, and each coordinate axis of the track coordinate system is ±x、y、z) The calculation formula of the unit vector of (2) is:
Figure SMS_168
；
Figure SMS_169
；
Figure SMS_170
；
wherein ,
Figure SMS_171
representing a modulus value;
coordinate transformation matrix from inertial coordinate system to orbit coordinate system
Figure SMS_172
The method comprises the following steps:
Figure SMS_173
；
in the formula ,
Figure SMS_174
is a column vector.
2c) The coordinate transformation matrix obtained according to step 2 b)
Figure SMS_175
And the coordinate position obtained in step 1 +.>
Figure SMS_176
Calculate key point->
Figure SMS_177
Coordinate position in inertial coordinate system +.>
Figure SMS_178
The calculation formula is as follows:
Figure SMS_179
；
step 3: coordinate transformation matrix for calculating inertial coordinate system to radar measurement coordinate system
Figure SMS_180
And combining the coordinate positions obtained in the step 2 +.>
Figure SMS_181
Calculate key point->
Figure SMS_182
Two-dimensional coordinate theory position of imaging plane of foundation radar +.>
Figure SMS_183
。
3a) Calculating each coordinate axis of the radar measurement coordinate system based on the result of the step 2 a)
Figure SMS_184
、/>
Figure SMS_185
、/>
Figure SMS_186
) Unit vector under inertial coordinate system.
Referring to fig. 3, fig. 3 is a schematic diagram of a radar measurement coordinate system according to an embodiment of the present invention, and each coordinate axis of the radar measurement coordinate system is
Figure SMS_187
、/>
Figure SMS_188
、/>
Figure SMS_189
) The unit vector in the inertial coordinate system is expressed as: />
Figure SMS_190
；
in the formula ,
Figure SMS_191
the position vector of the radar station under the J2000 coordinate system can be obtained by converting the position vector of the station in the geocentric earth fixed coordinate system (ECF);
Figure SMS_192
；
in the formula ,
Figure SMS_193
and />
Figure SMS_194
Initial and end points of radar imaging corner accumulation
Figure SMS_195
An axis component;
Figure SMS_196
；
coordinate transformation matrix from inertial coordinate system to radar measurement coordinate system
Figure SMS_197
Expressed as:
Figure SMS_198
；
3b) The coordinate transformation matrix obtained according to step 3 a)
Figure SMS_199
And the coordinate position obtained in step 2 +.>
Figure SMS_200
Calculate key point->
Figure SMS_201
Coordinate position in radar measurement coordinate system +.>
Figure SMS_202
The calculation formula is as follows:
Figure SMS_203
；
wherein ,
Figure SMS_204
representing the transpose.
3c) Imaging radar plane
Figure SMS_205
Setting the axis component to 0 to obtain a key point +.>
Figure SMS_206
Two-dimensional coordinate theory position of imaging plane of foundation radar +.>
Figure SMS_207
The expression is:
Figure SMS_208
；
wherein ,
Figure SMS_209
，/>
Figure SMS_210
and
Figure SMS_211
respectively representing coordinate axes of imaging planes of foundation radar>
Figure SMS_212
、/>
Figure SMS_213
A component of direction.
Because the attitude transformation matrix is related to the attitude angle of the satellite, the theoretical position of the coordinates of the key points of the spacecraft in the radar imaging plane and the attitude angle of the satellite
Figure SMS_214
And (5) correlation.
Step 4: coordinate transformation matrix for calculating inertial coordinate system to optical measurement coordinate system
Figure SMS_215
And combining the coordinate positions obtained in the step 2 +.>
Figure SMS_216
Calculate key point->
Figure SMS_217
Two-dimensional coordinate theory position of foundation optical imaging plane +.>
Figure SMS_218
。
4a) Calculating each coordinate axis of the optical measurement coordinate system based on the result of the step 2 a)
Figure SMS_219
、/>
Figure SMS_220
、/>
Figure SMS_221
) Unit vector under inertial coordinate system.
Referring to fig. 4, fig. 4 is a schematic diagram of an optical measurement coordinate system according to an embodiment of the present invention, and each coordinate axis of the optical measurement coordinate system is ±
Figure SMS_222
、/>
Figure SMS_223
、/>
Figure SMS_224
) The unit vector in the inertial coordinate system is expressed as:
Figure SMS_225
；
Figure SMS_226
；
Figure SMS_227
；
the inertial coordinate system is changed into the optical measurement coordinate system
Figure SMS_228
Figure SMS_229
Figure SMS_230
) Coordinate transformation matrix>
Figure SMS_231
Expressed as:
Figure SMS_232
；
4b) The coordinate transformation matrix obtained according to step 4 a)
Figure SMS_233
And the coordinate position obtained in step 2 +.>
Figure SMS_234
Calculate key point->
Figure SMS_235
Coordinate position in optical measurement coordinate system +.>
Figure SMS_236
The calculation formula is as follows:
Figure SMS_237
；
4c) To optically image plane
Figure SMS_238
Setting the axis component to 0 to obtain a key point +.>
Figure SMS_239
Two-dimensional coordinate theory position of foundation optical imaging plane +.>
Figure SMS_240
The expression is:
Figure SMS_241
；
wherein ,
Figure SMS_242
，/>
Figure SMS_243
and
Figure SMS_244
respectively represents the coordinate axes of the foundation optical imaging plane +.>
Figure SMS_245
、/>
Figure SMS_246
A component of direction. />
Similarly, the theoretical position of the coordinates of the key points of the spacecraft in the optical imaging plane is also equal to the attitude angle of the satellite
Figure SMS_247
And (5) correlation.
Step 5: respectively extracting from instantaneous optical image and radar image of spacecraft foundationTaking out the key points
Figure SMS_248
Corresponding measured coordinate position->
Figure SMS_249
and />
Figure SMS_250
。
5a) Extracting key points based on spacecraft foundation radar image at a certain instant T0
Figure SMS_251
Two-dimensional measured coordinates corresponding to radar imaging plane +.>
Figure SMS_252
The expression is:
Figure SMS_253
；
wherein ,
Figure SMS_254
，/>
Figure SMS_255
and />
Figure SMS_256
Respectively represent radar imaging plane coordinate axes +.>
Figure SMS_257
、/>
Figure SMS_258
A component of direction.
5b) Extracting key points based on spacecraft foundation optical image at a certain instant T0
Figure SMS_259
Two-dimensional measured coordinates corresponding to the optical imaging plane +.>
Figure SMS_260
The expression is:
Figure SMS_261
；
wherein ,
Figure SMS_262
，/>
Figure SMS_263
and />
Figure SMS_264
Respectively represent the coordinate axes of the optical imaging plane +.>
Figure SMS_265
、/>
Figure SMS_266
A component of direction.
Step 6: according to key points
Figure SMS_267
Theoretical position +.>
Figure SMS_270
、/>
Figure SMS_272
Measured coordinate position +.>
Figure SMS_269
、/>
Figure SMS_271
Performing instantaneous attitude inversion of the spacecraft to obtain an instantaneous attitude roll angle of the spacecraft>
Figure SMS_273
Pitch angle->
Figure SMS_274
And yaw angle->
Figure SMS_268
。
According to the embodiment, the objective function takes the Euclidean distance between the actual measurement value and the theoretical value of the coordinates of the key points of the spacecraft, the theoretical value is related to the attitude angle, and the instantaneous attitude angle of the spacecraft is converted by searching the minimum distance between the theoretical value and the actual measurement value. Specifically, step 6 includes:
6a) By key points
Figure SMS_275
Theoretical position +.>
Figure SMS_276
、/>
Figure SMS_277
And the measured coordinate position
Figure SMS_278
、/>
Figure SMS_279
The Euclidean distance between the two is used as an optimization target, and an objective function is constructed as follows: />
Figure SMS_280
；
nThe number of selected keypoints is reduced by 1.
6b) Definition of roll angle
Figure SMS_281
Pitch angle->
Figure SMS_282
Yaw angle +.>
Figure SMS_283
Is a solution space of (a).
Specifically, according to the definition of the attitude angle,
Figure SMS_284
the space of variation of (c) is positive clockwise,counterclockwise negative, its solution space is:
Figure SMS_285
；
6c) Carrying out optimization solution through a particle swarm algorithm to obtain an instantaneous attitude angle rolling angle of the spacecraft
Figure SMS_286
Pitch angle->
Figure SMS_287
And yaw angle->
Figure SMS_288
。
It should be noted that, the process of the particle swarm algorithm may refer to the related art, and the embodiment is not described in detail herein.
According to the method provided by the invention, by establishing a strict mathematical calculation model, three-dimensional key point coordinates under a spacecraft body coordinate system are mapped to two-dimensional coordinates of a foundation imaging plane, and an inversion model of the instantaneous attitude of the spacecraft is established by fusing the imaging quality of foundation observation equipment and the extraction error of key points and by fusing the imaging result of the foundation instantaneous radar and the optical imaging result, so that the instantaneous attitude of the on-orbit spacecraft is inverted. Aiming at the space target with known structure size, the method has strong timeliness, accuracy and operability.
Example two
The beneficial effects of the invention are verified and illustrated by simulation tests.
1. Simulation object
The simulation object selected in the simulation test is Tiangong one, a three-dimensional structure diagram of the simulation object is shown in fig. 5, and 6 key points P0 to P5 of Tiangong one are extracted in the test.
2. The simulation parameter settings are shown in Table 1 below
Table 1 simulation parameter settings
Figure SMS_289
3. Extraction of actual measurement values of coordinates of key points
By setting different attitude angles of the spacecraft, the imaging result of the foundation radar and the imaging result of the optical telescope are obtained through simulation, and 6 key point coordinates are extracted from the imaging result, as shown in fig. 6 and 7. Fig. 6 is a schematic diagram of extracting key points of a radar image, and fig. 7 is a schematic diagram of extracting key points of an optical image.
With attitude angle of spacecraft
Figure SMS_290
For example, based on the foundation instantaneous light thunder image result of 8 minutes and 15 seconds, 6 key point actual measurement coordinates are extracted as shown in table 2.
TABLE 2 coordinates of keypoints in the imaging plane (16 hours 8 minutes 15 seconds)
Figure SMS_291
4. Attitude inversion result analysis
Performing attitude inversion calculation through key points in table 2 to obtain an attitude angle of the satellite as
Figure SMS_292
The attitude inversion result is basically consistent with the actual attitude of the satellite.
In order to verify instantaneous attitude inversion results of satellites in different attitudes, 10 attitude angles are randomly sampled and set in a range of-60 degrees through Monte Carlo in the test, and the instantaneous attitude inversion results are shown in Table 3.
TABLE 3 attitude angle inversion results
Figure SMS_293
From table 3, the instantaneous attitude inversion errors of the spacecraft are smaller than 2 degrees, which shows that the method has better precision and verifies the advancement of the invention.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.

Claims (7)

1. An on-orbit spacecraft instantaneous attitude inversion method based on ground-based light thunder image fusion is characterized by comprising the following steps:
step 1: calculating key points on spacecraft
Figure QLYQS_1
At a roll angle +.>
Figure QLYQS_2
The pitch angle is->
Figure QLYQS_3
Yaw angle is +.>
Figure QLYQS_4
Coordinate position +.in corresponding orbital coordinate system under the posture of (2)>
Figure QLYQS_5
；
Step 2: coordinate transformation matrix for calculating inertial coordinate system to orbit coordinate system
Figure QLYQS_6
In combination with the coordinate position obtained in step 1 +.>
Figure QLYQS_7
Calculating the key point +.>
Figure QLYQS_8
Coordinate position in inertial coordinate system +.>
Figure QLYQS_9
；
Step 3: coordinate transformation matrix for calculating inertial coordinate system to radar measurement coordinate system
Figure QLYQS_10
And combining the coordinate positions obtained in the step 2 +.>
Figure QLYQS_11
Calculating the key point +.>
Figure QLYQS_12
Two-dimensional coordinate theory position of imaging plane of foundation radar +.>
Figure QLYQS_13
；
Step 4: coordinate transformation matrix for calculating inertial coordinate system to optical measurement coordinate system
Figure QLYQS_14
And combining the coordinate positions obtained in the step 2 +.>
Figure QLYQS_15
Calculating the key point +.>
Figure QLYQS_16
Two-dimensional coordinate theory position of foundation optical imaging plane +.>
Figure QLYQS_17
；
Step 5: extracting the key points from the instantaneous radar image and the optical image of the spacecraft foundation respectively
Figure QLYQS_18
Corresponding measured coordinate position->
Figure QLYQS_19
and />
Figure QLYQS_20
；
Step 6: according to the key points
Figure QLYQS_21
Theoretical position +.>
Figure QLYQS_24
、/>
Figure QLYQS_26
Measured coordinate position
Figure QLYQS_23
、/>
Figure QLYQS_25
Performing instantaneous attitude inversion of the spacecraft to obtain an instantaneous attitude roll angle of the spacecraft
Figure QLYQS_27
Pitch angle->
Figure QLYQS_28
And yaw angle->
Figure QLYQS_22
。
2. The method for inverting the instantaneous attitude of the on-orbit spacecraft based on the ground-based optical thunder image fusion according to claim 1, wherein the step 1 comprises the following steps:
1a) Obtaining key points on spacecraft
Figure QLYQS_29
The three-dimensional coordinates in the spacecraft body coordinate system are recorded as:
Figure QLYQS_30
；
wherein the spacecraft body coordinate system takes the mass center of the spacecraft as an origin, and the spacecraft body coordinate system comprises a plurality of coordinate systems
Figure QLYQS_31
The axis is consistent with the longitudinal symmetry axis of the spacecraft and points to the head of the spacecraft; />
Figure QLYQS_32
The axis is perpendicular to +.>
Figure QLYQS_33
The shaft is positioned in the main symmetry plane of the spacecraft and points to the upper part of the space; />
Figure QLYQS_34
Shaft and->
Figure QLYQS_35
Shaft(s)>
Figure QLYQS_36
The shaft meets the right-hand rectangular coordinate system criterion; />
Figure QLYQS_37
The coordinate components of the three directions are respectively,iis an integer used for distinguishing different key points;
1b) Establishing an attitude transformation matrix from a spacecraft orbit coordinate system to a spacecraft body coordinate system
Figure QLYQS_38
The expression is: />
Figure QLYQS_39
；
1c) According to the gesture conversion matrix in step 1 b)
Figure QLYQS_40
Calculating the key point +.>
Figure QLYQS_41
Coordinate position in the track coordinate system +.>
Figure QLYQS_42
The calculation formula is as follows:
Figure QLYQS_43
。
3. the method for inverting the instantaneous attitude of the on-orbit spacecraft based on the ground-based optical thunder image fusion according to claim 2, wherein the step 2 comprises:
2a) Obtaining the position parameter of the mass center of the satellite under an inertial coordinate system through orbit extrapolation based on the TLE number of the satellite
Figure QLYQS_44
) The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>
Figure QLYQS_45
Respectively representing time, position vectors and velocity vectors;
2b) By means of parameters
Figure QLYQS_46
Calculating each coordinate axis of the orbit coordinate systemx、y、z) The unit vector of (2) is calculated as:
Figure QLYQS_47
，/>
Figure QLYQS_48
，/>
Figure QLYQS_49
；
wherein ,
Figure QLYQS_50
representing a modulus value;
coordinate transformation matrix from inertial coordinate system to orbit coordinate system
Figure QLYQS_51
The method comprises the following steps:
Figure QLYQS_52
；
2c) The coordinate transformation matrix obtained according to step 2 b)
Figure QLYQS_53
And the coordinate position obtained in step 1 +.>
Figure QLYQS_54
Calculating the key point +.>
Figure QLYQS_55
Coordinate position in inertial coordinate system +.>
Figure QLYQS_56
The calculation formula is as follows:
Figure QLYQS_57
。
4. the method for inverting the instantaneous attitude of the on-orbit spacecraft based on the ground-based optical thunder image fusion according to claim 3, wherein the step 3 comprises:
3a) Calculating each coordinate axis of the radar measurement coordinate system based on the result of the step 2 a)
Figure QLYQS_58
、/>
Figure QLYQS_59
、/>
Figure QLYQS_60
) The unit vector under the inertial coordinate system has the following calculation formula: />
Figure QLYQS_61
，/>
Figure QLYQS_62
，/>
Figure QLYQS_63
；
in the formula ,
Figure QLYQS_64
the position vector is the position vector of the radar station under the inertial coordinate system; />
Figure QLYQS_65
and />
Figure QLYQS_66
The initial and end points of the radar imaging angle accumulation>
Figure QLYQS_67
An axis component;
coordinate transformation matrix from inertial coordinate system to radar measurement coordinate system
Figure QLYQS_68
Expressed as:
Figure QLYQS_69
；
3b) The coordinate transformation matrix obtained according to step 3 a)
Figure QLYQS_70
And the coordinate position obtained in step 2 +.>
Figure QLYQS_71
Calculation ofThe key point->
Figure QLYQS_72
Coordinate position in radar measurement coordinate system +.>
Figure QLYQS_73
The calculation formula is as follows:
Figure QLYQS_74
；
wherein T represents a transpose;
3c) Imaging radar plane
Figure QLYQS_75
Setting the axis component to 0 to obtain the key point +.>
Figure QLYQS_76
Two-dimensional coordinate theory position of imaging plane of foundation radar +.>
Figure QLYQS_77
The expression is:
Figure QLYQS_78
；
wherein ,
Figure QLYQS_79
，/>
Figure QLYQS_80
and />
Figure QLYQS_81
Respectively representing coordinate axes of imaging planes of foundation radar>
Figure QLYQS_82
、/>
Figure QLYQS_83
A component of direction.
5. The method for inverting the instantaneous attitude of the on-orbit spacecraft based on the ground-based optical thunder image fusion according to claim 4, wherein the step 4 comprises:
4a) Calculating each coordinate axis of the optical measurement coordinate system based on the result of the step 2 a)
Figure QLYQS_84
、/>
Figure QLYQS_85
、/>
Figure QLYQS_86
) The unit vector under the inertial coordinate system has the following calculation formula:
Figure QLYQS_87
，/>
Figure QLYQS_88
，/>
Figure QLYQS_89
；
coordinate transformation matrix from inertial coordinate system to optical measurement coordinate system
Figure QLYQS_90
Expressed as:
Figure QLYQS_91
；/>
4b) The coordinate transformation matrix obtained according to step 4 a)
Figure QLYQS_92
And the coordinate position obtained in step 2 +.>
Figure QLYQS_93
Calculating the key point +.>
Figure QLYQS_94
Coordinate position in optical measurement coordinate system +.>
Figure QLYQS_95
The calculation formula is as follows:
Figure QLYQS_96
；
4c) To optically image plane
Figure QLYQS_97
Setting the axis component to 0 to obtain the key point +.>
Figure QLYQS_98
Two-dimensional coordinate theory position of foundation optical imaging plane +.>
Figure QLYQS_99
The expression is:
Figure QLYQS_100
；
wherein ,
Figure QLYQS_101
，/>
Figure QLYQS_102
and />
Figure QLYQS_103
Respectively represents the coordinate axes of the foundation optical imaging plane +.>
Figure QLYQS_104
、/>
Figure QLYQS_105
A component of direction.
6. The on-orbit spacecraft instantaneous attitude inversion method based on ground-based optical thunder image fusion according to claim 1, wherein the step 5 comprises:
5a) Extracting the key points based on spacecraft foundation radar images at a certain instant T0
Figure QLYQS_106
Two-dimensional measured coordinates corresponding to radar imaging plane +.>
Figure QLYQS_107
The expression is:
Figure QLYQS_108
；
wherein ,
Figure QLYQS_109
，/>
Figure QLYQS_110
and />
Figure QLYQS_111
Respectively represent radar imaging plane coordinate axes +.>
Figure QLYQS_112
、/>
Figure QLYQS_113
A component of direction;
5b) Extracting the key points based on spacecraft foundation optical images at a certain instant T0
Figure QLYQS_114
Two-dimensional measured coordinates corresponding to the optical imaging plane +.>
Figure QLYQS_115
The expression is:
Figure QLYQS_116
；
wherein ,
Figure QLYQS_117
，/>
Figure QLYQS_118
and />
Figure QLYQS_119
Respectively represent the coordinate axes of the optical imaging plane +.>
Figure QLYQS_120
、/>
Figure QLYQS_121
A component of direction.
7. The method for inverting the instantaneous attitude of the on-orbit spacecraft based on the ground-based optical thunder image fusion according to claim 6, wherein the step 6 comprises:
6a) By the key points
Figure QLYQS_122
Theoretical position +.>
Figure QLYQS_123
、/>
Figure QLYQS_124
And the measured coordinate position->
Figure QLYQS_125
、/>
Figure QLYQS_126
The Euclidean distance between the two is used as an optimization target, and an objective function is constructed as follows:
Figure QLYQS_127
；
wherein ,nsubtracting 1 for the number of the selected key points;
6b) Definition of roll angle
Figure QLYQS_128
Pitch angle->
Figure QLYQS_129
Yaw angle +.>
Figure QLYQS_130
The solution space of (2) is:
Figure QLYQS_131
；
wherein, the gesture angle is positive clockwise and negative anticlockwise;
6c) The objective function is optimized and solved through a particle swarm algorithm to obtain the instantaneous attitude rolling angle of the spacecraft
Figure QLYQS_132
Pitch angle->
Figure QLYQS_133
And yaw angle->
Figure QLYQS_134
。/>
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