JPH04186189A - Relative attitude sensing method with laser radar - Google Patents

Abstract

PURPOSE:To sense axial alignment of two satellites and sense their relative attitude by receiving the reflected beam of light from targets of a satellite as object with laser radars of a pursuit satellite, and subjected the received beam to necessary processing. CONSTITUTION:Targets 3a, 3b are caught by laser radars 5a, 5b by rotating a pursuit satellite round one shaft 14a in the direction of arrow 15a, and are sensed in the form of image information to provide phase angle 17a, 17b information. Distance information 18a-18d between these targets 3a, 3b and radars 5a, 5b are obtained by measuring the time in which the light goes forward and returns. After the phase angle 17a, 17b information is aligned with a known phase angle 18, the distance information 18a-18d is checked, and one axis of the satellite as object is moved, and thereby axial alignment of the axis 4a with the axis 14a can be accomplished. Then rotation is made round the axis 14b in the direction of arrow 15b, and targets 3a, 3c are caught by the radars 5a, 5c, and now the relative attitude rotational angle round the axis 4c and the axis 14c can be sensed from the distance information. The same applies to 4b, 14b.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for detecting the relative attitude of two satellites, which is necessary when, for example, docking two satellites in outer space.

[Problems to be Solved by the Invention] When two satellites are docked in space, due to the engagement of the unevenness of the two satellites, it is necessary to do so immediately before docking, that is, when the two satellites approach at a very close distance. Then, it is necessary to be able to detect the relative attitude of the two satellites, which is the positional relationship of the coordinates each composed of three axes.

[Means for Solving the Problems] A method for detecting relative attitude using a laser radar according to the present invention includes attaching three targets to a target satellite at predetermined positions, and also attaching three laser radars to a tracking satellite at predetermined positions. Attachment uses a combination of phase angle information and distance information to achieve alignment between one axis of the target satellite and one axis of the tracking satellite, and detects relative attitude rotation angles of the remaining two axes using distance information.

[Operation] In this invention, ゛ targets two targets of the target satellite as one
By arranging the tracking satellite on a plane perpendicular to the axis, and arranging the two laser radars of the tracking satellite on a plane perpendicular to the axis, alignment of the target satellite and the tracking satellite on each axis is achieved from nine phase angle information. becomes possible. In addition, 1 remaining target satellite
Shift 1 to 1 target in the axial direction of the target
At the same time, the relative attitude rotation angle between the target satellite and the tracking satellite can be detected with respect to the remaining two axes by placing the two laser radars and the tracking satellite at an equal distance from a plane consisting of the two axes.

[Embodiment] The present invention proposes a method of detecting a relative attitude using a laser radar that can deal with such problems, and the present invention will be described in detail below with reference to FIGS. 1 to 3.

In Figure 1, when tracking a target satellite (1) with a tracking satellite (2), three targets (3a) to (3c) each made of a different crystal body are placed on the target satellite (1). There are 2 (3
a), (3b) Attachment, remaining one target (
3c) in the axial direction (4a) with respect to the target (3a)
Shift to and install. As an example, the tracking satellite (2) is equipped with three laser radars (5a) to (5c) that can selectively distinguish between targets by inputting the reflected light modulated by the targets (3a) to (3c). Let's go. The laser radar that can select and identify targets is well known, as shown in FIG.

For example, in the case of Raman laser radar, Targera 1 to (3
) at a certain frequency of light ν. If you guess (6), you get ν.

In addition, light (7) with a frequency that is an integral multiple of the frequency ν unique to the target is scattered, and the light transmitted from the laser oscillator (8) is scattered at the target (3).
The returning light scattered by the receiver is received by the receiving telescope (9) and passed through the spectrometer (10) to the filter (lla).
, (llb) and a photodetector (12a).

(12b), respectively the frequency νO, v (13a)
.

The light of (13b) is detected.

Moreover, three laser radars (5a) to (5c) attached to the tracking satellite (2) are attached within a vertical plane of one axis (14a) where the tracking satellite (2) is located.

First, the two targets (
3a), (3b) with two laser radars (5a)
.

(5b). As shown in Figure 3, targets (3a) and (3b) are arranged on a plane perpendicular to one axis (4a), that is, a plane composed of two axes (4b) and (4c), and their phase angle ( 16) is known,
Two laser radars (5a), (
5b), two phase angle information (17a) and (17b) can be obtained by laser radar. In addition, by measuring the return and return time of light using the two laser radars mentioned above, the target (3a) is detected.
, (3b) and laser radar (5a), (5b)
The distance information (18a) to (18dl) between these two phase angles (17a) and f17bl are combined with the known phase angle (18), and then the distance information (18a) is obtained.
By confirming ~(18d) and moving the 1st axis of the target satellite, the 1st axis of the target satellite (4a) and the 1st axis of the tracking satellite (
14a) alignment can be achieved.

Next, by rotating the tracking satellite around the remaining axis (14b) in the direction of the arrow (15b), the two targets (3a) and (3c) are aligned with the two laser radars (5a).
), (5c). Here, the positional relationship between the laser radars (5a) and (5c) is known, and the target (3c) is shifted in the axial direction (4a) with respect to the target (3a).
a), (5c) are the two axes of the tracking satellite (14al,
(14b), the distance information (18e) to (18h) will determine the relative attitude rotation angle around the 1st axis (4c) of the target satellite and the 1st axis (14c) of the tracking satellite. can be detected.

Finally, the relative attitude rotation angles around one axis (4b) of the target satellite and around one axis (14b) of the tracking satellite are similarly detected.

[Effects of the Invention] As described above, according to the present invention, it is possible to detect the relative attitude of two satellites, which is necessary when docking two satellites in outer space.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing a relative attitude detection method using a laser radar according to the present invention, FIG. 2 is a diagram showing the principle of a laser radar for selecting and determining a target, and FIG. 3 is a diagram showing phase angle detection by a laser radar. (1) is the target satellite, (
2) is the tracking satellite, (3) is the target, (4) is the axis of the target satellite, (5) is the laser radar, (6) is the incident light, (
7) is reflected light, (8) is laser oscillator, (9) is receiving telescope, (10) is spectrometer, (11) is filter, (12) is photodetector, (13) is detected light, (14) ) is the axis of the tracking satellite, (15) is the rotation direction around the axis of the tracking satellite, (16) is the phase angle, (17)
is the phase angle information obtained by the laser radar, and (18) is the distance information obtained by the laser radar. In the drawings, the same or corresponding parts are designated by the same reference numerals.

Claims (1)

[Claims] Multiple laser radars are installed at predetermined positions on the tracking satellite, and have the function of selectively identifying the type of each target by inputting laser reflected light modulated by the unique properties of each target. In this method, a plurality of targets with different reflection characteristics for the input laser beam are attached at predetermined positions, and each target of the target satellite is irradiated by the laser radar while rotating the tracking satellite around a predetermined axis, and each target is By receiving the reflected light from the laser radar with a light receiving unit attached to the laser radar and processing the output signal of the light receiving unit, it is possible to align the target satellite and the tracking satellite, and by detecting the relative attitude of the remaining two axes. A method for detecting a relative attitude using a laser radar, characterized by detecting a relative attitude of a target satellite to a tracking satellite.