CN105466431A - Measurement method for two-dimensional sun sensor of spacecraft - Google Patents
Measurement method for two-dimensional sun sensor of spacecraft Download PDFInfo
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- CN105466431A CN105466431A CN201410429225.9A CN201410429225A CN105466431A CN 105466431 A CN105466431 A CN 105466431A CN 201410429225 A CN201410429225 A CN 201410429225A CN 105466431 A CN105466431 A CN 105466431A
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Abstract
The invention provides a measurement method for a two-dimensional sun sensor of a spacecraft. The measurement method comprises the following steps: assembling the pyramid-type two-dimensional sun sensor of the spacecraft by using four battery pieces, i.e., L1, L2, L3 and L4 and defining a measurement coordinate system XYZ of the two-dimensional sun sensor of the spacecraft; in the measurement coordinate system XYZ of the two-dimensional sun sensor, expressing the spatial relationship between a sun vector RsA and the four battery pieces of the two-dimensional sun sensor by using a first figure; in the measurement coordinate system XYZ of the two-dimensional sun sensor, expressing the side-angle relationship between the normal of each battery piece of the two-dimensional sun sensor and the sun vector RsA by using a second figure according to the first figure; and in the measurement coordinate system of the two-dimensional sun sensor, deducing the quantitative relationship between current and two angles of each battery piece according to the second figure, and determining the two angles according to the quantitative relationship. The measurement method can improve measurement precision in the direction of the sun vector.
Description
Technical field
The present invention the present invention relates to sun sensor measuring technique, the method that especially a kind of spacecraft two dimension sun sensor measures.
Background technology
Rapidly, the position relationship measuring solar vector and spacecraft body or solar battery array is absolutely necessary link for various near-earth spacecraft and deep space probe development, directly affects the acquisition of the spacecraft energy in-orbit.Therefore the reasonable measuring method for sun sensor is most important, and complexity affects Project Realization, and measuring accuracy directly affects the energy and obtains effect.At present, most of spacecraft all configures sun sensor, and to measure the quantitative relationship of solar vector and spacecraft body or solar battery array, its major function is: effectively obtain the positioning function in the energy and global attitude acquisition process.
Spacecraft is effectively obtain in the energy and global attitude acquisition process quantitatively to measure solar vector orientation in-orbit at present, and the measuring method of its comparative maturity mainly contains following two kinds:
1. as shown in Figure 1, for the sun sensor of two panels cell piece, two panels cell piece has certain configuration, and by the position be subject to according to strong and weak difference determination solar vector of two panels cell piece, its measure equation is
, a is calibration coefficient,
for taking measurement of an angle, that in like manner determines that another ties up takes measurement of an angle, and is taken measurement of an angle determine solar vector orientation by two;
2., as shown in Figure 2, to have the sun sensor of four equal size cell pieces, four cell pieces are positioned at same plane and in " box " bottom, by the position of the exposed area difference in size determination solar vector of four cell pieces, its measure equation is
, b is calibration coefficient,
for taking measurement of an angle, that in like manner determines that another ties up takes measurement of an angle, and is taken measurement of an angle determine solar vector orientation by two.
Above two kinds of ripe sun sensor measuring methods are widely used in spacecraft measuring technique.Sun sensor small volume used by first method, field range is large, is applicable to being arranged on solar battery array or for the Direct to the sun in global attitude acquisition process; Sun sensor volume used by second method is comparatively large, and field range is little, is applicable to being arranged on larger spacecraft.
Summary of the invention
The object of the present invention is to provide the method that a kind of spacecraft two dimension sun sensor measures, can the precision of increasing amount shoot the sun direction vector.
For solving the problem, the invention provides the method that a kind of spacecraft two dimension sun sensor measures, comprising:
Step one, forms the spacecraft two dimension sun sensor of gold tower, and defines the measurement coordinate system XYZ of spacecraft two dimension sun sensor with four cell pieces L1, L2, L3, L4;
Step 2, under the measurement coordinate system XYZ of spacecraft two dimension sun sensor, represents the spatial relationship of four cell pieces of solar vector RsA and spacecraft two dimension sun sensor with the first figure;
Step 3, according to the first figure under the measurement coordinate system XYZ of spacecraft two dimension sun sensor, represents spacecraft two dimension every sheet cell piece normal of sun sensor and the corner relation of solar vector RsA with second graph;
Step 4, to derive the electric current of every sheet cell piece and the quantitative relationship of two angles under the measurement coordinate system of spacecraft two dimension sun sensor according to second graph, described two angles are determined according to described quantitative relationship, wherein, described two angles are respectively the projection of solar vector in ZOY plane and the angle of Z axis
, the projection of solar vector in ZOX plane and the angle of Z axis
Further, in the above-mentioned methods, step 3 comprises:
Represent the normal of cell piece L1, L2, L3, L4 respectively with AB, AC, AP, AQ, then face ABC is its normal plane,
, then AE is the projection of solar vector on normal plane ABC, face ABC on the ZOY of face, face PAQ on the ZOX of face, RsG
face APQ, then AG is the projection of solar vector on the PAQ of face, and F is the mid point of BC, then AF is on Z axis,
,
for every sheet cell piece L1, L2, L3, L4 respectively with the angle of the bottom surface of the spacecraft of gold tower two dimension sun sensor,
.
Further, in the above-mentioned methods, step 4 comprises:
If solar vector
, determined by the size of every sheet cell piece output current
,
,
,
,
,
, wherein, i
1, i
2, i
3, i
4be respectively the electric current that every sheet cell piece L1, L2, L3, L4 export,
1,
2,
3,
4be respectively the angle of solar vector and every sheet cell piece normal, S is the area of every sheet cell piece, and K is scale-up factor;
According to
,
obtain following formula (1) and (2):
(1)
(2)；
Formula (3) is obtained by cosine formula:
(3)；
By
if,
, obtain formula (4):
(4)；
Derived by formula (3) and (4)
, due to every sheet cell piece L1, L2, L3, L4 respectively with the angle of the bottom surface of the spacecraft of gold tower two dimension sun sensor
known, obtain:
(5)，
Obtain according to formula (5) formula:
, with EF ask method in like manner, obtain
;
Due to
, obtain
,
(6)
(7)；
Obtained by (1) and (2) formula:
,
, will
,
substitute into formula (6) and (7), obtain formula (8) and (9):
(8)，
(9)，
The projection of solar vector in ZOY plane and the angle of Z axis is obtained according to formula (8) and (9)
, the projection of solar vector in ZOX plane and the angle of Z axis
.
Compared with prior art, the present invention by forming the spacecraft two dimension sun sensor of gold tower with four cell pieces L1, L2, L3, L4, and defines the measurement coordinate system XYZ of spacecraft two dimension sun sensor; Under the measurement coordinate system XYZ of spacecraft two dimension sun sensor, represent the spatial relationship of four cell pieces of solar vector RsA and spacecraft two dimension sun sensor with the first figure; According to the first figure under the measurement coordinate system XYZ of spacecraft two dimension sun sensor, represent spacecraft two dimension every sheet cell piece normal of sun sensor and the corner relation of solar vector RsA with second graph; To derive the electric current of every sheet cell piece and the quantitative relationship of two angles under the measurement coordinate system of spacecraft two dimension sun sensor according to second graph, described two angles are determined according to described quantitative relationship, wherein, described two angles are respectively the projection of solar vector in ZOY plane and the angle of Z axis
, the projection of solar vector in ZOX plane and the angle of Z axis
, can the precision of increasing amount shoot the sun direction vector, method is simple, is easy to realize, and is applicable to near-earth spacecraft and deep space probe.
Accompanying drawing explanation
Fig. 1 is several cell pieces of existing certain configuration and the graph of a relation of sunshine;
Fig. 2 is the graph of a relation of existing equal size cell piece and sunshine;
Fig. 3 is that the two-dimentional sun sensor of one embodiment of the invention measures coordinate system figure;
Fig. 4 is the pyramid cell piece normal of the two-dimentional sun sensor of Fig. 1 and the corner relation schematic diagram of solar vector.
Embodiment
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, and below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
As shown in Figures 3 and 4, the invention provides the method that a kind of spacecraft two dimension sun sensor measures, comprising:
Step S1, as shown in Figure 3, forms the spacecraft two dimension sun sensor of gold tower, and defines the measurement coordinate system XYZ of spacecraft two dimension sun sensor with four cell pieces L1, L2, L3, L4;
Step S2, under the measurement coordinate system XYZ of spacecraft two dimension sun sensor, represents the spatial relationship of four cell pieces of solar vector RsA and spacecraft two dimension sun sensor with the first figure and Fig. 3;
Step S3, according to the first figure under the measurement coordinate system XYZ of spacecraft two dimension sun sensor, represents spacecraft two dimension every sheet cell piece normal of sun sensor and the corner relation of solar vector RsA with second graph and Fig. 4; Concrete, represent the normal of cell piece L1, L2, L3, L4 in Fig. 4 respectively with AB, AC, AP, AQ, then face ABC is its normal plane,
, then AE is the projection of solar vector on normal plane ABC, face ABC on the ZOY of face, face PAQ on the ZOX of face, RsG
face APQ, then AG is the projection of solar vector on the PAQ of face, and F is the mid point of BC, then AF is on Z axis,
,
for every sheet cell piece L1, L2, L3, L4 respectively with the angle of the bottom surface of the spacecraft of gold tower two dimension sun sensor,
;
Step S4, to derive the electric current of every sheet cell piece and the quantitative relationship of two angles under the measurement coordinate system of spacecraft two dimension sun sensor according to second graph, described two angles are determined according to described quantitative relationship, wherein, described two angles are respectively the projection of solar vector in ZOY plane and the angle of Z axis
, the projection of solar vector in ZOX plane and the angle of Z axis
, by described two angles, the direction of solar vector in the measurement coordinate system of spacecraft two dimension sun sensor can be described.Concrete, every sheet cell piece of spacecraft two dimension sun sensor can at closed loop generation current by illumination, there is clear and definite quantitative relationship every sheet cell piece plane included angle of the size of the electric current of every sheet cell piece and solar vector and spacecraft two dimension sun sensor, four cell pieces position under sun sensor measures coordinate system can quantitative description, by two quantitative relationships by the electric current quantitative relationship obtaining solar vector direction and every sheet cell piece of deriving.
Preferably, step S4 comprises:
Step S41, if solar vector
, determined by the size of every sheet cell piece output current
,
,
,
,
,
, wherein, i
1, i
2, i
3, i
4be respectively the electric current that every sheet cell piece L1, L2, L3, L4 export,
1,
2,
3,
4be respectively the angle of solar vector and every sheet cell piece normal; Concrete, sunshine is different from the normal angle of every sheet cell piece, and cause output current different, the electric current that every sheet cell piece exports has the relation of following formula:
, wherein,
be the angle of solar vector and every sheet cell piece normal, S is the area of every sheet cell piece, and K is scale-up factor;
Step S42, according to
,
obtain following formula (1) and (2):
(1)
(2)；
Step S43, obtains formula (3) by cosine formula:
(3)；
Step S44, by
if,
, obtain formula (4):
(4)；
Step S45, is derived by formula (3) and (4)
, due to every sheet cell piece L1, L2, L3, L4 respectively with the angle of the bottom surface of the spacecraft of gold tower two dimension sun sensor
known, obtain:
(5)，
Obtain according to formula (5) formula:
, with EF ask method in like manner, obtain
;
Step S46, due to
, obtain
,
(6)
(7)
Step S47, is obtained by (1) and (2) formula:
,
, substitution (6) (7) two formula, obtains formula (8) and (9):
(8)
(9)，
The projection of solar vector in ZOY plane and the angle of Z axis is obtained according to formula (8) and (9)
, the projection of solar vector in ZOX plane and the angle of Z axis
, pass through
with
the direction of solar vector in the measurement coordinate system of spacecraft two dimension sun sensor can be described.
In sum, the present invention, according to the particular configuration of sun sensor and the demand measuring two dimension angular, can describe the direction of sunny vector more accurately, and method is simple, is easy to realize, is applicable to near-earth spacecraft and deep space probe.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For system disclosed in embodiment, owing to corresponding to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.
Professional can also recognize further, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
Obviously, those skilled in the art can carry out various change and modification to invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (3)
1. a method for spacecraft two dimension sun sensor measurement, is characterized in that, comprising:
Step one, forms the spacecraft two dimension sun sensor of gold tower, and defines the measurement coordinate system XYZ of spacecraft two dimension sun sensor with four cell pieces L1, L2, L3, L4;
Step 2, under the measurement coordinate system XYZ of spacecraft two dimension sun sensor, represents the spatial relationship of four cell pieces of solar vector RsA and spacecraft two dimension sun sensor with the first figure;
Step 3, according to the first figure under the measurement coordinate system XYZ of spacecraft two dimension sun sensor, represents spacecraft two dimension every sheet cell piece normal of sun sensor and the corner relation of solar vector RsA with second graph;
Step 4, to derive the electric current of every sheet cell piece and the quantitative relationship of two angles under the measurement coordinate system of spacecraft two dimension sun sensor according to second graph, described two angles are determined according to described quantitative relationship, wherein, described two angles are respectively the projection of solar vector in ZOY plane and the angle of Z axis
, the projection of solar vector in ZOX plane and the angle of Z axis
.
2. the method for spacecraft two dimension sun sensor as claimed in claim 1 measurement, it is characterized in that, step 3 comprises:
Represent the normal of cell piece L1, L2, L3, L4 respectively with AB, AC, AP, AQ, then face ABC is its normal plane,
, then AE is the projection of solar vector on normal plane ABC, face ABC on the ZOY of face, face PAQ on the ZOX of face, RsG
face APQ, then AG is the projection of solar vector on the PAQ of face, and F is the mid point of BC, then AF is on Z axis,
,
for every sheet cell piece L1, L2, L3, L4 respectively with the angle of the bottom surface of the spacecraft of gold tower two dimension sun sensor,
.
3. the method for spacecraft two dimension sun sensor as claimed in claim 2 measurement, it is characterized in that, step 4 comprises:
If solar vector
, determined by the size of every sheet cell piece output current
,
,
,
,
,
, wherein, i
1, i
2, i
3, i
4be respectively the electric current that every sheet cell piece L1, L2, L3, L4 export,
1,
2,
3,
4be respectively the angle of solar vector and every sheet cell piece normal, S is the area of every sheet cell piece, and K is scale-up factor;
According to
,
obtain following formula (1) and (2):
(1)
(2)；
Formula (3) is obtained by cosine formula:
(3)；
By
if,
, obtain formula (4):
(4)；
Derived by formula (3) and (4)
, due to every sheet cell piece L1, L2, L3, L4 respectively with the angle of the bottom surface of the spacecraft of gold tower two dimension sun sensor
known, obtain:
(5)，
Obtain according to formula (5) formula:
, with EF ask method in like manner, obtain
;
Due to
, obtain
,
(6)
(7)；
Obtained by (1) and (2) formula:
,
, will
,
substitute into formula (6) and (7), obtain formula (8) and (9):
(8)，
(9)，
The projection of solar vector in ZOY plane and the angle of Z axis is obtained according to formula (8) and (9)
, the projection of solar vector in ZOX plane and the angle of Z axis
.
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000234925A (en) * | 1998-12-14 | 2000-08-29 | Nec Corp | Attitude detector |
| US6861633B2 (en) * | 2002-06-20 | 2005-03-01 | The Aerospace Corporation | Microelectromechanical system optical sensor providing bit image data of a viewed image |
| CN101126930A (en) * | 2007-07-06 | 2008-02-20 | 中国科学院上海技术物理研究所 | Pyramid type optical head device for CCD sun sensor |
| CN101182991A (en) * | 2007-11-30 | 2008-05-21 | 徐国栋 | Sun vector measurement method and device thereof |
| CN201464033U (en) * | 2009-06-09 | 2010-05-12 | 中国电子科技集团公司第十八研究所 | Square pyramid shaped solar azimuth sensor |
| CN102252648A (en) * | 2011-04-02 | 2011-11-23 | 曹博成 | Angle measurement method for solar tracking and solar orientation sensor |
-
2014
- 2014-08-28 CN CN201410429225.9A patent/CN105466431B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000234925A (en) * | 1998-12-14 | 2000-08-29 | Nec Corp | Attitude detector |
| US6861633B2 (en) * | 2002-06-20 | 2005-03-01 | The Aerospace Corporation | Microelectromechanical system optical sensor providing bit image data of a viewed image |
| CN101126930A (en) * | 2007-07-06 | 2008-02-20 | 中国科学院上海技术物理研究所 | Pyramid type optical head device for CCD sun sensor |
| CN101182991A (en) * | 2007-11-30 | 2008-05-21 | 徐国栋 | Sun vector measurement method and device thereof |
| CN201464033U (en) * | 2009-06-09 | 2010-05-12 | 中国电子科技集团公司第十八研究所 | Square pyramid shaped solar azimuth sensor |
| CN102252648A (en) * | 2011-04-02 | 2011-11-23 | 曹博成 | Angle measurement method for solar tracking and solar orientation sensor |
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