CN107246875A - Relative attitude determines method between star under a kind of accurate formation task - Google Patents
Relative attitude determines method between star under a kind of accurate formation task Download PDFInfo
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- CN107246875A CN107246875A CN201710532819.6A CN201710532819A CN107246875A CN 107246875 A CN107246875 A CN 107246875A CN 201710532819 A CN201710532819 A CN 201710532819A CN 107246875 A CN107246875 A CN 107246875A
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- 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
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- 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
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Abstract
Method is determined the invention discloses relative attitude between star under a kind of accurate formation task, is comprised the following steps：S1, transmit/receive antenna layout configuration design is completed based on measurement dimension constraint；S2, according to Cross-Link measurement information, sets up between star relative attitude relation and independent of relative attitude relation between the star of centroid of satellite；S3, the real time information of relative status between star is calculated by filtering algorithm.Relative attitude is determined between the present invention can realize the in-orbit real-time star of complex condition.
Description
Technical field
Method is determined the present invention is more particularly directed to relative attitude between star under a kind of accurate formation task.
Background technology
With continuing to develop for satellite technology, increasing country and tissue all increasingly tend to utilize multi-satellite
Satellite Formation Flying system is constituted to realize space tasks target.Therefore Satellite Formation Flying system control tasks become increasingly complex, while
It is faced with pressure in terms of high control precision and autonomy-oriented.
Relative attitude determines that technology is to meet posture Collaborative Control demand between accurate formation star between star, it is ensured that formation control essence
The support technology of degree.At present, relative attitude determines that method mainly has 3 kinds between the star proposed both at home and abroad：
1st kind of calculus of finite differences, i.e., realize that single star high-precision attitude is determined by the self-contained attitude sensor of satellite, utilize star
Between communication link carry out information exchange, pass through simple mathematical difference calculate obtain star between relative attitude；2nd species GPS methods, i.e.,
Cross-Link measurement is carried out using class GPS sensors, realizes that relative attitude is determined by filtering algorithm；3rd kind of direct method, when formation is defended
Relative distance between star relatively hundred meters of magnitudes when, relative attitude between star is determined come direct measurement using visual acuity device.
Above-mentioned 3 kinds of methods, calculus of finite differences is limited by single star sensor attitude determination accuracy in itself, while the processing of data difference
Mode meeting measurement by magnification error, attitude determination accuracy is limited between realizing star；Existing class GPS method is coupled with centroid of satellite,
Relative attitude measurement accuracy is limited by the in-orbit estimate accuracy of centroid of satellite between star, and the in-orbit of special centroid of satellite estimates non-reality
Posture determines requirement of real-time between when property influence star.Direct method is limited by interstellar distance and the visual field of visual acuity device is required,
Attitude determination accuracy and engineering practice are limited between star.
The content of the invention
Method is determined it is an object of the invention to provide relative attitude between star under a kind of accurate formation task, complex conditions are realized
Under between in-orbit real-time star relative attitude determine.
In order to realize the above object the present invention is achieved by the following technical solutions：
Relative attitude determines method between star under a kind of accurate formation task, is characterized in, comprises the following steps：
S1, transmit/receive antenna layout configuration design is completed based on measurement dimension constraint；
S2, according to Cross-Link measurement information, sets up between star relative attitude relation and independent of relative between the star of centroid of satellite
Posture relation；
S3, the real time information of relative status between star is calculated by filtering algorithm.
Transmitting antenna and reception antenna quantity are 2 in described step S1.
Described step S2 is specifically included：
S2.1, sets up independent of relative attitude state relation formula between the star of centroid of satellite：
ρij=R+Mr2j-r1i (1)
Wherein i=1,2, j=1, star known datum point is relative to the position vector of primary known datum point, ρ supplemented by 2, Rij
For the distance of j-th of reception antenna of i-th of transmitting antenna of primary to auxiliary star, r1iIt is the relative primary of i-th of transmitting antenna of primary
Position vector of the known datum point in primary body coordinate system, r2jSupplemented by star the relatively auxiliary star of j-th of reception antenna known to base
Position vector in auxiliary star body coordinate system on schedule, posture of the star body coordinate system relative to primary body coordinate system supplemented by M
Matrix；
S2.2, if ψ, θ,Supplemented by star with respect to relative attitude angle between the star of primary, then relative attitude state relation formula can be represented
For：
Wherein, ω1, ω2The respectively attitude angular velocity of primary and auxiliary star, celestial body coordinate is tied to primary body coordinate system supplemented by M
Transformation matrix of coordinates：
Wherein c represents that cos, s represent sin.
The real time information of relative status between star is calculated in described step S3 using EKF wave filters or UKF wave filters.
The present invention compared with prior art, with advantages below：
1st, engineering realizability is strong, attitude determination method between the high existing star at present of precision, or uses direct differential mode
Expand noise, either rely on centroid estimation precision or rely on visual field and interstellar distance, relative attitude determines precision and applies model
Limit is with, this method is laid out by optimizing transmit/receive antenna, sets up the measurement equation independent of centroid estimation, and constraint is few, no
Introduce attitude determination accuracy between extra error, star high.
2nd, relative attitude determines that overall process is clear between the star of method applicability and highly reliable Satellite Formation Flying, from correlation transmitting-receiving
The layout of antenna and datum mark and it is optimized to relative attitude and determines Real-Time Filtering algorithm, clearly, no visual field, barycenter is in-orbit estimates for meaning
Meter, interstellar distance etc. constrain, can in-orbit autonomous realization, ensure that the quality of accurate formation task run, be appearance between star
State Collaborative Control provides input and basis.
3rd, the strong this method of economy compares existing class GPS method, and transmitting antenna and reception antenna quantity are optimal, are not required to simultaneously
Will attitude measurement sensor between the star of such as optical camera, financial cost is low.
Brief description of the drawings
Fig. 1 determines the flow chart of method for relative attitude between star under a kind of accurate formation task of the present invention；
Fig. 2 is inventive antenna schematic layout pattern.
Embodiment
Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.
Posture difference directly affects the precision of payload work between accurate formation task culminant star, with posture between clock star to compiling
There is coupling influence in team's control accuracy, therefore precision formation must enter posture determination between planet.For this engineer applied problem,
The present invention proposes under a kind of accurate formation task condition high-precision relative attitude between star and determines method, realizes that complex condition exists
Relative attitude is determined between the real-time star of rail.
As shown in figure 1, relative attitude determines method between star under a kind of accurate formation task, comprise the following steps：
S1, based on measurement dimension constraint complete transmit/receive antenna layout configuration design, design requirement be transmitting antenna and
The number of reception antenna is minimum；
S2, according to Cross-Link measurement information, sets up between star relative attitude relation and independent of relative between the star of centroid of satellite
Posture relation；
S3, the real time information of relative status between star is calculated by filtering algorithm.
Transmitting antenna and reception antenna quantity are 2 in above-mentioned step S1.
Above-mentioned step S2 is specifically included：
It is inventive antenna schematic layout pattern referring to Fig. 2, wherein triangle is transmitting antenna, circle is reception antenna, five
Angle star is the known datum point (being usually GNSS receiver antenna phase center) that satellite body is selected.
S2.1, sets up independent of relative attitude state relation formula between the star of centroid of satellite：
ρij=R+Mr2j-r1i (1)
Wherein i=1,2, j=1, star known datum point is relative to the position vector of primary known datum point, ρ supplemented by 2, Rij
For the distance of j-th of reception antenna of i-th of transmitting antenna of primary to auxiliary star, r1iIt is the relative primary of i-th of transmitting antenna of primary
Position vector of the known datum point in primary body coordinate system, r2jSupplemented by star the relatively auxiliary star of j-th of reception antenna known to base
Position vector in auxiliary star body coordinate system on schedule, posture of the star body coordinate system relative to primary body coordinate system supplemented by M
Matrix；
S2.2, if ψ, θ,Supplemented by star with respect to relative attitude angle between the star of primary, then relative attitude state relation formula can be represented
For：
Wherein, ω1, ω2The respectively attitude angular velocity of primary and auxiliary star, celestial body coordinate is tied to primary body coordinate system supplemented by M
Transformation matrix of coordinates：
Wherein c represents that cos, s represent sin.
Using EKF filtering (EKF) or UKF filtering (Unscented kalman filtering) meter in described step S3
The real time information of relative status between calculation star.
In summary, relative attitude determines method between star under a kind of accurate formation task of the present invention, realizes complex condition
Relative attitude is determined between in-orbit real-time star.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (4)
1. relative attitude determines method between star under a kind of accurate formation task, it is characterised in that comprise the following steps：
S1, transmit/receive antenna layout configuration design is completed based on measurement dimension constraint；
S2, according to Cross-Link measurement information, sets up between star relative attitude relation and independent of relative attitude between the star of centroid of satellite
Relation；
S3, the real time information of relative status between star is calculated by filtering algorithm.
2. relative attitude determines method between star under precision formation task as claimed in claim 1, it is characterised in that described step
Transmitting antenna and reception antenna quantity are 2 in rapid S1.
3. relative attitude determines method between star under precision formation task as claimed in claim 1, it is characterised in that described step
Rapid S2 is specifically included：
S2.1, sets up independent of relative attitude state relation formula between the star of centroid of satellite：
ρij=R+Mr2j-r1i (1)
Wherein i=1,2, j=1, star known datum point is relative to the position vector of primary known datum point, ρ supplemented by 2, RijBased on
I-th of transmitting antenna of star is to the distance of j-th of reception antenna of auxiliary star, r1iIt is known to the relative primary of i-th of transmitting antenna of primary
Position vector of the datum mark in primary body coordinate system, r2jSupplemented by star the relatively auxiliary star known datum point of j-th of reception antenna
Position vector in auxiliary star body coordinate system, attitude matrix of the star body coordinate system relative to primary body coordinate system supplemented by M；
S2.2, if ψ, θ,Supplemented by star with respect to relative attitude angle between the star of primary, then relative attitude state relation formula is represented by：
Wherein, ω1, ω2The respectively attitude angular velocity of primary and auxiliary star, celestial body coordinate is tied to the seat of primary body coordinate system supplemented by M
Mark transformation matrix：
Wherein c represents that cos, s represent sin.
4. relative attitude determines method between star under precision formation task as claimed in claim 1, it is characterised in that described step
The real time information of relative status between star is calculated in rapid S3 using EKF wave filters or UKF wave filters.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710532819.6A CN107246875B (en) | 2017-07-03 | 2017-07-03 | Method for determining inter-satellite relative attitude under precise formation task |
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| CN201710532819.6A CN107246875B (en) | 2017-07-03 | 2017-07-03 | Method for determining inter-satellite relative attitude under precise formation task |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110632935A (en) * | 2019-08-22 | 2019-12-31 | 上海航天控制技术研究所 | Autonomous control method for formation satellite around flight |
| CN112208798A (en) * | 2020-10-22 | 2021-01-12 | 上海卫星工程研究所 | Flight-around formation high code rate inter-satellite link switching method and system |
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| CN112208798A (en) * | 2020-10-22 | 2021-01-12 | 上海卫星工程研究所 | Flight-around formation high code rate inter-satellite link switching method and system |
| CN112208798B (en) * | 2020-10-22 | 2022-03-22 | 上海卫星工程研究所 | Flight-around formation high code rate inter-satellite link switching method and system |
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