CN107525492B - Drift angle simulation analysis method suitable for agile earth observation satellite - Google Patents

Drift angle simulation analysis method suitable for agile earth observation satellite Download PDF

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CN107525492B
CN107525492B CN201710594934.6A CN201710594934A CN107525492B CN 107525492 B CN107525492 B CN 107525492B CN 201710594934 A CN201710594934 A CN 201710594934A CN 107525492 B CN107525492 B CN 107525492B
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陈雄姿
谢松
王抒雁
黄镐
于灵慧
王超伦
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Aerospace Dongfanghong Satellite Co Ltd
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Abstract

The invention relates to a drift angle simulation analysis method suitable for an agile earth observation satellite, which comprises the following steps: (1) generating a satellite position vector, a velocity vector and an orbit transient number at a corresponding moment by using STK software; (2) calculating a unit vector of the optical axis of the camera in an equatorial inertial coordinate system based on the target rolling angle and the target pitch angle of the satellite and the position vector and the speed vector obtained in the step (1); (3) calculating a vector from the geocenter to a shooting point under an equatorial inertial coordinate system based on the position vector in the step (1) and the unit vector of the optical axis of the camera obtained in the step (2); (4) and calculating a drift angle based on the results of the step (1), the step (2) and the step (3). The method can be used for analyzing and verifying the calculation accuracy of the drift angle of the agile earth observation satellite in the ground test.

Description

Drift angle simulation analysis method suitable for agile earth observation satellite
Technical Field
The invention belongs to the field of overall design of optical remote sensing satellites, and relates to a drift angle simulation analysis method suitable for an agile earth observation satellite.
Background
When a space camera on an optical remote sensing satellite photographs a ground target, the earth rotates, so that relative motion exists between a target point and the camera, namely camera image motion is generated. Image motion can cause image blurring and affect imaging quality, so that image motion must be compensated, and drift angle is an important factor to be considered in the image motion compensation process.
The drift angle is the angle between the direction of motion of the image motion compensation system and the direction of the image motion velocity. For the TDICCD optical remote sensing satellite which is widely applied at present, the drift angle is the included angle between the TDICCD column direction and the image moving speed direction. The process of rotating the image plane by an appropriate means (such as satellite attitude yaw control) so that the image motion compensation system movement direction and the image motion speed direction coincide is called yaw angle control.
The accuracy of drift angle calculation is directly related to the accuracy of drift angle control, and further the imaging quality of the satellite is influenced. The agile satellite can perform attitude maneuver around a rolling axis, a pitching axis or a rolling-pitching double axis to change an imaging attitude, the attitude maneuver can change the spatial orientation of an image plane, and a drift angle can be changed along with the change. The existing method for calculating the drift angle of the agile satellite generally assumes that the earth is an ideal sphere, and does not consider the influence of the ellipse ratio of the earth on a calculation result (Jingquan. agile satellite drift angle calculation model research. spacecraft engineering, 2012,21(4): 16-20; Huangmin, Kurimojun, Yangyang and the like. influence of the attitude of the agile satellite on the displacement speed and the drift angle. spacecraft engineering, 2015,24(3): 34-39). When the satellite is imaged in a large-angle attitude, the drift angle calculated by the methods may have a large deviation from the actual value. In addition, the calculation accuracy of the drift angle is also influenced by factors such as the position precision of the satellite orbit, the attitude control precision and the like. In the ground whole satellite testing process of the agile satellite, an effective method for analyzing and verifying the calculation accuracy of the drift angle on the satellite is lacked.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a drift angle simulation analysis method suitable for an agile earth observation satellite, which considers the influence of factors such as the direction of a camera optical axis, the earth ellipse ratio, the satellite orbit position precision and the attitude control precision on the drift angle, remarkably improves the calculation precision of the drift angle and meets the requirement of verifying the calculation precision of the on-satellite drift angle in the ground whole satellite test stage.
The above purpose of the invention is mainly realized by the following technical scheme:
a drift angle simulation analysis method suitable for agile earth observation satellites comprises the following steps:
(1) generating a satellite position vector r, a velocity vector v and an orbit transient number (a, e, f) of equal interval step length in a drift angle test period, wherein: a is a semi-major axis of the track, e is the eccentricity of the track, and f is a true paraxial point angle;
(2) according to the target rolling angle of the satellite
Figure BDA0001355656300000021
Target pitchCalculating a unit vector sigma of the optical axis of the camera in an equatorial inertial coordinate system by using the angle theta, the position vector r and the velocity vector v obtained in the step (1);
(3) calculating a vector R from the geocentric to the shooting point P under the equatorial inertial coordinate system according to the satellite position vector R and the unit vector sigma of the optical axis of the camera in the equatorial inertial coordinate system obtained in the step (2)P；
(4) And (4) obtaining the vector R from the center of the earth to the shooting point P according to the step (3)PAnd calculating the drift angle phi of the earth observation satellite by the orbit transient number (a, e, f)P。
In the drift angle simulation analysis method suitable for the agile earth observation satellite, the STK software is used in the step (1) to generate the satellite position vector r, the velocity vector v and the orbit transient number (a, e, f) with equal interval step length in the drift angle test period in the HPOP mode.
In the above drift angle simulation analysis method for agile earth observation satellites, the specific method for calculating the unit vector σ of the camera optical axis in the equatorial inertial coordinate system in the step (2) is as follows:
Figure BDA0001355656300000031
wherein: sigmabFor unit vectors, A, in which the camera's optical axis is directed in the satellite body's coordinate systemoiA transformation matrix of an inertial coordinate system relative to a satellite orbit coordinate system;
Aoi＝[xoyozo]T
xo＝yo×zo，
Figure BDA0001355656300000032
Figure BDA0001355656300000033
is the length of the satellite position vector r;
Aboa transformation matrix of a satellite body coordinate system relative to an orbit coordinate system;
Figure BDA0001355656300000034
in the drift angle simulation analysis method for agile earth observation satellite, in the step (3), the vector R from the geocenter to the shooting point P under the equatorial inertial coordinate system is calculatedPThe specific method comprises the following steps:
RP＝r+Tσ，
wherein: t is the vector size of the satellite pointing to the shooting point P;
Figure BDA0001355656300000035
wherein:
Figure BDA0001355656300000036
B＝r·σ+drzσz，
Figure BDA0001355656300000037
Figure BDA0001355656300000038
is the length of the satellite position vector r, aeIs the equatorial radius of the earth, beIs the polar radius of the earth, rzIs the component of the vector r in the Z axis of the equatorial inertial frame, σzIs the component of the vector sigma on the Z-axis of the equatorial inertial frame.
In the above drift angle simulation analysis method for agile earth observation satellite, the step (4) calculates the drift angle Φ of the earth observation satellitePThe specific method comprises the following steps:
Figure BDA0001355656300000041
wherein: () The number in (b) indicates that the number of the selected vector is the number of the element to be calculated, vbThe speed of the shooting point P relative to the camera image plane in the satellite body coordinate system is as follows:
vb＝Abo[((ωe)o-(ωn)o)×(RP)o-(vr)o]
wherein: ()oIs a vector in the orbital coordinate system, AboIs the attitude matrix, omega, of the satellite relative to the orbital coordinate systemeIs the rotational angular velocity vector, omega, of the earthnIs the orbital angular velocity vector, v, of the satelliterThe radial component of the absolute velocity of the satellite.
In the above drift angle simulation analysis method for agile earth observation satellite, the (ω) ise)o、(ωn)oAnd (v)r)oThe acquisition method comprises the following steps:
Figure BDA0001355656300000042
Figure BDA0001355656300000043
Figure BDA0001355656300000044
wherein:
Figure BDA0001355656300000045
mu is the gravity coefficient.
Compared with the prior art, the invention has the advantages that:
(1) the method firstly considers the influence of the earth ellipse ratio on the drift angle, and accurately calculates the vector from the geocenter to the ground photography point by solving the earth ellipsoid equation, thereby improving the calculation precision of the drift angle, overcoming the defect that the calculation of the drift angle of the existing agile earth observation satellite generally assumes the earth as an ideal sphere, and when the satellite images in a large-angle attitude, the calculation result and the actual value may have larger deviation, and meeting the requirement of verifying the calculation accuracy of the drift angle on the satellite in the ground whole satellite test stage.
(2) The target attitude angle is adopted in the whole calculation process, the high-precision orbit parameters of the satellite are generated by means of third-party commercial tool software STK, the high-precision conversion matrix between the inertial coordinate system and the orbit coordinate system is obtained based on the target attitude angle and the high-precision orbit parameters, the influence of attitude errors and orbit errors on the calculation accuracy of the drift angle is obviously eliminated, and the defects that the existing drift angle calculation is often influenced by the factors such as the position precision of the satellite orbit, the attitude control precision and the like and the accurate reference value of the drift angle is difficult to obtain are overcome.
(3) The method is suitable for simulation verification of the calculation accuracy of the drift angle of the agile earth observation satellite in the ground test process, and the accurate reference value for comparing with the calculation result of the drift angle on the satellite can be obtained by using the method.
Drawings
FIG. 1 is a block diagram of a flow chart of a drift angle simulation analysis method according to the present invention;
FIG. 2 is a schematic diagram of the imaging geometric model of the agile optical remote sensing satellite.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
fig. 1 is a flow chart of the drift angle simulation analysis method of the present invention, and the drift angle simulation analysis method of the present invention includes: (1) generating a satellite position vector, a velocity vector and an orbit transient number at a corresponding moment by using STK software; (2) calculating a unit vector of the optical axis of the camera in an equatorial inertial coordinate system based on a target rolling angle, a target pitch angle, a position vector and a velocity vector of the satellite; (3) calculating a vector from the geocenter to a shooting point under an equatorial inertial coordinate system based on the position vector of the satellite and the unit vector of the optical axis of the camera obtained in the step (2); (4) and (4) calculating a drift angle based on the results of the step (1), the step (2) and the step (3). The method can be used for analyzing and verifying the calculation accuracy of the drift angle on the satellite of the agile earth observation satellite in the ground test process.
The following describes in detail the specific implementation steps of the drift angle simulation analysis method of the present invention:
(1) generating satellite position vector and orbit transient number corresponding to time by using STK software
Suppose that the drift angle test time range is [ t ]0,t1]Separately generating [ t ] in high precision orbital extrapolation (HPOP) mode using STK software0,t1]The satellite position vector r, velocity vector v and instantaneous number of orbits (a, e, f) at equally spaced steps within the time period, with the steps set to 1 second in this embodiment. Wherein a is the semi-major axis of the track, e is the eccentricity of the track, and f is the true paraxial point angle.
(2) And calculating a unit vector of the optical axis of the camera in an equatorial inertial coordinate system.
According to the imaging principle of the agile optical remote sensing satellite, the imaging geometric model of the agile optical remote sensing satellite shown in figure 2 can be established: the orbital coordinate system of the satellite is S-XoYoZoS is the center of mass of the satellite, ZoAxis directed to the earth's center, XoThe axis pointing in the direction of flight, YoThe right hand rule determines that the intersatellite point is S' and the ground photography point is P. Assuming that a satellite body coordinate system is coincident with a camera coordinate system, the initial moment of the satellite body coordinate system is coincident with an orbit coordinate system, selecting a 1-2-3 Euler angle rotation sequence, and the rolling angle of the satellite during imaging is
Figure BDA0001355656300000061
The pitch angle is theta and the yaw angle is phi. The yaw angle does not affect the direction of the optical axis of the camera, and the value of the yaw angle is equal to the drift angle to be solved, and the value is assumed to be 0 in the calculation process.
The attitude matrix when the satellite is imaged is Abo. The unit vector of the camera optical axis pointing at the equatorial inertial frame is then:
Figure BDA0001355656300000062
wherein σbFor unit vectors, A, in which the camera's optical axis is directed in the satellite body's coordinate systemoiIs a transformation matrix of the inertial coordinate system relative to the satellite orbit coordinate system;
Aoi＝[xoyozo]T，
xo＝yo×zo，
Figure BDA0001355656300000063
Figure BDA0001355656300000064
is the length of the satellite position vector r;
Abois a transformation matrix of a satellite body coordinate system relative to an orbit coordinate system
Figure BDA0001355656300000071
(3) And calculating a vector from the geocenter to the shooting point P under the equatorial inertial coordinate system.
Let the subscripts x, y, z denote the components of the vector on the equatorial inertial axis, the coordinate P of the photographic point P taking into account the earth's ellipticityx,Py,PzThe ellipsoidal formula is satisfied:
Figure BDA0001355656300000072
wherein: a ise＝6378.145km，be6356.76km, the equatorial radius and polar radius of the earth, respectively.
As shown in fig. 2, in the equatorial inertial coordinate system, the satellite position vector is r, and the satellite vector to the imaging point is T', and the length thereof is T. Based on the unit vector sigma of the optical axis of the camera obtained in the step (2), T' is T sigma; the vector from the center of the earth to the shooting point is RPAnd the relation between the R and the T' is satisfied as follows: rPR + T'. Thus, the aforementioned ellipsoidal formula can be expanded to
Figure BDA0001355656300000073
Solving this equation yields:
Figure BDA0001355656300000074
wherein:
Figure BDA0001355656300000075
B＝r·σ+drzσz,
Figure BDA0001355656300000076
Figure BDA0001355656300000077
is the length of the satellite position vector r, ae＝6378.145km，be6356.76km, which is the equatorial radius and polar radius of the earth, respectively, and the subscript x, y, z represents the corresponding component of the chosen vector on the equatorial inertial axis; r iszIs the component of the vector r in the Z axis of the equatorial inertial frame, σzIs the component of the vector sigma on the Z-axis of the equatorial inertial frame.
Therefore, the vector from the center of the earth to the shot point P in the equatorial inertial coordinate system is
RP＝r+Tσ。
(4) And calculating a drift angle.
The speed of the shooting point relative to the camera image plane in the satellite body coordinate system is as follows:
vb＝Abo[((ωe)o-(ωn)o)×(RP)o-(vr)o]
wherein: a. theboIs the attitude matrix, omega, of the satellite relative to the orbital coordinate systemeIs the angular velocity vector of the earth, ωnIs the orbital angular velocity vector, v, of the satelliterIs the radial component of the absolute velocity of the satellite;
()othe vector under the orbit coordinate system specifically comprises: (omega)e)oIs the rotational angular velocity vector of the earth under the orbital coordinate system (omega)n)oIs the satellite orbital angular velocity vector under the orbital coordinate system, (R)P)oThe vector from the earth center to the shooting point P is converted from an equatorial inertial coordinate system to an orbital coordinate system, (v)r)oIs the radial component of the absolute velocity of the satellite in the orbital coordinate system.
Figure BDA0001355656300000081
Figure BDA0001355656300000082
Figure BDA0001355656300000083
Wherein:
Figure BDA0001355656300000084
where μ is 398600.44 the gravitational coefficient, a the track semimajor axis, e the track eccentricity,
Figure BDA0001355656300000085
f is the true anomaly angle for the length of the satellite position vector r.
Therefore, the drift angle at the imaging point P is:
Figure BDA0001355656300000086
wherein: the number in bracket () indicates that the first element of the vector is selected to participate in the calculation, for example, (1) indicates that the first element of the vector is selected to participate in the calculation, and for example, (2) indicates that the second element of the vector is selected to participate in the calculation.
When the rolling angle and the pitch angle of the sun synchronous orbit satellite with the orbit height of 600 kilometers are both 30 degrees by adopting the method, the calculation precision of the drift angle can be improved by about 0.1 degree.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.

Claims (2)

1. A drift angle simulation analysis method suitable for agile earth observation satellites is characterized by comprising the following steps: the method comprises the following steps:
(1) generating a satellite position vector r, a velocity vector v and an orbit transient number (a, e, f) of equal interval step length in a drift angle test period, wherein: a is a semi-major axis of the track, e is the eccentricity of the track, and f is a true paraxial point angle;
(2) according to the target rolling angle of the satellite
Figure FDA0002558278550000011
Calculating a unit vector sigma of the optical axis of the camera in an equatorial inertial coordinate system by using a target pitch angle theta, the position vector r and the velocity vector v obtained in the step (1);
(3) calculating a vector R from the geocentric to the shooting point P under the equatorial inertial coordinate system according to the satellite position vector R and the unit vector sigma of the optical axis of the camera in the equatorial inertial coordinate system obtained in the step (2)P；
(4) And (4) obtaining the vector R from the center of the earth to the shooting point P according to the step (3)PAnd calculating the drift angle phi of the earth observation satellite by the orbit transient number (a, e, f)P；
The specific method for calculating the unit vector sigma of the optical axis of the camera in the equatorial inertial coordinate system in the step (2) is as follows:
Figure FDA0002558278550000012
wherein: sigmabFor unit vectors, A, in which the camera's optical axis is directed in the satellite body's coordinate systemoiA transformation matrix of an inertial coordinate system relative to a satellite orbit coordinate system;
Aoi＝[xoyozo]T
xo＝yo×zo，
Figure FDA0002558278550000013
Figure FDA0002558278550000014
is the length of the satellite position vector r;
Aboa transformation matrix of a satellite body coordinate system relative to an orbit coordinate system;
Figure FDA0002558278550000015
in the step (3), a vector R from the geocenter to the shooting point P under an equatorial inertial coordinate system is calculatedPThe specific method comprises the following steps:
RP＝r+Tσ，
wherein: t is the vector size of the satellite pointing to the shooting point P;
Figure FDA0002558278550000021
wherein:
Figure FDA0002558278550000022
B＝r·σ+drzσz，
Figure FDA0002558278550000023
Figure FDA0002558278550000024
is the length of the satellite position vector r, aeIs the equatorial radius of the earth, beIs the polar radius of the earth, rzIs the component of the vector r in the Z axis of the equatorial inertial frame, σzIs the component of the vector sigma on the Z axis of the equatorial inertial coordinate system;
the step (4) calculates the drift angle phi of the earth observation satellitePThe specific method comprises the following steps:
Figure FDA0002558278550000025
wherein: () The number in (b) indicates that the number of the selected vector is the number of the element to be calculated, vbThe speed of the shooting point P relative to the camera image plane in the satellite body coordinate system is as follows:
vb＝Abo[((ωe)o-(ωn)o)×(RP)o-(vr)o]
wherein: ()oIs a vector in the orbital coordinate system, AboIs the attitude matrix, omega, of the satellite relative to the orbital coordinate systemeIs the rotational angular velocity vector, omega, of the earthnIs the orbital angular velocity vector, v, of the satelliterIs the radial component of the absolute velocity of the satellite;
said (ω)e)o、(ωn)oAnd (v)r)oThe acquisition method comprises the following steps:
Figure FDA0002558278550000026
Figure FDA0002558278550000027
Figure FDA0002558278550000028
wherein:
Figure FDA0002558278550000029
mu is the gravity coefficient.
2. The method for drift angle simulation analysis of an agile earth observation satellite according to claim 1, wherein: in the step (1), STK software is used for generating a satellite position vector r, a velocity vector v and an orbit transient number (a, e, f) with equal interval step length in a drift angle test period in an HPOP mode.
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