CN111351564A - High-precision vibration measurement method for transmitting satellite on-orbit vibration information by using magnetic field - Google Patents
High-precision vibration measurement method for transmitting satellite on-orbit vibration information by using magnetic field Download PDFInfo
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Abstract
The application discloses utilize high accuracy vibration measuring method of magnetic field transmission satellite in orbit vibration information, when the vibration source takes place the vibration, miniature magnetic strength measuring device will vibrate along with the vibration source jointly, because the frequency of the vibration signal that awaits measuring is less than the speed that the magnetic field propagated far away, consequently can think that the magnetic field change signal that the vibration produced is instantaneous effect on miniature magnetic strength measuring device, consequently include vibration signal's information in the magnetic field signal that miniature magnetic strength measuring device surveyed, can utilize the magnetic field to transmit the microvibration information. The resolution of vibration information transmitted by a magnetic field can reach 10 through theoretical calculation by combining the resolution of a magnetometer probe and high-precision vibration measurement test data‑3The angular seconds meet the measurement precision requirement of a high-resolution camera, and high-precision real-time measurement can be realized.
Description
Technical Field
The invention relates to a space satellite remote sensing platform, in particular to a high-precision vibration measurement method for transmitting satellite in-orbit vibration information by using a magnetic field.
Background
The optical system of the high-resolution remote sensing imaging satellite is extremely sensitive to environmental vibration, and the micro-vibration on the satellite platform, particularly the relative micro-vibration between the reflector and the focal plane of the imaging system, is the main factor for generating image shift errors, thereby seriously affecting the imaging quality of the remote sensing satellite. The relative vibration is not in place, the relative vibration between the parts which affect the imaging on the satellite is measured on the premise of ensuring that the attitude of the satellite platform meets the requirement of design precision, and the image data is actively corrected and compensated in orbit by measuring the vibration angular displacement of the optical axis relative to the attitude axis of the platform, so that the imaging quality of the remote sensing satellite is improved.
The means for finding feasible and effective ground measurement and on-orbit measurement is one of the key points of optical system stability research and high-resolution optical imaging. The measurement of micro-vibration requires a high-precision detection system, such as an accelerometer, a piezoelectric sensor, a micromechanical gyroscope, an optical vibration measurement technology, a laser interferometer and the like, which are currently adopted, and the measurement precision of the accelerometer is 10-5～10-6gal, about 10 angular vibrations that can be measured-2The angular vibration measurement precision of the piezoelectric sensor is about an angular second level; the angle measurement precision of the micro-mechanical gyroscope is about an arc second level; light (es)The vibration measurement technology can measure micron-sized translation, and the angle measurement precision is in the order of angular seconds.
The current high-resolution remote sensing imaging system needs to be better than 10-3The accuracy of the measurements and control of the angular seconds to achieve an imaging level of 0.5 meter ground resolution. Therefore, the micro-vibration measurement demands a high-precision micro-vibration angular displacement sensor technology. Although the above methods have advantages, they cannot meet the measurement accuracy requirement of high resolution cameras, especially the real-time measurement with high accuracy. The method for seeking feasible and effective ground measurement and on-orbit measurement becomes a key point for solving the micro-vibration problem of the satellite platform.
Disclosure of Invention
In view of the above-mentioned shortcomings or drawbacks of the prior art, it is desirable to provide a high-precision vibration measurement method for transmitting satellite in-orbit vibration information, the method of the present invention utilizes a magnetic field to transmit micro-vibration information, combines the resolution of a magnetometer probe and high-precision vibration measurement test data, and theoretically calculates the resolution of the vibration information transmitted by the magnetic field to be 10-3Angle seconds.
The invention provides a high-precision vibration measuring method for transmitting satellite in-orbit vibration information by using a magnetic field, which is characterized by comprising the following steps of: fixing a magnetic source and a vibration source, and fixing a micro magnetic strength measuring device on the vibration source to ensure that a magnetic axis of the magnetic source is superposed with a vibration sensitive axis of the micro magnetic strength measuring device; connecting a signal output end of the miniature magnetic strength measuring device with an input end of a digital acquisition unit; starting the vibration source to vibrate, acquiring orthogonal three-direction magnetic field data containing vibration information output by the miniature magnetic strength measuring device through the digital acquisition unit, and sending the magnetic field data to data processing equipment; and the data processing equipment completes the extraction of the micro-vibration signal parameters by using a micro-vibration signal extraction algorithm.
In an embodiment, the vibration source is a micro-vibration test bed, the micro-magnetometer measurement device comprises a first micro-magnetometer probe and a second micro-magnetometer probe, the first micro-magnetometer probe and the second micro-magnetometer probe are sequentially installed on the micro-vibration test bed at an interval of 20cm, the first micro-magnetometer probe and the second micro-magnetometer are located on the same straight line on a vibration sensitive shaft, and the magnetic source is arranged on the vibration sensitive shaft at a distance of 50cm from a central point of the second micro-magnetometer probe.
In one embodiment, the data processing device using the microvibration signal extraction algorithm to perform microvibration signal parameter extraction includes: removing interference signals from the magnetic field data acquired by the first micro magnetometer probe and the second micro magnetometer probe by using a gradient method and a wavelet denoising method; and calculating and analyzing a vibration displacement signal obtained after wavelet denoising by using fast Fourier transform and a power spectrum, and extracting micro-vibration signal parameters from the vibration displacement signal, wherein the micro-vibration signal parameters comprise a micro-vibration time domain waveform, an amplitude, a frequency and a phase.
In one embodiment, removing the interference signal using a gradient method includes: dividing the magnetic field measurement signals v acquired by the first micro magnetometer probe and the second micro magnetometer probe1x,v1y,v1z,v2x,v2y,v2zAre respectively multiplied by channel gain coefficients a1,a2,a3,a4,a5,a6Adding to obtain total signal of magnetic field measurement
In one embodiment, the gain factor a1,a2,a3,a4,a5,a6Determined by a blind signal separation method, comprising: inputting a mixed signal X comprising the magnetic field measurement partial signal v1x,v1y,v1z,v2x,v2y,v2z(ii) a Carrying out mean value removing processing and whitening processing on the mixed signal X to obtain a separation matrix W; correcting the separation matrix W based on a negative entropy target function until the separation matrix W is converged; obtaining a source signal estimation component; resulting in the same number of source signal estimation components as the mix signal X.
In one embodiment, the coincidence of the magnetic axis and the vibration-sensitive axis is ensured by a laser leveling device.
In one embodiment, the magnetic source has a magnetic moment of magnitude 1000A-m2。
According to the technical scheme provided by the embodiment of the application, when the vibration source vibrates, the micro magnetic strength measuring device vibrates together with the vibration source, and because the frequency of the vibration signal to be measured is far less than the propagation speed of the magnetic field, the magnetic field change signal generated by vibration can be considered to be instantaneously acted on the micro magnetic strength measuring device, so that the magnetic field signal detected by the micro magnetic strength measuring device contains the information of the vibration signal, and the micro vibration information can be transmitted by using the magnetic field. The resolution of vibration information transmitted by a magnetic field can reach 10 through theoretical calculation by combining the resolution of a magnetometer probe and high-precision vibration measurement test data-3The angular seconds meet the measurement precision requirement of a high-resolution camera, and high-precision real-time measurement can be realized.
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Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of a high-precision vibration measurement method for transmitting satellite in-orbit vibration information by using a magnetic field according to an embodiment;
FIG. 2 is a flow chart of an embodiment of a data processing device utilizing a micro-vibration signal extraction algorithm to accomplish micro-vibration signal parameter extraction;
FIG. 3 is a block diagram of an example of a data processing method to obtain micro-vibration information from a magnetic field signal according to an embodiment;
FIG. 4 is a flow chart of an ICA algorithm for determining gain factors according to an embodiment;
FIG. 5 is a schematic block diagram of a ground verification test for transmitting satellite in-orbit vibration information using a magnetic field.
In the figure: 1-installing a base; 2-a first micro magnetometer probe; 3-a second micro magnetometer probe; 4-vibration source; 5-a magnetic source; 6-a digital acquisition unit; 7-data processing equipment.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As mentioned in the background, currently used accelerometers, piezoelectric sensors, micromechanical gyroscopes, optical vibration measurement techniques, laser interferometers, etc. have a measurement accuracy of 10-5～10-6gal, about 10 angular vibrations that can be measured-2The angular vibration measurement precision of the piezoelectric sensor is about an angular second level; the angle measurement precision of the micro-mechanical gyroscope is about an arc second level; the optical vibration measurement technology can measure micron-sized translation, and the angle measurement precision is in the order of angular seconds. And the high-resolution remote sensing imaging system needs to be better than 10-3The accuracy of the measurements and control of the angular seconds to achieve an imaging level of 0.5 meter ground resolution. Micro-vibration measurement urgently requires a high-precision micro-vibration angular displacement sensor technology.
Therefore, how to seek a feasible and effective ground measurement and on-orbit measurement means, the micro-vibration problem of the satellite platform is solved, the measurement precision requirement of the high-resolution camera is met, and the realization of high-precision real-time measurement becomes the improvement direction of the application. In view of the above, the present application provides a high-precision vibration measurement method for transmitting satellite in-orbit vibration information by using a magnetic field.
As shown in fig. 1, the present invention provides a high-precision vibration measurement method for transmitting satellite in-orbit vibration information by using a magnetic field.
In step S10, fixing the magnetic source 5 and the vibration source 4, and fixing the micro magnetic strength measuring device on the vibration source 4 to ensure that the magnetic axis of the magnetic source 5 coincides with the vibration sensitive axis of the micro magnetic strength measuring device.
In step S20, the signal output end of the micro magnetic strength measuring device is connected to the input end of the digital acquisition unit 6.
And (5) building a test platform through steps S10 and S20, wherein the vibration of the optical axis of the imaging instrument is simulated by using the vibration source 4, and the center of the satellite platform is simulated by using the magnetic source 5.
In step S30, the vibration source 4 is started to start vibration, the digital acquisition unit 6 acquires the orthogonal three-direction magnetic field data including vibration information output by the micro magnetic strength measurement device, and sends the magnetic field data to the data processing device 7.
When the vibration source 4 vibrates, the micro magnetic strength measuring device vibrates together with the vibration source 4, and because the frequency of the vibration signal to be measured is far less than the propagation speed of the magnetic field, the magnetic field change signal generated by vibration can be considered to be instantaneously acted on the micro magnetic strength measuring device, so that the magnetic field signal detected by the micro magnetic strength measuring device contains the information of the vibration signal, and the micro vibration information can be transmitted by using the magnetic field.
The working principle of transferring vibration information by using a magnetic field is as follows:
the calculation formula of the magnetic field generated by a permanent magnet magnetic dipole M magnetic moment serving as a magnetic source 5 in a space close to a magnetic axis can be obtained:
Wherein: mu.s0Is the vacuum permeability, M is the magnetic moment, θ0Is the included angle between the magnetic axis of the magnetic dipole and the r direction; the installation distance from the magnetic dipole to the miniature magnetic strength measuring device is r0The corresponding magnetic field is Br0,Bθ0(ii) a The distance between the vibration and the magnetic field is delta r and delta thetar1,Bθ1。
B detected by the micro magnetic strength measuring device due to the changes of delta r and delta theta generated by vibrationr1And Bθ1With consequent changes.
In step S40, the data processing device 7 completes the parameter extraction of the micro-vibration signal by using a micro-vibration signal extraction algorithm, and the data processing device 7 may adopt a computer, or may adopt a mobile phone or a tablet computer.
In practical application, magnetic field interference signals exist in the space environment and the spacecraft platform, which can interfere the magnetic field to transmit micro-vibration information. Therefore, in order to eliminate the influence of magnetic field interference, the data processing device 7 utilizes a micro-vibration signal extraction algorithm to complete micro-vibration signal parameter extraction.
As shown in fig. 5, in an embodiment, the vibration source 4 is a micro-vibration test bed, the micro-magnetometer measurement device includes a first micro-magnetometer probe 2 and a second micro-magnetometer probe 3, the first micro-magnetometer probe 2 and the second micro-magnetometer probe 3 are sequentially installed on the micro-vibration test bed at an interval of 20cm, vibration sensitive axes of the first micro-magnetometer probe 2 and the second micro-magnetometer probe 3 are on the same straight line, and the magnetic source 5 is disposed on the vibration sensitive axis at a distance of 50cm from a central point of the second micro-magnetometer probe 3. The magnetic moment of the magnetic source 5 is 1000 A.m2。
The magnetic source 5 is placed on the magnetic source support, and the first micro magnetometer probe 2 and the second micro magnetometer probe 3 are sequentially and rigidly connected on the vibration table of the micro-vibration test bed through the mounting base 1. The x-axis, the y-axis and the z-axis of the first micro magnetometer probe 2 and the second micro magnetometer probe 3 are aligned in the orthogonal direction, the error does not exceed 0.01%, and particularly, the coincidence of the x-axis of the first micro magnetometer probe 2 and the x-axis of the second micro magnetometer probe 3 needs to be ensured. It should be noted that the x-axis is in the direction of the vibration sensitive axis. And ensuring the coincidence of the magnetic axis and the vibration sensitive line through a laser collimation device.
It should be noted that the signal output ends of the first micro magnetometer probe 2 and the second micro magnetometer probe 3 are respectively connected with the input end of the digital acquisition unit 6, when the vibration source 4 vibrates, the first micro magnetometer probe 2 and the second micro magnetometer probe 3 will vibrate together with the vibration source 4, and the magnetic field change signal generated by the vibration utilizes the first micro magnetometer probe placed at different positionsThe probe 2 of the magnetometer and the probe 3 of the second micro magnetometer are used for collecting, and the probe 2 of the first micro magnetometer and the probe 3 of the second micro magnetometer are three-vector magnetometers, so that six paths of magnetic field measurement branch signals v are obtained1x,v1y,v1z,v2x,v2y,v2z。
As shown in fig. 2 and 3, the data processing device 7 in step S40 using the micro-vibration signal extraction algorithm to perform micro-vibration signal parameter extraction includes:
step S401, removing interference signals from the magnetic field data acquired by the first micro magnetometer probe 2 and the second micro magnetometer probe 3 by using a gradient method and a wavelet noise reduction method.
Step S402, calculating and analyzing a vibration displacement signal obtained after wavelet denoising by using fast Fourier transform and a power spectrum, and extracting micro-vibration signal parameters from the vibration displacement signal, wherein the micro-vibration signal parameters comprise a micro-vibration time domain waveform, an amplitude, a frequency and a phase.
The step S401 of removing the interference signal by using a gradient method includes: dividing the magnetic field measurement signals v obtained by the first micro magnetometer probe 2 and the second micro magnetometer probe 31x,v1y,v1z,v2x,v2y,v2zAre respectively multiplied by channel gain coefficients a1,a2,a3,a4,a5,a6Adding to obtain total signal of magnetic field measurement
As shown in the following formula.
The gradient method eliminates relatively stable interference. The gain factor is determined based on theoretical calculation methods and methods of test data statistic estimation. Because the interference amplitude and the polarity in each measuring channel are different, the gain coefficient is reasonably selected, and the magnetic field measurement sub-signal v can be effectively eliminated1x,v1y,v1z,v2x,v2y,v2zThe interference of medium source is relatively stable, and the signal quality is improved.
Wavelet de-noising eliminates occasional interfering signals. For the magnetic field measurement total signal obtained by the gradient method, a wavelet noise reduction method is used for eliminating the magnetic field interference signal which happens. The wavelet denoising method can reduce the influence of the noise of the magnetometer on the measurement result at the same time, and a path of vibration displacement signal with obvious characteristics is obtained.
In the method, when the magnetic micrometric vibration principle is actually applied, the interference signal source and the coupling mode in the environment are difficult to accurately model, so that the coefficient of the gradient method is difficult to determine by using a theoretical derivation method. Therefore, the blind separation method is used for research, the characteristics and the transmission coefficient of the interference source are estimated based on the statistical characteristics of actual test data, and then the gain coefficient a in the gradient method is determined1,a2,a3,a4,a5,a6。
As shown in fig. 4, the gain factor a is determined by a blind signal separation method1,a2,a3,a4,a5,a6The method comprises the following steps: inputting a mixed signal X comprising the magnetic field measurement partial signal v1x,v1y,v1z,v2x,v2y,v2z(ii) a Carrying out mean value removing processing and whitening processing on the mixed signal X to obtain a separation matrix W; correcting the separation matrix W based on a negative entropy target function until the separation matrix W is converged; obtaining a source signal estimation component; resulting in the same number of source signal estimation components as the mix signal X.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (7)
1. A high-precision vibration measuring method for transmitting satellite on-orbit vibration information by using a magnetic field is characterized in that,
fixing a magnetic source and a vibration source, and fixing a micro magnetic strength measuring device on the vibration source to ensure that a magnetic axis of the magnetic source is superposed with a vibration sensitive axis of the micro magnetic strength measuring device;
connecting a signal output end of the miniature magnetic strength measuring device with an input end of a digital acquisition unit;
starting the vibration source to vibrate, acquiring orthogonal three-direction magnetic field data containing vibration information output by the miniature magnetic strength measuring device through the digital acquisition unit, and sending the magnetic field data to data processing equipment;
and the data processing equipment completes the extraction of the micro-vibration signal parameters by using a micro-vibration signal extraction algorithm.
2. The method of claim 1, wherein the method comprises the steps of measuring the vibration of the satellite in orbit by using the magnetic field,
the vibration source is a micro-vibration test bed, the micro-magnetometer measuring device comprises a first micro-magnetometer probe and a second micro-magnetometer probe, the first micro-magnetometer probe and the second micro-magnetometer probe are sequentially installed on the micro-vibration test bed at an interval of 20cm, the first micro-magnetometer probe and a vibration sensitive shaft of the second micro-magnetometer are located on the same straight line, and the magnetic source is arranged at a distance on the vibration sensitive shaft from the central point of the second micro-magnetometer probe to 50 cm.
3. The method for measuring vibration with high precision by using magnetic field to transmit satellite on-orbit vibration information according to claim 1 or 2,
the data processing equipment completes micro-vibration signal parameter extraction by using a micro-vibration signal extraction algorithm, and the micro-vibration signal parameter extraction comprises the following steps:
removing interference signals from the magnetic field data acquired by the first micro magnetometer probe and the second micro magnetometer probe by using a gradient method and a wavelet denoising method;
and calculating and analyzing a vibration displacement signal obtained after wavelet denoising by using fast Fourier transform and a power spectrum, and extracting micro-vibration signal parameters from the vibration displacement signal, wherein the micro-vibration signal parameters comprise a micro-vibration time domain waveform, an amplitude, a frequency and a phase.
4. The method for measuring vibration with high precision by using the magnetic field to transmit the satellite in-orbit vibration information according to claim 3, wherein the removing the interference signal by using the gradient method comprises: dividing the magnetic field measurement signals v acquired by the first micro magnetometer probe and the second micro magnetometer probe1x,v1y,v1z,v2x,v2y,v2zAre respectively multiplied by channel gain coefficients a1,a2,a3,a4,a5,a6Adding to obtain total signal of magnetic field measurement
5. The method for measuring vibration with high precision by using magnetic field to transmit satellite on-orbit vibration information as claimed in claim 4, wherein the gain coefficient a is1,a2,a3,a4,a5,a6Determined by a blind signal separation method, comprising:
inputting a mixed signal X comprising the magnetic field measurement partial signal v1x,v1y,v1z,v2x,v2y,v2z；
Carrying out mean value removing processing and whitening processing on the mixed signal X to obtain a separation matrix W;
correcting the separation matrix W based on a negative entropy target function until the separation matrix W is converged;
obtaining a source signal estimation component;
the same number of source signal estimation components as the mixed signal X is obtained.
6. The method for measuring vibration with high precision by using magnetic field to transmit satellite in-orbit vibration information according to claim 1 or 2, characterized in that the coincidence of the magnetic axis and the vibration sensitive axis is ensured by a laser collimation device.
7. The method of claim 1 or 2, wherein the magnitude of the magnetic moment of the magnetic source is 1000A-m2。
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