CN112061425B - Method for avoiding interference of earth gas light on agile small satellite star sensor - Google Patents
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Abstract
The invention discloses a method for avoiding earth atmospheric interference of an agile small satellite star sensor, which comprises the steps of calculating an included angle beta between an optical axis vector of the star sensor and a star-earth vector, wherein the star-earth vector is a vector from a satellite to the earth center; acquiring a stray light suppression angle alpha of a light shield, wherein the light shield is installed on the star sensor; calculating an included angle theta between the satellite-ground vector and a vector which points to the earth from a satellite and is tangent to the earth surface; judging the size relationship between beta and alpha + theta, and if the beta is less than or equal to the alpha + theta, determining the area as the area of the star sensor affected by the earth atmosphere light; the method for avoiding the earth-atmosphere interference of the agile small satellite star sensor is adopted, the star sensor measurement data influenced by the earth-atmosphere interference is isolated from the system level, the hardware matching and the hardware configuration are not changed, the design algorithm is simple, the universality is strong, and the problem that the attitude of the platform fluctuates due to the reduction of the measurement precision of the agile small satellite star sensor when the earth-atmosphere interference occurs can be solved.
Description
Technical Field
The invention relates to the technical field of satellite attitude control, in particular to a method for avoiding earth-atmosphere light interference on an agile small satellite star sensor.
Background
In the aerospace field, an agile small satellite has a large-angle attitude and fast maneuvering capability, so that the satellite can acquire non-intersatellite point data, the amount of information acquired by a single track is greatly increased, and the small satellite is widely applied. The quick maneuvering and multi-mode task characteristics of the agile small satellite enable the satellite attitude reference to be no longer a single orbital coordinate system or an inertial coordinate system and to be switched continuously between different reference coordinate systems. The star sensor is the most common attitude measurement component on an agile small satellite, and the star sensor images a fixed star in an celestial sphere to further obtain attitude data of the spacecraft, wherein the fixed star has weak light energy, and the attitude measurement of the star sensor is easily influenced by stray light. The task characteristics of the agile small satellite enable the body without a fixed position to simultaneously avoid the influence of stray light of the earth in various modes, the problem that an optical system of a star sensor is easily interfered cannot be solved by optimizing the installation position of the star sensor on the satellite, the agile small satellite is limited in cost and quality, the number of sensors is limited, and the scheme of carrying out data consistency comparison by multi-direction installation of a plurality of products is not applicable. When encountering the reduction of the measurement precision of the star sensor of the earth-atmosphere-light-sensitive small satellite, the satellite sensor substituted into the closed-loop control of the satellite control system can cause the fluctuation of the attitude of the platform.
Disclosure of Invention
The invention aims to provide a method for avoiding earth-atmosphere interference of an agile small satellite star sensor, which can realize stable attitude measurement of the star sensor under various target pointing tasks and is used for attitude control.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an evading method of interference of ground gas light on an agile small satellite star sensor comprises the following steps:
calculating an included angle beta between an optical axis vector of the star sensor and a star-earth vector, wherein the star-earth vector is a vector from a satellite to the center of the earth;
acquiring a stray light suppression angle alpha of a light shield, wherein the light shield is installed on the star sensor;
calculating an included angle theta between the satellite-ground vector and a vector which points to the earth from a satellite and is tangent to the earth surface;
and judging the size relationship between beta and alpha + theta, and if the beta is less than or equal to the alpha + theta, determining the area as the area of the star sensor affected by the earth atmosphere light.
Further, the calculating an included angle between an optical axis vector and a star-ground vector of the star sensor comprises:
calculating the component form of the vector from the satellite to the earth center in a satellite body coordinate system according to the attitude and orbit information of the satellite;
calculating a component form of an optical axis of the star sensor in a satellite body coordinate system according to an installation matrix of the star sensor on the satellite;
and calculating an included angle beta between the satellite-ground vector and the optical axis vector in a satellite body coordinate system.
Further, the calculating an included angle between an optical axis vector and a star-ground vector of the star sensor comprises:
acquiring a first rotation matrix or a first quaternion of a satellite body coordinate system relative to an orbit coordinate system;
acquiring a second installation matrix or a second quaternion of the star sensor relative to the satellite body;
and calculating an included angle beta between the satellite-ground vector and the optical axis vector according to the first rotation matrix or the first quaternion and the second installation matrix or the second quaternion.
Further, still include:
if the beta is less than or equal to alpha + theta in the set period, the star sensor is placed to meet the earth invalid mark.
Further, still include:
if the beta is more than alpha + theta + epsilon in a set period, the star cleaning sensor meets the earth invalid mark, wherein epsilon is a small quantity.
Compared with the prior art, the invention has at least one of the following advantages:
the method for avoiding the earth-atmosphere interference of the agile small satellite star sensor is adopted, the star sensor measurement data influenced by the earth-atmosphere interference is isolated from the system level, the hardware matching and the hardware configuration are not changed, the design algorithm is simple, the universality is strong, and the problem that the attitude of the platform fluctuates due to the reduction of the measurement precision of the agile small satellite star sensor when the earth-atmosphere interference occurs can be solved.
Drawings
FIG. 1 is a schematic view of the relationship between the earth, satellite and satellite sensitive optical axes when not affected by the terrestrial atmosphere light according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating the relationship between the earth, the satellite and the satellite sensitive optical axis under the influence of the terrestrial atmosphere light according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a process of determining the star sensor encounters the earth in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings 1 to 3 and the detailed description thereof. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise scale for the purpose of facilitating and distinctly aiding in the description of the embodiments of the present invention. To make the objects, features and advantages of the present invention comprehensible, reference is made to the accompanying drawings. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any structural modification, ratio relationship change or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or field device that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or field device. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or field device that comprises the element.
Referring to fig. 1, fig. 2 and fig. 3, the method for avoiding interference of ground atmosphere light on an agile small satellite star sensor provided by this embodiment includes:
calculating an included angle beta between an optical axis vector of the star sensor and a star-earth vector, wherein the star-earth vector is a vector from a satellite to the center of the earth;
acquiring a stray light suppression angle alpha of a light shield, wherein the light shield is installed on the star sensor;
because the stray light is easily influenced, the star sensors are all provided with light shields, so that the stray light suppression capability is certain, an important index for showing the stray light suppression capability is a stray light suppression angle which is generally defined as a half cone angle taking the optical axis of the star sensor as the center, the stray light is protected by the light shields, and if the stray light does not enter the range of the suppression angle, the high-precision measurement of the star sensor is not influenced.
The satellite orbit data and the relevant parameters of the earth spherical shape can calculate the included angle between the satellite-earth vector and the vector which points to the earth from the satellite and is tangent to the earth surface in real time, the earth is approximately spherical, the average radius of the earth is taken, if the satellite orbit is a near-circular orbit, the height of the satellite orbit can be a constant value, the included angle between the two vectors is a constant value, and the constant value is recorded as theta. Recording the stray light suppression angle of the star sensor as alpha, and if the stray light suppression angle meets the condition:
β≤α+θ (1)
the stray light of the star sensor is reflected to the earth within the suppression angle range, and at the moment, if lamplight or reflected light exists on the surface of the earth, the surface of the earth exceeds the protection range of the light shield, an interference light source can interfere the star sensor to image a fixed star, and measurement errors of the star sensor are introduced. The area is an area of the star sensor affected by the ground atmosphere light.
Calculating an included angle theta between the satellite-ground vector and a vector which points to the earth from a satellite and is tangent to the earth surface;
and if the beta is less than or equal to the alpha + theta, determining the area as the area of the star sensor affected by the earth atmosphere light.
The method comprises the steps of judging whether a star sensor is in a region affected by earth atmosphere light or not by utilizing on-satellite attitude information and orbit information, wherein the engineering judgment condition is that a plurality of continuous computer periods meet beta and alpha + theta, the system sets a star sensor meeting earth invalid marks, the plurality of continuous computer periods meet beta and alpha + theta + epsilon, the system clears the star sensor meeting earth invalid marks, epsilon is a small quantity, and the design of small angle epsilon can eliminate the influence caused by attitude measurement errors and attitude reference switching, so that the star sensor is prevented from frequently switching between invalid and valid states when meeting earth invalid marks. When the star sensor meets the earth invalid mark, the attitude measurement information of the star sensor is not allowed to be accessed into closed-loop control, and the attitude of other star sensors or the integral angle of a gyroscope is used as attitude control input.
In this embodiment, the calculating an included angle between an optical axis vector and a star-ground vector of the star sensor includes:
calculating the component form of the vector from the satellite to the earth center in a satellite body coordinate system according to the attitude and orbit information of the satellite;
calculating a component form of an optical axis of the star sensor in a satellite body coordinate system according to an installation matrix of the star sensor on the satellite;
and calculating an included angle beta between the satellite-ground vector and the optical axis vector in a satellite body coordinate system.
In this embodiment, the calculating an included angle between an optical axis vector and a star-ground vector of the star sensor includes:
acquiring a first rotation matrix or a first quaternion of a satellite body coordinate system relative to an orbit coordinate system;
acquiring a second installation matrix or a second quaternion of the star sensor relative to the satellite body;
and calculating an included angle beta between the satellite-ground vector and the optical axis vector according to the first rotation matrix or the first quaternion and the second installation matrix or the second quaternion.
In this embodiment, the method further includes:
if the beta is less than or equal to alpha + theta in the set period, the star sensor is placed to meet the earth invalid mark.
In this embodiment, the method further includes:
if the beta is more than alpha + theta + epsilon in a set period, the star cleaning sensor meets the earth invalid mark, wherein epsilon is a small quantity.
And calculating an included angle between the star-earth vector and the star sensor optical axis vector by using the attitude rotation matrix of the satellite body coordinate system relative to the orbit coordinate system.
In the multitasking mode of the agile satellite, a ground task is usually provided, and a ground attitude reference is needed in the task, so that the attitude rotation matrix of the body coordinate system relative to the orbit coordinate system is considered to be obtained, and the attitude rotation matrix is set as Abo，AboIs a 3 x 3 orthogonal matrix. Usually, the star sensor is fixedly installed on the satellite, and the installation matrix of the star sensor measurement coordinate system relative to the satellite body coordinate system is a constant matrix, which is marked as Asb. The attitude rotation matrix of the star sensor measurement coordinate system relative to the orbit coordinate system is as follows:
Aso＝AsbAbo (2)
according to the definition of the attitude rotation matrix, matrix AsoThe element in the 3 rd row and the 3 rd column is the cosine of an included angle between the star-ground vector and the star sensor optical axis vector, and the method comprises the following steps:
β＝arccos(Aso(3,3)) (3)
the area of the star sensor affected by the earth atmosphere light is determined by the height of the near-circular orbit satellite and the stray light suppression angle of the star sensor.
Knowing the satellite height H and the mean radius of the earth Re, the angle θ between the satellite-ground vector and the vector pointing from the satellite to the earth and tangent to the earth's surface is calculated as:
the stray light suppression angle alpha of the star sensor is given by a star sensor designer through theoretical analysis and referring to a related test result, and the angle range is generally 20-45 degrees.
Because the satellite orbit height and the earth radius are approximate to constant values, and the judgment condition beta is less than or equal to alpha + theta, the value of the stray light suppression angle alpha of the sensor in practical application can be slightly larger than the value of an actual measurement value, so as to cover errors caused by engineering approximation.
Setting an invalid star sensor mark in an area of the star sensor affected by the ground atmospheric light: and 3 continuous calculation cycles satisfy that beta is less than or equal to alpha + theta, the star sensor is arranged in the system and meets the earth invalid mark, 3 continuous calculation cycles satisfy that beta is greater than alpha + theta + epsilon, the star sensor is cleared by the system and meets the earth invalid mark, and epsilon is a small quantity. Reference value of 2 degrees.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (3)
1. An evading method of interference of ground gas light on an agile small satellite star sensor is characterized by comprising the following steps:
calculating an included angle beta between an optical axis vector and a star-earth vector of a star sensor, wherein the star-earth vector is a vector from a satellite to the center of the earth, and the star sensor is used for sensing a small satellite;
acquiring a stray light suppression angle alpha of a light shield, wherein the light shield is installed on the star sensor;
calculating an included angle theta between the satellite-ground vector and a vector which points to the earth from a satellite and is tangent to the earth surface;
judging the size relationship between beta and alpha + theta, and if the beta is less than or equal to the alpha + theta, determining the measurement area of the star sensor as the area of the star sensor affected by the earth atmosphere light;
if the beta is less than or equal to alpha + theta in the set period, placing an invalid mark of the star sensor when meeting the earth;
if the beta is more than alpha + theta + epsilon in a set period, the star cleaning sensor meets the earth invalid mark, wherein epsilon is a small quantity.
2. The method of claim 1, wherein calculating an angle between an optical axis vector and a star-ground vector of the star sensor comprises:
calculating the component form of the vector from the satellite to the earth center in a satellite body coordinate system according to the attitude and orbit information of the satellite;
calculating a component form of an optical axis of the star sensor in a satellite body coordinate system according to an installation matrix of the star sensor on the satellite;
and calculating an included angle beta between the satellite-ground vector and the optical axis vector in a satellite body coordinate system.
3. The method of claim 1, wherein calculating an angle between an optical axis vector and a star-ground vector of the star sensor comprises:
acquiring a first rotation matrix or a first quaternion of a satellite body coordinate system relative to an orbit coordinate system;
acquiring a second installation matrix or a second quaternion of the star sensor relative to the satellite body;
and calculating an included angle beta between the satellite-ground vector and the optical axis vector according to the first rotation matrix or the first quaternion and the second installation matrix or the second quaternion.
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| CN113467491A (en) * | 2021-06-25 | 2021-10-01 | 上海卫星工程研究所 | Measuring and calculating control method and system for deep space detector star sensor to avoid sun |
| CN113467490A (en) * | 2021-06-25 | 2021-10-01 | 上海卫星工程研究所 | Measuring and calculating control method and system for deep space probe star sensor to avoid target celestial body |
| CN113467492B (en) * | 2021-06-25 | 2022-11-29 | 上海卫星工程研究所 | Autonomous switching method for star sensor of deep space probe |
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