CN111366913A - Calibration method for optical axis pointing measurement error of satellite-borne laser radar - Google Patents
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Abstract
The invention provides a calibration method for a satellite-borne laser radar optical axis pointing measurement error, which comprises the following steps: acquiring position information of a satellite; calculating the height value from the satellite to the sea level according to the position information; performing small-angle maneuvering on the satellite; forming a light spot on the ground through a laser radar, and acquiring the actually measured distance from a satellite to the light spot on the ground; acquiring corresponding attitude information of a satellite while acquiring the actually measured distance each time, and converting the attitude information into the direction of the optical axis of the laser radar; calculating the theoretical distance from the satellite to the ground according to the height value from the satellite to the sea level and the optical axis direction of the laser radar; and calibrating the pointing measurement error of the optical axis of the satellite-borne laser radar by using the deviation of the measured distance and the theoretical distance. The method effectively improves the pointing accuracy of the optical axis of the satellite-borne laser radar, further improves the application level of the satellite-borne laser space, expands the application field of the space, can be carried out on a wide sea level, does not need a special calibration field, and has the advantages of wide application range, less guarantee requirement and low implementation cost.
Description
Technical Field
The invention relates to the technical field of spacecraft control, in particular to a calibration method for a satellite-borne laser radar optical axis pointing measurement error.
Background
When the satellite-borne laser radar runs in an orbit, the pointing deviation of the satellite-borne laser radar can cause a Doppler effect, so that the frequency of emitted laser is changed, and the precision of related data products based on frequency stability is reduced. At present, for a high-precision satellite-borne laser radar, high-precision satellite attitude measurement equipment such as a satellite sensor/satellite camera and the like is mostly configured, and meanwhile, the load satellite sensor integrated mounting technology is adopted, so that the influence of structural deformation is reduced. However, due to the influence factors such as the emission vibration deformation of the active section and the on-orbit thermally induced vibration deformation, the change rule is complex, accurate measurement is difficult, and the further improvement of the pointing measurement precision of the optical axis of the satellite-borne laser radar is limited by the unknown error items. For imaging remote sensing instruments such as a space optical camera and the like, the optical axis pointing calibration can be realized by utilizing the ground object target through image navigation registration. However, the working principle of the general non-imaging type satellite-borne laser radar is to emit active laser, then receive the energy of an echo signal to realize target observation, and not to perform target imaging, so that the calibration of the optical axis pointing measurement error cannot be realized by a ground object target image registration method.
Through the search of the prior art, the invention patent with the application number of 201110271745.8 discloses a device and a method for compensating the laser emission pointing disturbance of an airborne laser radar. The laser emission pointing disturbance compensation mechanical device is arranged on an airborne platform and is formed by installing a scanning mirror for reflecting laser beams on a two-dimensional rotating frame. The x axis of the two-dimensional rotating frame points to the flight direction of the airplane, and the y axis points to the right wing direction and is perpendicular to the x axis. The laser reflection point of the scanning mirror is at the rotation center of the two-dimensional rotating frame. The compensation method comprises the following steps: the roll angle and pitch angle disturbance of the airborne platform are measured by the POS system and are provided for the laser emission pointing disturbance compensation control device, and the rotation angles of an x-axis frame and a y-axis frame of the two-dimensional rotating frame are subjected to closed-loop control, so that the x-axis frame and the y-axis frame respectively rotate in opposite directions for half of the roll angle and pitch angle disturbance amplitude, and laser emission pointing deviation caused by the roll angle and pitch angle disturbance of the airborne platform is compensated. In the technical scheme, the compensation method is realized by additionally adding a compensation device on the airborne platform, so that the cost and the weight of the laser radar are increased.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a calibration method for the optical axis pointing measurement error of a satellite-borne laser radar.
The invention provides a calibration method for a satellite-borne laser radar optical axis pointing measurement error, which comprises the following steps:
s1, acquiring the position information of the satellite;
s2, calculating the altitude value from the satellite to the sea level according to the position information acquired in the step S1;
s3, performing small-angle maneuvering on the satellite;
s4, forming a light spot on the ground through a laser radar, and acquiring the actual measurement distance from the satellite to the light spot on the ground;
s5, acquiring corresponding attitude information of the satellite while acquiring the actual measurement distance each time, and converting the attitude information into the direction of the optical axis of the laser radar;
s6, calculating the theoretical distance from the satellite to the ground in the optical axis pointing direction of the laser radar according to the height value from the satellite to the sea level obtained in the step S2 and the optical axis pointing direction of the laser radar obtained in the step S5;
and S7, calibrating the optical axis pointing measurement error of the satellite-borne laser radar by using the deviation between the actual measurement distance obtained in the step S4 and the theoretical distance obtained in the step S6.
Further, in step S1, the position information of the satellite is obtained by an on-board navigation receiver.
Further, in step S2, according to the obtained satellite position information, the height value of the satellite from the sea level is obtained through a digital earth model traversal query.
Further, the accuracy of the satellite position information is consistent with the spatial resolution accuracy of the digital earth model.
Further, in step S3, the satellite is maneuvered around its yaw axis by a small angle of not more than 5 °.
Further, under a satellite body coordinate system, the small-angle motor is used for enabling the satellite to do conical swing around a yaw axis of the satellite.
Further, in step S4, the measured distance from the satellite to the ground light spot is obtained by ranging the laser emitted from the satellite.
Further, in step S5, the corresponding attitude information of the satellite is obtained by a star sensor or a star camera configured in the satellite itself.
Further, in step S5, the lidar optical axis direction includes a measurable error term and an undetectable error term.
Further, in step S7, the deviation between the measured distance from the satellite to the spot on the ground and the theoretical distance is calculated by the following formula
And Δ L ═ h sin (α + Δ α) -h sin (α), wherein h is the height value from the satellite to the sea level, α is the optical axis pointing angle calculated according to the satellite attitude and the laser radar installation matrix, and Δ α is the difference between the actual pointing angle of the optical axis and the angle calculated theoretically, namely the optical axis pointing measurement error.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention discloses a calibration method for an optical axis pointing measurement error of a satellite-borne laser radar, which combines satellite small-angle maneuvering and laser ranging for calibration of the satellite pointing measurement error and is different from a method for realizing optical axis calibration of a remote sensing instrument by image navigation registration of ground object imaging.
2. According to the calibration method for the pointing measurement error of the optical axis of the satellite-borne laser radar, the attitude measurement equipment and the laser radar configured by the satellite are utilized, other hardware equipment is not added, calibration of the on-orbit thermal deformation and other unmeasured error items is achieved, and the pointing measurement precision of the satellite-borne laser radar is improved.
3. The calibration method for the optical axis pointing measurement error of the satellite-borne laser radar effectively improves the optical axis pointing accuracy of the satellite-borne laser radar, further improves the application level of the satellite-borne laser space, expands the application field of the space, can be carried out on a wide sea level, does not need a special calibration field, and has the advantages of wide application range, less guarantee requirement and low implementation cost.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flow chart of a calibration method for the pointing measurement error of the optical axis of the satellite-borne laser radar;
FIG. 2 is a schematic diagram of the geometry of a satellite in a small angle maneuver of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a method for calibrating an optical axis pointing measurement error of a satellite-borne laser radar, which is characterized in that a plurality of groups of corresponding theories and measured data of the distance from a satellite to a laser spot are obtained by using a digital earth model and satellite small-angle maneuvering and utilizing self attitude information of the satellite and satellite-borne laser ranging, and the optical axis pointing measurement error of the satellite-borne laser radar is calibrated by processing the deviation of the theories and the measured data.
The present invention will be described in detail below.
As shown in fig. 1, a calibration method for an optical axis pointing measurement error of a satellite-borne laser radar includes the following steps:
s1, acquiring the position information of the satellite, wherein the position information of the satellite is acquired by an on-board GPS or Beidou navigation receiver;
s2, according to the satellite position information obtained in the step S1, the height value of the satellite from the sea level is obtained through digital earth model traversal query; the precision of the satellite position information is equivalent to the spatial resolution of the digital earth model;
s3, performing small-angle maneuvering on the satellite around the yaw axis of the satellite by not more than 5 degrees, wherein the small-angle maneuvering is that the satellite performs conical swing around the yaw axis of the satellite in a satellite body coordinate system;
as shown in fig. 2, when the satellite performs small-angle maneuvering around the yaw axis of the system, the actual distance from the satellite to the ground light spot is L, the height from the satellite to the sea level of the substellar point is h, the attitude angle is θ, the maneuvering angle given by the attitude information and the installation matrix is α, and the corresponding theoretical distance is L.
According to the geometrical relationship, the deviation of the theoretical distance from the ground light spot to the satellite and the actual distance can be calculated by the following formula:
ΔL＝h sin(α+Δα)-h sin(α)
α + delta α not only contains the attitude angle of the satellite, but also contains the installation matrix of the laser radar, which is the actual pointing angle of the optical axis, and delta α is the deviation between the theoretical pointing angle and the actual pointing angle, namely the optical axis pointing measurement error;
s4, forming a light spot on the ground through the laser radar, and obtaining the actual measurement distance from the satellite in the direction pointed by the optical axis of the laser radar to the light spot on the ground; namely, the actual measurement distance from the satellite to the spot on the ground is obtained by the laser ranging transmitted on the satellite;
s5, acquiring corresponding attitude information of the satellite through a star sensor or a star camera configured on the satellite while acquiring the actual measurement distance each time, and converting the attitude information into the optical axis direction of a laser radar, wherein the optical axis direction of the laser radar comprises two parts, namely a measurable error item such as an installation matrix and an on-orbit thermal deformation matrix;
installation matrix R of laser radarLaser→SBFCan be used as a medicineThe angle of pull is described, i.e. expressed by the following formula,
wherein
Roll angle, theta pitch angle, psi yaw angle. The matrix represents the conversion relation of the unit vector of the laser radar optical axis to the satellite system, and the relation becomes the following reason after the laser radar optical axis enters the orbit due to the active section, stress release, thermal deformation and the like after the laser radar optical axis is transmitted
In which no delta portion is a measurable setting angle calibrated before launch
Theta, psi, band delta, R, obtained from ground measurements, is the unmeasurable angular deviation after launch due to active section, stress relief, thermal deformation, etcLaser→SBFThe calculated optical axis pointing angle is α from the actual post-track R'Laser→SBFThe calculated optical axis pointing angle is α + delta α;
s6, calculating the theoretical distance from the satellite to the ground in the optical axis pointing direction of the laser radar according to the height value from the satellite to the sea level obtained in the step S2 and the optical axis pointing direction of the laser radar obtained in the step S5;
s7, calculating and processing the deviation between the actual measurement distance obtained in the step S4 and the theoretical distance obtained in the step S6 through a least square method, calibrating the measurement error of the pointing direction of the optical axis of the satellite-borne laser radar, and the deviation between the actual measurement distance from the satellite to the light spot on the ground and the theoretical distance, and calculating according to the following formula
And Δ L ═ h sin (α + Δ α) -h sin (α), wherein h is the height value from the satellite to the sea level, α is the pointing angle of the optical axis calculated according to the attitude of the satellite and the laser radar installation matrix, and Δ α is the difference between the actual pointing angle of the optical axis and the theoretically calculated angle.
The invention provides a method for calibrating the pointing measurement error of an optical axis of a satellite-borne laser radar, which is characterized in that a plurality of groups of actual distance data from a satellite to a ground laser spot are obtained by utilizing satellite small-angle maneuvering and satellite-borne laser ranging, theoretical distances at corresponding laser ranging moments are obtained based on satellite position attitude information and a digital earth model, and the deviation between the theoretical distances and the actual distances is calculated and processed by a least square method, so that the pointing calibration of the optical axis of the satellite-borne laser radar is realized. According to the method, the attitude measurement equipment and the satellite-borne laser radar configured by the satellite are utilized, other hardware equipment is not added, the calibration of the on-orbit thermal deformation and other unmeasured error items is realized, and the method for calibrating the optical axis pointing measurement error of the laser radar can be effectively improved. The calibration method can be carried out at a wide sea level, does not need a special calibration field, and has the advantages of wide usable range, less guarantee requirement and low implementation cost.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A calibration method for an optical axis pointing measurement error of a satellite-borne laser radar is characterized by comprising the following steps:
s1, acquiring the position information of the satellite;
s2, calculating the altitude value from the satellite to the sea level according to the position information acquired in the step S1;
s3, performing small-angle maneuvering on the satellite;
s4, forming a light spot on the ground through a laser radar, and acquiring the actual measurement distance from the satellite to the light spot on the ground;
s5, acquiring corresponding attitude information of the satellite while acquiring the actual measurement distance each time, and converting the attitude information into the direction of the optical axis of the laser radar;
s6, calculating the theoretical distance from the satellite to the ground in the optical axis pointing direction of the laser radar according to the height value from the satellite to the sea level obtained in the step S2 and the optical axis pointing direction of the laser radar obtained in the step S5;
and S7, calibrating the measurement error of the optical axis pointing direction of the satellite-borne laser radar by using the deviation between the actual measurement distance obtained in the step S4 and the theoretical distance obtained in the step S6 and combining the attitude angle of the satellite.
2. The method for calibrating the pointing measurement error of the optical axis of the satellite-borne lidar according to claim 1, wherein in the step S1, the position information of the satellite is obtained by an on-satellite navigation receiver.
3. The method for calibrating the pointing measurement error of the optical axis of the satellite-borne lidar according to claim 1, wherein in step S2, the height value of the satellite from the sea level is obtained through the traversal query of the digital earth model according to the obtained satellite position information.
4. The method for calibrating the pointing measurement error of the optical axis of the satellite-borne lidar according to claim 3, wherein the precision of the satellite position information is consistent with the spatial resolution precision of the digital earth model.
5. The method for calibrating the pointing measurement error of the optical axis of the satellite-borne lidar according to claim 1, wherein in the step S3, the satellite is maneuvered by a small angle of not more than 5 ° around the yaw axis thereof.
6. The method for calibrating the pointing measurement error of the optical axis of the satellite-borne laser radar according to claim 1 or 5, wherein the small-angle motor is used for enabling the satellite to make conical swing around the yaw axis of the satellite in a satellite body coordinate system.
7. The method for calibrating the pointing measurement error of the optical axis of the satellite-borne lidar according to claim 1, wherein in the step S4, the measured distance from the satellite to the spot on the ground is obtained by ranging the laser emitted from the satellite.
8. The method for calibrating the pointing measurement error of the optical axis of the satellite-borne lidar according to claim 1, wherein in step S5, the corresponding attitude information of the satellite is obtained by a star sensor or a star camera configured in the satellite itself.
9. The method for calibrating the pointing measurement error of the optical axis of the satellite-borne lidar according to claim 1, wherein in the step S5, the pointing of the optical axis of the lidar includes a measurable error term and an immeasurable error term.
10. The method for calibrating the pointing measurement error of the optical axis of the satellite-borne lidar according to claim 1, wherein the deviation between the measured distance from the satellite to the spot on the ground and the theoretical distance in step S7 is calculated by the following formula
Δ L ═ hsin (α + Δ α) -hsin (α), where h is the height value from the satellite to the sea level, α is the pointing angle of the optical axis calculated from the attitude of the satellite and the lidar mounting matrix, and Δ α is the difference between the actual pointing angle of the optical axis and the theoretically calculated angle, i.e., the measurement error of the pointing of the optical axis.
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| CN112162262A (en) * | 2020-09-27 | 2021-01-01 | 中山大学 | Satellite-borne linear array laser radar on-orbit calibration method based on linear array camera assistance |
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| CN112162262A (en) * | 2020-09-27 | 2021-01-01 | 中山大学 | Satellite-borne linear array laser radar on-orbit calibration method based on linear array camera assistance |
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| CN114545374A (en) * | 2021-12-31 | 2022-05-27 | 中国空间技术研究院 | Satellite-borne laser radar on-orbit calibration method |
| CN116338569A (en) * | 2023-02-01 | 2023-06-27 | 上海卫星工程研究所 | Method and system for obtaining radar antenna beam pointing information by using laser ranging |
| CN116087925A (en) * | 2023-04-07 | 2023-05-09 | 深圳煜炜光学科技有限公司 | Method, device, equipment and storage medium for correcting quadrature error angle |
| CN119853808A (en) * | 2024-12-05 | 2025-04-18 | 中国科学院上海光学精密机械研究所 | On-orbit optical axis quick calibration method for satellite-borne laser communication terminal |
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