CN114526742B - Component-based universal construction method and system for micro-nano satellite attitude reference - Google Patents
Component-based universal construction method and system for micro-nano satellite attitude reference Download PDFInfo
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Abstract
The invention provides a component-based universal construction method and system for a micro-nano satellite attitude reference, comprising the following steps: step S1: acquiring required space reference vector information and motion speed information according to the vector component information; step S2: acquiring double-vector fork riding standard component information according to the required space reference vector information and the movement speed information; step S3: acquiring attitude offset component information according to the component information of the double-vector cross coordinate system; step S4: acquiring various attitude reference information according to the attitude biasing member information; step S5: and acquiring component general construction information of the micro-nano satellite attitude reference according to various attitude reference information. The invention considers satellite space attitude control to define a plurality of space position reference benchmarks among satellites, moon, sun, earth and earth surface targets, covers the whole satellite orbit attitude control process, calculates the relative motion relation of the attitude benchmarks and improves the satellite orbit determination and attitude control precision.
Description
Technical Field
The invention relates to a component-based universal construction method and system for a micro-nano satellite attitude reference.
Background
Along with the continuous expansion of the application field of commercial satellites, the application requirements of micro-nano satellites are increasing. The traditional satellites need to construct corresponding attitude control schemes according to the task requirements of each satellite, and establish a specific attitude control reference. In order to meet the gesture control requirements of different types of micro-nano satellites, the patent provides a general gesture reference construction method of the micro-nano satellites based on component construction, which can meet the gesture control requirements of most micro-nano satellites and generally and quickly establish gesture references.
Patent CN106767811a discloses a large elliptical orbit attitude reference determination method, which defines a relative position reference coordinate system of a ground surface target and the sun and a relative position reference coordinate system of the earth center and the sun. The patent defines only the spatial position reference of the earth's surface target, the earth and the sun, does not define the spatial attitude reference related to satellites, and the defined spatial position reference does not contain relative movement velocity information. The patent does not consider satellite spatial attitude control to define a plurality of spatial position references between satellites, moon, sun, earth and earth's surface targets.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a component-based universal construction method and system for a micro-nano satellite attitude reference.
The invention provides a component-based universal construction method of a micro-nano satellite attitude reference, which comprises the following steps:
step S1: acquiring required space reference vector information and motion speed information according to the vector component information;
step S2: acquiring double-vector fork riding standard component information according to the required space reference vector information and the movement speed information;
Step S3: acquiring attitude offset component information according to the component information of the double-vector cross coordinate system;
step S4: acquiring various attitude reference information according to the attitude biasing member information;
Step S5: and acquiring component general construction information of the micro-nano satellite attitude reference according to various attitude reference information.
Preferably, the step S1 includes:
Step S1.1: and acquiring the required space reference vector information and the movement speed information according to the star-earth vector component information, the earth-day vector component information, the earth-month vector component information and the earth surface target vector component information.
Preferably, the step S3 includes:
step S3.1: and acquiring the offset gesture and the guide gesture information according to the gesture guide member information.
Preferably, the step S3 includes:
step S3.2: and acquiring coordinate system information according to the attitude biasing member information.
Preferably, the step S3 includes:
Step S3.3: and acquiring attitude biasing member information according to the biasing attitude and the guiding attitude information and the coordinate system information.
The invention provides a component-based universal construction system for a micro-nano satellite attitude reference, which comprises the following components:
module M1: acquiring required space reference vector information and motion speed information according to the vector component information;
Module M2: acquiring double-vector fork riding standard component information according to the required space reference vector information and the movement speed information;
module M3: acquiring attitude offset component information according to the component information of the double-vector cross coordinate system;
Module M4: acquiring various attitude reference information according to the attitude biasing member information;
module M5: and acquiring component general construction information of the micro-nano satellite attitude reference according to various attitude reference information.
Preferably, the module M1 comprises:
Module M1.1: and acquiring the required space reference vector information and the movement speed information according to the star-earth vector component information, the earth-day vector component information, the earth-month vector component information and the earth surface target vector component information.
Preferably, the module M3 comprises:
Module M3.1: and acquiring the offset gesture and the guide gesture information according to the gesture guide member information.
Preferably, the module M3 comprises:
Module M3.2: and acquiring coordinate system information according to the attitude biasing member information.
Preferably, the module M3 comprises:
Module M3.3: and acquiring attitude biasing member information according to the biasing attitude and the guiding attitude information and the coordinate system information.
Compared with the prior art, the invention has the following beneficial effects:
1. The invention considers satellite space attitude control to define a plurality of space position reference benchmarks among satellites, moon, sun, earth and earth surface targets, covers the whole satellite orbit attitude control process, calculates the relative motion relation of the attitude benchmarks and improves the satellite orbit determination and attitude control precision;
2. the invention specifically defines a solar sailboard sun-oriented reference coordinate system and a load sun-oriented reference coordinate system, calculates the movement angular velocity of the two coordinate systems relative to a satellite orbit system, and improves the control precision of solar sailboards and loads on sun orientation;
3. the invention calculates the relative motion relation between the two reference systems through the double-vector cross member, and can realize the tracking process of the satellite on the dynamic coordinate system.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
Fig. 1 is a schematic diagram of a micro-nano satellite attitude reference calculation flow in the invention.
Fig. 2 is a schematic diagram of spatial reference vectors and motion speeds thereof in the present invention.
Wherein,
Space vector of 1-satellite pointing to earth center
Motion velocity vector of 2-satellite relative to earth
Space vector of 3-satellite pointing sun
Motion velocity vector of 4-sun relative to satellite
Space vector for 5-satellite pointing moon
Motion velocity vector of 6-moon relative to satellite
Space vector for 7-satellite pointing to earth's surface target
8-Velocity vector of earth's surface target relative to satellite
Space vector for 9-satellite pointing space target
Motion velocity vector of 10-space object relative to satellite
Space vector of 11-satellite pointed star
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 present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
By utilizing the method provided by the invention, the space attitude reference required by various micro-nano satellite attitude control can be quickly and universally built by calling the attitude reference component singly or repeatedly.
The component-based universal construction method for the micro-nano satellite attitude reference provided by the invention comprises the following steps:
Step 1: converting satellite orbit parameters into space vectors of satellites pointing to the earth center, motion velocity vectors of satellites relative to the earth, track surface normal directions and other information by using a satellite-earth vector component;
Step 2: calculating a space vector of the earth center pointing to the sun at the moment and a motion velocity vector of the sun relative to the earth by using the earth-sun vector component, and further calculating a space vector of the satellite pointing to the sun and a motion velocity vector of the sun relative to the satellite;
Step 3: calculating a space vector of the earth center pointing to the moon at the moment and a motion velocity vector of the moon relative to the earth by using the earth-moon vector component, and further calculating a space vector of the satellite pointing to the moon and a motion velocity vector of the moon relative to the satellite;
Step 4: the longitude and latitude height and the ground speed information of the earth surface target are converted into a space vector with earth centers pointing to the earth surface target and a motion speed vector of the target relative to the earth by using an earth surface target vector component, and then the space vector with the satellite pointing to the earth surface target and the motion speed vector of the earth surface target relative to the satellite are calculated;
step 5: converting the space target orbit parameters into space vectors of which the earth centers point to the space targets and motion speed vectors of the space targets relative to the earth by using a satellite-to-earth vector component, and further calculating the space vectors of which the satellites point to the space targets and the motion speed vectors of the space targets relative to the satellites;
step 6: calculating a micro-nano satellite attitude reference defined based on a space vector by utilizing a double-vector fork riding standard system component;
Step 7: calculating attitude guide information required by satellite attitude guide by utilizing an attitude guide member;
Step 8: and superposing the offset gesture on the existing coordinate system by using the gesture offset component, and calculating the gesture reference after offset.
Preferably, the method for constructing the micro-nano satellite attitude reference comprises the following components: a star-earth vector component, a earth-day vector component, a earth-moon vector component, a ground surface target vector component, a gesture guiding component, a double-vector cross coordinate system component and a gesture biasing component. And constructing spatial attitude references required by various micro-nano satellite attitude control by taking vectors in the space as references and calling components once or for many times.
Preferably, the spatial attitude references required for the various micro-nano satellite attitude control described by the method for constructing the micro-nano satellite attitude reference comprises: satellite orbit coordinate system, sun array sun-to-sun orientation coordinate system, load moon orientation coordinate system, load sun-to-sun orientation coordinate system, load tracking target coordinate system, inertial system lower attitude offset coordinate system, orbit system lower attitude guide coordinate system, etc.
The satellite orbit coordinate system brings the space vector of the earth-centered satellite, the motion velocity vector of the satellite relative to the earth and the normal direction information of the orbit surface into a double-vector fork riding standard system component to obtain the attitude reference.
The solar array sun-to-sun directional coordinate system brings a solar array installation matrix, a space vector of a satellite pointing to the sun, a motion speed vector of the sun relative to the satellite, a space vector of a ground center pointing to the satellite and a motion speed vector of the satellite relative to the earth into a double-vector fork riding standard system component to obtain a gesture reference.
The load is relative to a sun directional coordinate system, and a load installation matrix, a space vector of a satellite pointing to the sun, a motion speed vector of the sun relative to the satellite, a space vector of a ground center pointing to the satellite and a motion speed vector of the satellite relative to the earth are brought into a double-vector fork riding standard system component to obtain a posture reference.
The load is carried into a double-vector fork riding standard system component by the load installation matrix, a space vector of a satellite pointing to the moon, a motion speed vector of the moon relative to the satellite, a space vector of a geocentric pointing to the satellite and a motion speed vector of the satellite relative to the earth to obtain a posture reference.
The load is directed to a star coordinate system, and a load installation matrix, a space vector of a satellite pointing to the star, a space vector of a ground center pointing to the satellite and a motion speed vector of the satellite relative to the earth are brought into a double-vector fork riding standard system component to obtain a posture reference.
The load tracking target coordinate system brings a load installation matrix, a space vector of a satellite pointing to a target, a motion speed vector of the target relative to the satellite, a space vector of a ground center pointing to the satellite and a motion speed vector of the satellite relative to the earth into a double-vector fork taking standard system component to obtain a posture reference.
The load is directed to a star coordinate system, and a load installation matrix, a space vector of a satellite directed to the star, a space vector of a satellite directed to the sun and a motion speed vector of the sun relative to the satellite are brought into a double-vector fork riding standard system component to obtain a gesture reference.
And the attitude offset coordinate system under the inertial system brings the offset attitude information into the attitude offset component to obtain an attitude reference.
And the attitude offset coordinate system under the orbit system brings the offset attitude information and the satellite orbit coordinate system reference into the attitude offset component to obtain an attitude reference.
And the attitude guiding coordinate system under the orbit system brings the attitude guiding information and the satellite orbit coordinate system reference into the attitude biasing member to obtain the attitude reference.
Preferably, the double-vector cross coordinate system component is used for calculating the attitude reference according to a specified coordinate axis association sequence n by taking 2 space vectors R1 and R2 for reference and motion speed vectors V1 and V2 thereof as inputs.
The coordinate axis association sequence n comprises 6 conditions, which are respectively:
n=0, the attitude reference x-axis is parallel to R1, the z-axis is parallel to the direction of R1 cross multiplication R2, and the y-axis is determined according to the right-hand rule;
n=1, the attitude reference x-axis is parallel to R1, the y-axis is parallel to the direction of R1 cross multiplication R2, and the z-axis is determined according to the right-hand rule;
n=2, the attitude reference y-axis is parallel to R1, the z-axis is parallel to the direction of R1 cross multiplication R2, and the x-axis is determined according to the right-hand rule;
n=3, the attitude reference y-axis is parallel to R1, the x-axis is parallel to the direction of R1 cross multiplication R2, and the z-axis is determined according to the right-hand rule;
n=4, the attitude reference z-axis is parallel to R1, the y-axis is parallel to the direction of R1 cross multiplication R2, and the x-axis is determined according to the right-hand rule;
n=5, the attitude reference z-axis is parallel to R1, the x-axis is parallel to the direction of R1 cross R2, and the y-axis is determined according to the right hand rule.
Preferably, the double-vector cross coordinate system component of the component universal construction method of the micro-nano satellite attitude reference comprises the following calculation steps:
Step 1, normalizing components of an input space vector to obtain a module and a unit vector of the components;
normR1＝norm(R1)；
normR2＝norm(R2)；
P1＝R1/normR1；
P2＝R2/normR2；
the term "norm" refers to the modulo of the component of the vector in brackets.
Step2, obtaining the unit vectors of the 2 nd axis and the 3 rd axis of the intermediate coordinate system through vector cross multiplication
R3＝cross(P1,P2)；
normR3＝norm(R3)；
R4＝cross(R3,P1)；
normR4＝norm(R4)；
P3＝R3/normR3；
P4＝R4/normR4；
The cross () represents taking the cross vector for two vectors in brackets.
Step 3, calculating a conversion matrix from the inertial coordinate system to the intermediate coordinate system
Cmi＝[P1,P4,P3]T
The [ ] T indicates transpose of the matrix in brackets.
Step4, calculating the angular velocity component under the intermediate coordinate system
pv1_m＝Cmi*V1/normR1；
pv2_m＝Cmi*V2/normR2；
wr_m(2,1)＝-pv1_m(3)；
wr_m(3,1)＝pv1_m(2)；
wr_m(1,1)＝(pv2_m(3)*normR2+wr_m(2,1)*dot(R2,P1)/dot(R2,P4)；
The dot () represents taking the inner product of two vectors in brackets.
Step 5, determining a direction cosine matrix from the intermediate coordinate system to the attitude reference coordinate system according to the designated coordinate axis association sequence n:
When n=0, crm= [1, 0;0,1,0;0, 1];
When n=1, crm= [1, 0;0, -1;0,1,0];
When n=2, crm= [0,1,0;1, 0;0, -1];
When n=3, crm= [0, 1;1, 0;0,1,0];
when n=4, crm= [0,1,0;0, 1;1, 0];
When n=5, crm= [0, -1;0,1,0;1, 0];
step 6, calculating the transformation direction cosine Cri from the inertial coordinate system to the attitude reference coordinate system and the angular speed wr_r of the attitude reference coordinate system
Cri＝Crm*Cmi；
wr_r＝Crm*wr_m。
In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (6)
1. The utility model provides a general construction method of construction formula of micro-nano satellite gesture benchmark which characterized in that includes:
step S1: acquiring required space reference vector information and motion speed information according to the vector component information;
step S2: acquiring double-vector fork riding standard component information according to the required space reference vector information and the movement speed information;
Step S3: acquiring attitude offset component information according to the component information of the double-vector cross coordinate system;
step S4: acquiring various attitude reference information according to the attitude biasing member information;
Step S5: acquiring component general construction information of the micro-nano satellite attitude reference according to various attitude reference information;
the step S1 includes:
step S1.1: acquiring required space reference vector information and movement speed information according to the star-earth vector component information, the earth-day vector component information, the earth-month vector component information and the earth surface target vector component information;
the step S3 includes:
step S3.1: and acquiring the offset gesture and the guide gesture information according to the gesture guide member information.
2. The method for building a micro-nano satellite attitude reference according to claim 1, wherein the step S3 includes:
step S3.2: and acquiring coordinate system information according to the attitude biasing member information.
3. The method for building a micro-nano satellite attitude reference according to claim 2, wherein the step S3 includes:
Step S3.3: and acquiring attitude biasing member information according to the biasing attitude and the guiding attitude information and the coordinate system information.
4. A componentized universal construction system for a micro-nano satellite attitude reference, comprising:
module M1: acquiring required space reference vector information and motion speed information according to the vector component information;
Module M2: acquiring double-vector fork riding standard component information according to the required space reference vector information and the movement speed information;
module M3: acquiring attitude offset component information according to the component information of the double-vector cross coordinate system;
Module M4: acquiring various attitude reference information according to the attitude biasing member information;
module M5: acquiring component general construction information of the micro-nano satellite attitude reference according to various attitude reference information;
The module M1 includes:
module M1.1: acquiring required space reference vector information and movement speed information according to the star-earth vector component information, the earth-day vector component information, the earth-month vector component information and the earth surface target vector component information;
The module M3 includes:
Module M3.1: and acquiring the offset gesture and the guide gesture information according to the gesture guide member information.
5. The system for structured universal construction of micro-nano satellite attitude reference according to claim 4, wherein said module M3 comprises:
Module M3.2: and acquiring coordinate system information according to the attitude biasing member information.
6. The system for structured universal construction of micro-nano satellite attitude reference according to claim 5, wherein said module M3 comprises:
Module M3.3: and acquiring attitude biasing member information according to the biasing attitude and the guiding attitude information and the coordinate system information.
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