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Satellite pointing tracking control method based on quasi-quaternion and quasi-quaternion kinematical equation

A kinematic equation and quaternion technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as lack of unity, unreasonable design of kinematic parameters, and inability to guarantee satellite motion paths, etc. To achieve the effect of easy acquisition, easy design analysis, and simple form

Active Publication Date: 2013-08-28
哈尔滨工大卫星技术有限公司
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Problems solved by technology

[0004] The present invention solves the problem that the design of kinematic parameters used in the current design of satellite pointing and tracking controllers is unreasonable, the shortest motion path of the satellite cannot be guaranteed, and there is no unified kinematics equation suitable for pointing and tracking control, thereby providing a method based on Satellite Pointing and Tracking Control Method Based on Pseudoquaternion and Pseudoquaternion Kinematic Equation

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  • Satellite pointing tracking control method based on quasi-quaternion and quasi-quaternion kinematical equation
  • Satellite pointing tracking control method based on quasi-quaternion and quasi-quaternion kinematical equation
  • Satellite pointing tracking control method based on quasi-quaternion and quasi-quaternion kinematical equation

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specific Embodiment approach 1

[0030] Specific implementation mode 1. Combination figure 1 This specific embodiment will be described. A satellite pointing and tracking control method based on pseudo-quaternion and pseudo-quaternion kinematics equation, it comprises the following steps:

[0031] Step 1. Define the target system ox according to the requirements of pointing tracking control t the y t z t , and ensure that the system relative to the target coordinate system ox t the y t z t The Euler angle is the smallest;

[0032] Step 2. Determine the Euler axis e of the satellite system relative to the target system bt and Euler angle Φ, the expression is:

[0033] e bt = z t × z b sin Φ

[0034] Φ=acos(z t ·z b )

[0035] In the formula, z t for the target system oz...

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Abstract

The invention provides a satellite pointing tracking control method based on a quasi-quaternion and a quasi-quaternion kinematical equation. The satellite pointing tracking control method aims to solve the problems that kinematical parameters used in an existing satellite pointing tracking controller are unreasonable in design and can not guarantee the shortest tracking path of a satellite, and a uniform kinematical equation applied to pointing tracking control does not exist. The satellite pointing tracking control method includes the steps of defining a target system according to demands of the pointing tracking control and guaranteeing that the eulerian angle of the system is the smallest relative to that of the target system, determining the eulerian angle and the eulerian shaft of the satellite system relative to those of the target system and the kinematical equation of the eulerian angle and the kinematical equation of the eulerian shaft in the system, determining the quasi-quaternion and the kinematical equation of the quasi-quaternion in the system, and designing the controller to enable satellite gestures to be capable of tracking target gestures. The satellite pointing tracking control method based on the quasi-quaternion and the quasi-quaternion kinematical equation can be widely used in satellite pointing tracking control systems.

Description

technical field [0001] The invention relates to a satellite pointing and tracking control method based on pseudo-quaternion and pseudo-quaternion kinematic equation. Background technique [0002] With the diversification of space missions, the demand for satellite pointing and tracking technology is becoming more and more obvious. Satellites that perform continuous imaging of fixed and moving target points on the low-orbit ground, video satellites that perform video imaging on a fixed area on the ground, and reconnaissance satellites that track and take pictures of missiles in flight all require satellites that can quickly capture targets and The ability to continuously point and track a target. [0003] Usually, in order to be able to quickly capture the target, the satellite needs to be able to run according to the shortest path. Whether a satellite can operate in accordance with the shortest path depends on whether the parameters describing the shortest path of the sate...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/10
Inventor 耿云海侯志立
Owner 哈尔滨工大卫星技术有限公司
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