Mars detection ground antenna pointing correction method based on error quaternion

An error quaternion, ground-to-ground antenna technology, applied in antennas, electrical components, special data processing applications, etc., can solve problems such as inability to establish ground-to-ground communication links, increased errors, and exceeding antenna pointing accuracy.

Pending Publication Date: 2020-11-20
SHANGHAI AEROSPACE CONTROL TECH INST
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Problems solved by technology

[0004] The traditional on-orbit directional antenna error correction scheme is constant value error correction, that is, the constant value error of the driving angle is obtained through ground calibration for the two-dimensional driving angle of the directional antenna, and the constant value correction is added before the detector is launched. This method is mainly used in The two-dimensional s...

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  • Mars detection ground antenna pointing correction method based on error quaternion
  • Mars detection ground antenna pointing correction method based on error quaternion
  • Mars detection ground antenna pointing correction method based on error quaternion

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Embodiment 1

[0099] For the Mars rover, the default is q dh =[1,0,0,0] T ;q zd =[1,0,0,0] T ;q xz =[1,0,0,0] T ;q yx =[1,0,0,0] T ;qdy =[1,0,0,0] T ;

[0100] Ground precision correction: q dh ,q zd There is a deviation of 0.1° around the Z-axis. When the driving angle of the X-axis is 0° and the driving angle of the Y-axis is 0°, the error angle is 0.1°. When the driving angle of the X-axis is 50° and the driving angle of the Y-axis is 50°, the error The angle is about 0.16°; the constant value correction scheme is used, and only 0.1° is corrected. The error of the small-angle drive is about 0, and the maximum error reaches 0.06° when the large-angle drive is used; when the quaternion rotation scheme is used for correction, after correction of 0.1° , the large angle error is less than 0.001°.

[0101] After on-orbit calibration, when the constant value error is used to correct the driving angle of the X-axis and Y-axis, the maximum error is about 0.01° when driving at a large a...

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Abstract

The invention relates to a Mars detection ground antenna pointing correction method based on error quaternion, and the method comprises the specific steps: S1, defining the quaternion of spatial three-dimensional rotation, and building a detector mechanical coordinate system; s2, correcting the final X-axis driving angle alpha and Y-axis driving angle beta of the ground antenna by adopting a gradual error correction strategy based on the ground accurate measurement data; s3, based on the on-orbit calibration data, obtaining error angles d alpha under different X-axis driving angles alpha and error angles d beta under different Y-axis driving angles beta, and obtaining the relation between the error angles and the driving angles through one-time linear fitting to be corrected. According tothe method, correction is carried out on two aspects of a ground accurate measurement result and an on-orbit calibration result, the ground accurate measurement result correction is based on a rotation quaternion, the on-orbit calibration result correction is based on one-time linear error fitting, and errors under different driving angles can be effectively guaranteed.

Description

technical field [0001] The invention relates to a driving control technology of a Mars exploration mechanism, in particular to a pointing correction method of a Mars exploration ground antenna based on an error quaternion. Background technique [0002] Our country will launch a Mars probe in 2020, and realize the conventional three-step process of "circling", "falling" and "patrolling" at one time. As the probe flies to Mars, the distance between the device and the ground increases. Compared with near-Earth satellites, the direct impact is that the communication delay increases, and the satellite-ground cannot implement real-time large-loop control. [0003] On the other hand, due to the different requirements of measurement and control data transmission, the system is configured with a high-gain ground antenna to ensure high-speed data transmission. Due to the limitation of the antenna beam, it is required that the ground-to-ground antenna has high pointing accuracy and ha...

Claims

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Application Information

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IPC IPC(8): G06F30/20H01Q3/08
CPCG06F30/20H01Q3/08
Inventor 朱庆华陈敏花秦捷曹赫扬许贤峰聂钦博
Owner SHANGHAI AEROSPACE CONTROL TECH INST
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