Mars detection ground antenna pointing correction method based on error quaternion

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...

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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 small-angle rotation of the directional antenna (the rotation angle is less than 10°), for the two-dimensional large-angle rotation of the directional antenna (the rotation angle reaches 70°), the error of this constant value correction strategy increases (greater than 0.1°), which exceeds the antenna pointing angle. Accuracy requirements make it impossible to establish a communication link to the ground

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