A method and system for measuring omnidirectional solar angle

Abstract

The present invention discloses a omnidirectional solar angle measurement method and system thereof. The system configures a plurality of analog sun angle meters according to the satellite solar orientation requirements and the solar orientation, designs the installation orientation, and realizes the calculation and measurement of the omnidirectional solar angle according to the measurement information of the plurality of analog sun angle meters. The advantages are: the present invention can realize the omnidirectional solar angle calculation by using a plurality of analog sun angle meters, does not need gyro information, comprehensively realizes the functions of 0-1 type solar sensor and sun angle meter, simplifies the single machine configuration required for solar orientation, and reduces the system cost.

Description

Technical Field

[0001] The invention relates to the field of solar angle measurement, and in particular to an omnidirectional solar angle measurement method and a system thereof. Background Art

[0002] Satellites generally use solar sensors to capture the sun and orient themselves to the sun. The 0-1 type solar sensor information is used to search for the sun, and the solar sensor that measures the solar azimuth (also called a sun angle meter) is used to capture the sun and orient itself to the sun. Since the satellite needs to be controlled to search for the sun according to a certain logic based on the solar sensor signal, a gyroscope is also needed to measure the satellite's angular velocity to control the actuator (flywheel or jet) to enable the satellite to search for the sun and orient itself to the sun. However, the above measurement method requires a large number of measurement tools and data, especially the need for a gyroscope to additionally measure the satellite's angular velocity, which is relatively cumbersome in actual applications. Summary of the invention

[0003] The object of the present invention is to provide a omnidirectional solar angle measurement method and system thereof. The method can realize omnidirectional solar angle calculation by using multiple analog sun angle meters, does not require gyro measurement information, and comprehensively realizes the functions of a 0-1 type sun sensor and a sun angle meter, simplifies the single-machine configuration required for solar orientation, and reduces system cost.

[0004] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0005] An omnidirectional sun angle measurement system, comprising:

[0006] Multiple simulated sun angle meters, each of which includes multiple sampling modules, and the sampling angles of the multiple sampling modules cover all-round three-dimensional angles. As the solar incident angle of the sampling module changes, the signal strength output by the sampling module changes accordingly. Based on the signal strength output by each sampling module, the calculation and measurement of all-round solar angles can be achieved.

[0007] Optionally, it comprises: a first simulated sun angle meter, which is installed on the edge of the first surface of the satellite body facing the sun and away from the sun, and the first simulated sun angle meter is provided with a plurality of sampling modules along the circumferential direction;

[0008] A second simulated sun angle meter is installed on the edge of the second side of the satellite body close to the sun in the sun-facing direction, and the second simulated sun angle meter is provided with a plurality of sampling modules along the circumferential direction;

[0009] The sampling angles of multiple sampling modules cover all-round three-dimensional angles. As the solar incident angle of the sampling module changes, the signal strength output by the sampling module changes accordingly. Based on the signal strength output by each sampling module, the calculation and measurement of all-round solar angles can be achieved.

[0010] Optionally, the sun-facing direction of the satellite body is parallel to the Z axis of the satellite body, the first simulated sun angle meter is installed on the -Z surface of the satellite body, and the second simulated sun angle meter is installed on the +Z surface of the satellite body;

[0011] The horizontal plane coordinates of the first simulated sun angle meter and the second simulated sun angle meter are the same;

[0012] Optionally, the first analog sun angle meter includes a first sampling module, a second sampling module, a third sampling module and a fourth sampling module, the fourth sampling module is arranged opposite to the second sampling module, the fourth sampling module is located on the outside, and the second sampling module is located on the inside, and the sampling voltage signals of the first sampling module, the second sampling module, the third sampling module and the fourth sampling module are V 11 、V 12 、V 13 、V 14 ;

[0013] The second analog sun angle meter comprises a fifth sampling module, a sixth sampling module, a seventh sampling module and an eighth sampling module. The sixth sampling module is arranged opposite to the eighth sampling module, the sixth sampling module is located on the outside, and the eighth sampling module is located on the inside. The sampling voltage signals of the fifth sampling module, the sixth sampling module, the seventh sampling module and the eighth sampling module are V 21 、V 22 、V 23 、V 24 .

[0014] Optionally, when the sum of the battery voltages of all sampling modules is greater than 0.1V, it is the illumination zone;

[0015] When the sum of the battery voltages of all sampling modules is less than 0.1V, it is the shaded area;

[0016] When the sum of the battery voltages of all sampling modules is equal to 0.1V, the light and shadow flags do not change.

[0017] Optionally, when the sum of the battery voltages of all sampling modules is less than 0.1V, the solar angle is set to 0;

[0018] When the battery voltage of all sampling modules is greater than or equal to 0.1V, the full range of solar angles includes the rolling solar angle Gdass, the rolling pseudo rate Gdass_ω, the pitching solar angle Fyass and the pitching pseudo rate Fyass_ω, where:

[0019] (1) Rolling sun angle and rolling pseudo-rate:

[0020] When V 14 ≥V 24 And V 14 +V12 ≥V 24 +V 22 And V 12 ≥V 22 Calculate the rolling solar angle Gdass according to formula (1):

[0021]

[0022] When V 24 ≥V 14 And V 12 ≥V 22 And V 12 +V 24 ≥V 22 +V 14 Calculate the rolling solar angle Gdass according to formula (2):

[0023]

[0024] When V 22 +V 24 ≥V 14 +V 12 And V 22 ≥V 12 And V 24 ≥V 14 And V 22 ≥V 24 Calculate the rolling solar angle Gdass according to formula (3):

[0025]

[0026] When V 22 +V 24 ≥V 14 +V 12 And V 22 ≥V 12 And V 24 ≥V 14 And V 22 <V 24 Calculate the rolling solar angle Gdass according to formula (4):

[0027]

[0028] When V 22 ≥V 12 And V 22 +V 14 ≥V 12 +V 24 And V 14 ≥V 24 Calculate the rolling solar angle Gdass according to formula (5):

[0029]

[0030] The rolling sun angle Gdass is filtered, that is,

[0031]

[0032] Among them, k-1 represents the filter value of the previous beat, N is the filter coefficient, T is the control period, and the rolling pseudo rate Gdass_ω of the simulated sun angle meter is

[0033] Gdass_ω=(Gdass-Gdss_f(k-1)) / N (7);

[0034] (2) Pitch solar angle Fyass and pitch pseudo rate Fyass_ω:

[0035] When V 13 ≥V 21 And V 13 +V 11 ≥V 23 +V 21 And V 11 ≥V 23 Calculate the pitch solar angle Fyass according to formula (8):

[0036]

[0037] When V 21 ≥V 13 And V 11 ≥V 23 And V 11 +V 21 ≥V 23 +V 13 Calculate the pitch solar angle Fyass according to formula (9):

[0038]

[0039] When V 23 +V 21 ≥V 13 +V 11 And V 23 ≥V 11 And V 21 ≥V 13 And V 23 ≥V 21 Calculate the pitch solar angle Fyass according to formula (10):

[0040]

[0041] When V 23 +V 21 ≥V 13 +V 11 And V23 ≥V 11 And V 21 ≥V 13 And V 23 <V 21 Calculate the pitch solar angle Fyass according to formula (11):

[0042]

[0043] When V 23 ≥V 11 And V 23 +V 13 ≥V 11 +V 21 And V 13 ≥V 21 Calculate the pitch solar angle Fyass according to formula (12):

[0044]

[0045] The pitch sun angle Fyass is filtered, that is,

[0046]

[0047] Among them, k-1 represents the filter value of the previous beat, N is the filter coefficient, and T is the control period;

[0048] The pitch pseudo rate Fyass_ω of the simulated sun angle meter is

[0049] Fyass_ω=(Fyass-Fyss_f(k-1)) / N (14).

[0050] Optionally, a solar angle measurement method of the aforementioned omnidirectional solar angle measurement system comprises:

[0051] Each sampling module of multiple simulated sun angle meters performs sampling and outputs respective signal strengths;

[0052] Based on the signal strength data output by each sampling module, the omnidirectional solar angle is calculated and measured.

[0053] Optionally, when the sum of the battery voltages of all sampling modules is greater than 0.1V, it is the illumination zone;

[0054] When the sum of the battery voltages of all sampling modules is less than 0.1V, it is the shaded area;

[0055] When the sum of the battery voltages of all sampling modules is equal to 0.1V, the light and shadow flags do not change.

[0056] Optionally, the omnidirectional solar angle measurement system includes a first simulated solar angle meter and a second simulated solar angle meter; the first simulated solar angle meter is installed on the edge of a first surface of the satellite body facing the sun, away from the sun, and the first simulated solar angle meter is provided with a plurality of sampling modules along the circumferential direction; the second simulated solar angle meter is installed on the edge of a second surface of the satellite body facing the sun, close to the sun, and the second simulated solar angle meter is provided with a plurality of sampling modules along the circumferential direction;

[0057] The sampling angles of multiple sampling modules cover all-round three-dimensional angles. As the solar incident angle of the sampling module changes, the signal strength output by the sampling module changes accordingly. Based on the signal strength output by each sampling module, the calculation and measurement of all-round solar angles can be achieved.

[0058] Optionally, when the sum of the battery voltages of all sampling modules is less than 0.1V, the solar angle is set to 0;

[0059] When the battery voltage of all sampling modules is greater than or equal to 0.1V, the solar angle measurement includes the rolling solar angle Gdass, the rolling pseudo rate Gdass_ω, the pitching solar angle Fyass and the pitching pseudo rate Fyass_ω, V 11 、V 12 、V 13 、V 14 are respectively the sampling voltage signals of the first sampling module, the second sampling module, the third sampling module and the fourth sampling module of the first analog sun angle meter, V 21 、V 22 、V 23 、V 24 are respectively the sampling voltage signals of the fifth sampling module, the sixth sampling module, the seventh sampling module and the eighth sampling module of the second analog sun angle meter, wherein,

[0060] (1) Rolling sun angle and rolling pseudo-rate:

[0061] When V 14 ≥V 24 And V 14 +V 12 ≥V 24 +V 22 And V 12 ≥V 22 Calculate the rolling solar angle Gdass according to formula (1):

[0062]

[0063] When V 24 ≥V 14 And V 12 ≥V 22 And V 12 +V 24 ≥V22 +V 14 Calculate the rolling solar angle Gdass according to formula (2):

[0064]

[0065] When V 22 +V 24 ≥V 14 +V 12 And V 22 ≥V 12 And V 24 ≥V 14 And V 22 ≥V 24 Calculate the rolling solar angle Gdass according to formula (3):

[0066]

[0067] When V 22 +V 24 ≥V 14 +V 12 And V 22 ≥V 12 And V 24 ≥V 14 And V 22 <V 24 Calculate the rolling solar angle Gdass according to formula (4):

[0068]

[0069] When V 22 ≥V 12 And V 22 +V 14 ≥V 12 +V 24 And V 14 ≥V 24 Calculate the rolling solar angle Gdass according to formula (5):

[0070]

[0071] The rolling sun angle Gdass is filtered, that is,

[0072]

[0073] Among them, k-1 represents the filter value of the previous beat, N is the filter coefficient, T is the control period,

[0074] The rolling pseudo rate Gdass_ω of the simulated sun angle meter is

[0075] Gdass_ω=(Gdass-Gdss_f(k-1)) / N (7);

[0076] (2) Pitch solar angle Fyass and pitch pseudo rate Fyass_ω:

[0077] When V 13 ≥V 21 And V 13 +V 11 ≥V 23 +V 21 And V 11 ≥V 23 Calculate the pitch solar angle Fyass according to formula (8):

[0078]

[0079] When V 21 ≥V 13 And V 11 ≥V 23 And V 11 +V 21 ≥V 23 +V 13 Calculate the pitch solar angle Fyass according to formula (9):

[0080]

[0081] When V 23 +V 21 ≥V 13 +V 11 And V 23 ≥V 11 And V 21 ≥V 13 And V 23 ≥V 21 Calculate the pitch according to formula (10):

[0082] Sun Corner Fyass

[0083]

[0084] When V 23 +V 21 ≥V 13 +V 11 And V 23 ≥V 11 And V 21 ≥V 13 And V 23 <V 21 Calculate the pitch according to formula (11):

[0085] Sun Corner Fyass

[0086]

[0087] When V 23 ≥V 11 And V 23 +V 13 ≥V 11 +V 21 And V 13 ≥V 21 Calculate the pitch solar angle Fyass according to formula (12):

[0088]

[0089] The pitch sun angle Fyass is filtered, that is,

[0090]

[0091] Among them, k-1 represents the filter value of the previous beat, N is the filter coefficient, and T is the control period;

[0092] The pitch pseudo rate Fyass_ω of the simulated sun angle meter is

[0093] Fyass_ω=(Fyass-Fyss_f(k-1)) / N (14).

[0094] Compared with the prior art, the present invention has the following advantages:

[0095] In an omnidirectional solar angle measurement method and system of the present invention, multiple analog sun angle meters (sun sensors) are configured according to the satellite solar orientation requirements and the solar orientation, and their installation orientations are designed. According to the measurement information of each analog sun angle meter, the solar angle and pseudo rate of the roll axis and the pitch axis are calculated. The present invention can realize omnidirectional solar angle calculation by using multiple analog sun angle meters, does not require gyro information, and comprehensively realizes the functions of 0-1 type sun sensor and sun angle meter, simplifies the single machine configuration required for solar orientation, and reduces the system cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0096] Figure 1 A schematic diagram of a satellite body-Z plane of the present invention;

[0097] Figure 2 This is a schematic diagram of a satellite body + Z plane of the present invention. DETAILED DESCRIPTION

[0098] The present invention will be further described below by describing a preferred specific embodiment in detail in conjunction with the accompanying drawings.

[0099] Based on the above problems, the present invention provides an omnidirectional solar angle measurement system, which includes multiple analog sun angle meters, each of which includes multiple sampling modules. The sampling angles of the multiple sampling modules cover all-directional three-dimensional angles. As the solar incident angle of the sampling module changes, the signal strength output by the sampling module changes accordingly. Based on the signal strength output by each sampling module, the calculation and measurement of the omnidirectional solar angle can be realized.

[0100] like Figure 1 and Figure 2 In combination, it is a schematic diagram of a satellite body where an all-round solar angle measurement system of this embodiment is located. The system specifically includes a first simulated solar angle meter (simulated solar angle meter 1) and a second simulated solar angle meter (simulated solar angle meter 2). The first simulated solar angle meter and the second simulated solar angle meter are both pyramid-type solar sensors, so as to capture all-round solar angle related information. The first simulated solar angle meter is installed on the edge of the first surface of the satellite body away from the sun in the direction of the sun, and the first simulated solar angle meter is provided with multiple sampling modules along the circumference. The second simulated solar angle meter is installed on the edge of the second surface of the satellite body close to the sun in the direction of the sun, and the second simulated solar angle meter is provided with multiple sampling modules along the circumference. The sampling angles of multiple sampling modules cover all-round three-dimensional angles. As the solar incident angle of the sampling module changes, the signal strength output by the sampling module changes accordingly. Each sampling module reflects the change of the solar angle of different partitions. Based on the signal strength output by each sampling module, the calculation and measurement of all-round solar angle can be realized.

[0101] It should be noted that the simulated sun angle meter is not limited to the above-mentioned pyramid-type solar sensor. In other embodiments, it can also be other types of structures, such as a planar solar sensor or other three-dimensional structure solar sensors. Furthermore, the number of simulated sun angle meters included in the system is not limited to the above-mentioned. The present invention does not limit the number thereof, as long as the sampling angles of multiple sampling modules can cover a full range of three-dimensional angles. For example, in another embodiment, the system includes four simulated sun angle meters, and the simulated sun angle meters are planar solar sensors, and the sampling angles of each sampling module of each simulated sun angle meter cover a full range of three-dimensional angles.

[0102] Furthermore, the three-dimensional direction of the stellar coordinate system is Figure 1 and Figure 2 As shown, in this embodiment, the sun-facing direction of the satellite body is parallel to the Z axis of the satellite body, the first simulated sun angle meter is installed on the -Z surface of the satellite body, i.e., the first surface, and the second simulated sun angle meter is installed on the +Z surface of the satellite body, i.e., the second surface.

[0103] In this embodiment, the sampling module is a battery module, and the satellite illumination and shadow state is determined according to the sampling voltage values ​​of each sampling module. Further, the horizontal plane coordinates of the first simulated sun angle meter and the second simulated sun angle meter are the same, that is, the two are set correspondingly. The first simulated sun angle meter includes a first sampling module, a second sampling module, a third sampling module and a fourth sampling module (respectively Figure 1 1234 of the simulated sun angle meter 1), the fourth sampling module is arranged opposite to the second sampling module, the fourth sampling module is located on the outside, the second sampling module is located on the inside, and the sampling voltage signals of the first sampling module, the second sampling module, the third sampling module and the fourth sampling module are V 11 、V 12 、V 13 、V 14 The second simulated sun angle meter comprises a fifth sampling module, a sixth sampling module, a seventh sampling module and an eighth sampling module (respectively Figure 2 1234 of the simulated sun angle meter 2), the sixth sampling module is arranged opposite to the eighth sampling module, the sixth sampling module is located on the outside, and the eighth sampling module is located on the inside, and the sampling voltage signals of the fifth sampling module, the sixth sampling module, the seventh sampling module and the eighth sampling module are V 21 、V 22 、V 23 、V 24 It is understandable that the first simulated sun angle meter or the second simulated sun angle meter is not limited to including the above four sampling modules. In other embodiments, it can also include other numbers of sampling modules. The present invention is not limited to this, as long as the measurement of the solar incident angle at different circumferential directions can be achieved.

[0104] When the sum of the battery voltages of all sampling modules is greater than 0.1V, it is the light area. When the sum of the battery voltages of all sampling modules is less than 0.1V, it is the shadow area. When the sum of the battery voltages of all sampling modules is equal to 0.1V, the light and shadow flags do not change.

[0105] In this embodiment, when the sum of the battery voltages of all sampling modules is less than 0.1V, the solar angle is set to 0.

[0106] Further, when the sum of the battery voltages of all sampling modules is greater than or equal to 0.1V, the full range of solar angles includes a rolling solar angle Gdass, a rolling pseudo rate Gdass_ω, a pitching solar angle Fyass, and a pitching pseudo rate Fyass_ω.

[0107] Among them, (1) the calculation of rolling solar angle and rolling pseudo-rate is as follows:

[0108] When V 14 ≥V 24And V 14 +V 12 ≥V 24 +V 22 And V 12 ≥V 22 Calculate the rolling solar angle Gdass according to formula (1):

[0109]

[0110] When V 24 ≥V 14 And V 12 ≥V 22 And V 12 +V 24 ≥V 22 +V 14 Calculate the rolling solar angle Gdass according to formula (2):

[0111]

[0112] When V 22 +V 24 ≥V 14 +V 12 And V 22 ≥V 12 And V 24 ≥V 14 And V 22 ≥V 24 Calculate the rolling solar angle Gdass according to formula (3):

[0113]

[0114] When V 22 +V 24 ≥V 14 +V 12 And V 22 ≥V 12 And V 24 ≥V 14 And V 22 <V 24 Calculate the rolling solar angle Gdass according to formula (4):

[0115]

[0116] When V 22 ≥V 12 And V 22 +V 14 ≥V 12 +V 24 And V 14 ≥V 24 Calculate the rolling solar angle Gdass according to formula (5):

[0117]

[0118] The rolling sun angle Gdass is filtered, that is,

[0119]

[0120] Among them, k-1 represents the filter value of the previous beat, that is, the previous sampling period, N is the filter coefficient, T is the control period,

[0121] The rolling pseudo rate Gdass_ω of the analog sun angle meter (the first analog sun angle meter or the second analog sun angle meter) is:

[0122] Gdass_ω=(Gdass-Gdss_f(k-1)) / N (7).

[0123] (2) The pitch solar angle Fyass and pitch pseudo rate Fyass_ω are calculated as follows:

[0124] When V 13 ≥V 21 And V 13 +V 11 ≥V 23 +V 21 And V 11 ≥V 23 Calculate the pitch solar angle Fyass according to formula (8):

[0125]

[0126] When V 21 ≥V 13 And V 11 ≥V 23 And V 11 +V 21 ≥V 23 +V 13 Calculate the pitch solar angle Fyass according to formula (9):

[0127]

[0128] When V 23 +V 21 ≥V 13 +V 11 And V 23 ≥V 11 And V 21 ≥V 13 And V 23 ≥V 21 Calculate the pitch according to formula (10):

[0129] Sun Corner Fyass

[0130]

[0131] When V 23 +V 21 ≥V 13 +V 11 And V 23 ≥V 11 And V 21 ≥V 13 And V 23 <V 21 Calculate the pitch according to formula (11):

[0132] Sun Corner Fyass

[0133]

[0134] When V 23 ≥V 11 And V 23 +V 13 ≥V 11 +V 21 And V 13 ≥V 21 Calculate the pitch solar angle Fyass according to formula (12):

[0135]

[0136] The pitch sun angle Fyass is filtered, that is,

[0137]

[0138] Among them, k-1 represents the filter value of the previous beat, that is, the previous cycle, N is the filter coefficient, and T is the control cycle;

[0139] The pitch pseudo rate Fyass_ω of the simulated sun angle meter (the first simulated sun angle meter or the second simulated sun angle meter) is:

[0140] Fyass_ω=(Fyass-Fyss_f(k-1)) / N (14).

[0141] Based on the same inventive concept, the present invention also provides a solar angle measurement method of the aforementioned omnidirectional solar angle measurement system, the method comprising: each sampling module of a plurality of analog sun angle meters performs sampling and outputs their respective signal strengths; based on the signal strength data output by each sampling module, the omnidirectional solar angle is calculated and measured.

[0142] As mentioned above, when the sum of the battery voltages of all sampling modules is greater than 0.1V, it is an illumination area; when the sum of the battery voltages of all sampling modules is less than 0.1V, it is a shadow area; when the sum of the battery voltages of all sampling modules is equal to 0.1V, the illumination and shadow flag does not change.

[0143] In this embodiment, when the sum of the battery voltages of all sampling modules is less than 0.1V, the solar angle is set to 0.

[0144] Furthermore, when the sum of the battery voltages of all sampling modules is greater than or equal to 0.1 V, the solar angle measurement includes the rolling solar angle Gdass, the rolling pseudo rate Gdass_ω, the pitching solar angle Fyass and the pitching pseudo rate Fyass_ω, V 11 、V 12 、V 13 、V 14 are the sampling voltage signals of the first sampling module, the second sampling module, the third sampling module and the fourth sampling module, V 21 、V 22 、V 23 、V 24 They are respectively the sampled voltage signals of the fifth sampling module, the sixth sampling module, the seventh sampling module and the eighth sampling module.

[0145] Among them, (1) the calculation of rolling solar angle and rolling pseudo-rate is as follows:

[0146] When V 14 ≥V 24 And V 14 +V 12 ≥V 24 +V 22 And V 12 ≥V 22 Calculate the rolling solar angle Gdass according to formula (1):

[0147]

[0148] When V 24 ≥V 14 And V 12 ≥V 22 And V 12 +V 24 ≥V 22 +V 14 Calculate the rolling solar angle Gdass according to formula (2):

[0149]

[0150] When V 22 +V 24 ≥V 14 +V 12 And V22 ≥V 12 And V 24 ≥V 14 And V 22 ≥V 24 Calculate the rolling solar angle Gdass according to formula (3):

[0151]

[0152] When V 22 +V 24 ≥V 14 +V 12 And V 22 ≥V 12 And V 24 ≥V 14 And V 22 <V 24 Calculate the rolling solar angle Gdass according to formula (4):

[0153]

[0154] When V 22 ≥V 12 And V 22 +V 14 ≥V 12 +V 24 And V 14 ≥V 24 Calculate the rolling solar angle Gdass according to formula (5):

[0155]

[0156] The rolling sun angle Gdass is filtered, that is,

[0157]

[0158] Among them, k-1 represents the filter value of the previous beat, that is, the previous sampling period, N is the filter coefficient, T is the control period,

[0159] The rolling pseudo rate Gdass_ω of the analog sun angle meter (the first analog sun angle meter or the second analog sun angle meter) is:

[0160] Gdass_ω=(Gdass-Gdss_f(k-1)) / N (7).

[0161] (2) The pitch solar angle Fyass and pitch pseudo rate Fyass_ω are calculated as follows:

[0162] When V 13 ≥V 21 And V 13 +V 11 ≥V23 +V 21 And V 11 ≥V 23 Calculate the pitch solar angle Fyass according to formula (8):

[0163]

[0164] When V 21 ≥V 13 And V 11 ≥V 23 And V 11 +V 21 ≥V 23 +V 13 Calculate the pitch solar angle Fyass according to formula (9):

[0165]

[0166] When V 23 +V 21 ≥V 13 +V 11 And V 23 ≥V 11 And V 21 ≥V 13 And V 23 ≥V 21 Calculate the pitch solar angle Fyass according to formula (10):

[0167]

[0168] When V 23 +V 21 ≥V 13 +V 11 And V 23 ≥V 11 And V 21 ≥V 13 And V 23 <V 21 Calculate the pitch solar angle Fyass according to formula (11):

[0169]

[0170] When V 23 ≥V 11 And V 23 +V 13 ≥V 11 +V 21 And V 13 ≥V 21 Calculate the pitch solar angle Fyass according to formula (12):

[0171]

[0172] The pitch sun angle Fyass is filtered, that is,

[0173]

[0174] Among them, k-1 represents the filter value of the previous beat, N is the filter coefficient, and T is the control period;

[0175] The pitch pseudo rate Fyass_ω of the simulated sun angle meter is

[0176] Fyass_ω=(Fyass-Fyss_f(k-1)) / N (14).

[0177] In summary, in an omnidirectional solar angle measurement method and system of the present invention, multiple analog sun angle meters (sun sensors) are configured according to the satellite solar orientation requirements and the solar orientation, and their installation orientations are designed. According to the measurement information of the multiple analog sun angle meters, the solar angles and pseudo rates of the roll axis and the pitch axis are calculated. The present invention can realize omnidirectional solar angle calculation by using multiple analog sun angle meters, does not require gyro information, and comprehensively realizes the functions of 0-1 type sun sensor and sun angle meter, simplifies the single machine configuration required for solar orientation, and reduces the system cost.

[0178] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A omnidirectional solar angle measurement system, characterized in that: Include: Multiple simulated sun angle meters, each of which includes multiple sampling modules, and the sampling angles of the multiple sampling modules cover all-round three-dimensional angles. As the solar incident angle of the sampling module changes, the signal strength output by the sampling module changes accordingly. Based on the signal strength output by each sampling module, the calculation and measurement of all-round solar angles can be realized; Wherein, the plurality of simulated sun angle meters include: A first simulated sun angle meter is installed on the edge of a first surface of the satellite body facing the sun and away from the sun, wherein the first simulated sun angle meter is provided with a plurality of sampling modules along the circumferential direction; A second simulated sun angle meter is installed on the edge of the second side of the satellite body close to the sun in the sun-facing direction, and the second simulated sun angle meter is provided with a plurality of sampling modules along the circumferential direction; The sampling angles of the multiple sampling modules cover all-round three-dimensional angles. As the solar incident angle of the sampling module changes, the signal strength output by the sampling module changes accordingly. Based on the signal strength output by each sampling module, the calculation and measurement of all-round solar angles can be realized; When the sum of the battery voltages of all sampling modules is greater than 0.1V, it is the illumination zone; When the sum of the battery voltages of all sampling modules is less than 0.1V, it is the shaded area; When the sum of the battery voltages of all sampling modules is equal to 0.1V, the light and shadow flags do not change.

2. The omnidirectional solar angle measurement system according to claim 1, characterized in that: The sun-facing direction of the satellite body is parallel to the Z axis of the satellite body. The first simulated sun angle meter is installed on the -Z surface of the satellite body, and the second simulated sun angle meter is installed on the +Z surface of the satellite body. The horizontal plane coordinates of the first simulated sun angle meter and the second simulated sun angle meter are the same.

3. The omnidirectional solar angle measurement system according to claim 1, characterized in that: The first analog sun angle meter comprises a first sampling module, a second sampling module, a third sampling module and a fourth sampling module. The fourth sampling module is arranged opposite to the second sampling module, the fourth sampling module is located on the outside, and the second sampling module is located on the inside. The sampling voltage signals of the first sampling module, the second sampling module, the third sampling module and the fourth sampling module are V 11 、V 12 、V 13 、V 14 ; The second analog sun angle meter comprises a fifth sampling module, a sixth sampling module, a seventh sampling module and an eighth sampling module. The sixth sampling module is arranged opposite to the eighth sampling module, the sixth sampling module is located on the outside, and the eighth sampling module is located on the inside. The sampling voltage signals of the fifth sampling module, the sixth sampling module, the seventh sampling module and the eighth sampling module are V 21 、V 22 、V 23 、V 24 .

4. The omnidirectional solar angle measurement system according to claim 3, characterized in that: When the sum of the battery voltages of all sampling modules is less than 0.1V, the solar angle is set to 0; When the battery voltage of all sampling modules is greater than or equal to 0.1V, the full range of solar angles includes the rolling solar angle Gdass, the rolling pseudo rate Gdass_ω, the pitching solar angle Fyass and the pitching pseudo rate Fyass_ω, where: (1) Rolling sun angle and rolling pseudo-rate: When V 14 ≥V 24 And V 14 +V 12 ≥V 24 +V 22 And V 12 ≥V 22 Calculate the rolling solar angle Gdass according to formula (1): When V 24 ≥V 14 And V 12 ≥V 22 And V 12 +V 24 ≥V 22 +V 14 Calculate the rolling solar angle Gdass according to formula (2): When V 22 +V 24 ≥V 14 +V 12 And V 22 ≥V 12 And V 24 ≥V 14 And V 22 ≥V 24 Calculate the rolling solar angle Gdass according to formula (3): When V 22 +V 24 ≥V 14 +V 12 And V 22 ≥V 12 And V 24 ≥V 14 And V 22 <V 24 Calculate the rolling solar angle Gdass according to formula (4): When V 22 ≥V 12 And V 22 +V 14 ≥V 12 +V 24 And V 14 ≥V 24 Calculate the rolling solar angle Gdass according to formula (5): The rolling sun angle Gdass is filtered, that is, Among them, k-1 represents the filter value of the previous beat, N is the filter coefficient, T is the control period, The rolling pseudo rate Gdass_ω of the simulated sun angle meter is Gdass_ω=(Gdass-Gdass_f(k-1)) / N (7); (2) Pitch solar angle Fyass and pitch pseudo rate Fyass_ω: When V 13 ≥V 21 And V 13 +V 11 ≥V 23 +V 21 And V 11 ≥V 23 Calculate the pitch solar angle Fyass according to formula (8): When V 21 ≥V 13 And V 11 ≥V 23 And V 11 +V 21 ≥V 23 +V 13 Calculate the pitch solar angle Fyass according to formula (9): When V 23 +V 21 ≥V 13 +V 11 And V 23 ≥V 11 And V 21 ≥V 13 And V 23 ≥V 21 Calculate the pitch solar angle Fyass according to formula (10): When V 23 +V 21 ≥V 13 +V 11 And V 23 ≥V 11 And V 21 ≥V 13 And V 23 <V 21 Calculate the pitch solar angle Fyass according to formula (11): When V 23 ≥V 11 And V 23 +V 13 ≥V 11 +V 21 And V 13 ≥V 21 Calculate the pitch solar angle Fyass according to formula (12): The pitch sun angle Fyass is filtered, that is, Among them, k-1 represents the filter value of the previous beat, N is the filter coefficient, and T is the control period; The pitch pseudo rate Fyass_ω of the simulated sun angle meter is Fyass_ω=(Fyass-Fyass_f(k-1)) / N (14).

5. A method for measuring a solar angle of an omnidirectional solar angle measuring system according to any one of claims 1 to 4, characterized in that: Include: Each sampling module of multiple simulated sun angle meters performs sampling and outputs respective signal strengths; Based on the signal strength data output by each sampling module, the omnidirectional solar angle is calculated and measured; When the sum of the battery voltages of all sampling modules is greater than 0.1V, it is the illumination zone; When the sum of the battery voltages of all sampling modules is less than 0.1V, it is the shaded area; When the sum of the battery voltages of all sampling modules is equal to 0.1V, the light and shadow flags do not change; The omnidirectional solar angle measurement system comprises a first simulated solar angle meter and a second simulated solar angle meter; the first simulated solar angle meter is installed at the edge of a first surface of the satellite body facing the sun and away from the sun, and the first simulated solar angle meter is provided with a plurality of sampling modules along the circumferential direction; the second simulated solar angle meter is installed at the edge of a second surface of the satellite body facing the sun and close to the sun, and the second simulated solar angle meter is provided with a plurality of sampling modules along the circumferential direction; The sampling angles of multiple sampling modules cover all-round three-dimensional angles. As the solar incident angle of the sampling module changes, the signal strength output by the sampling module changes accordingly. Based on the signal strength output by each sampling module, the calculation and measurement of all-round solar angles can be achieved.

6. The sun angle measurement method of the omnidirectional sun angle measurement system according to claim 5, characterized in that: When the sum of the battery voltages of all sampling modules is less than 0.1V, the solar angle is set to 0; When the battery voltage of all sampling modules is greater than or equal to 0.1V, the solar angle measurement includes the rolling solar angle Gdass, the rolling pseudo rate Gdass_ω, the pitching solar angle Fyass and the pitching pseudo rate Fyass_ω, V 11 、V 12 、V 13 、V 14 are respectively the sampling voltage signals of the first sampling module, the second sampling module, the third sampling module and the fourth sampling module of the first analog sun angle meter, V 21 、V 22 、V 23 、V 24 are respectively the sampling voltage signals of the fifth sampling module, the sixth sampling module, the seventh sampling module and the eighth sampling module of the second analog sun angle meter, wherein, (1) Rolling sun angle and rolling pseudo-rate: When V 14 ≥V 24 And V 14 +V 12 ≥V 24 +V 22 And V 12 ≥V 22 Calculate the rolling solar angle Gdass according to formula (1): When V 24 ≥V 14 And V 12 ≥V 22 And V 12 +V 24 ≥V 22 +V 14 Calculate the rolling solar angle Gdass according to formula (2): When V 22 +V 24 ≥V 14 +V 12 And V 22 ≥V 12 And V 24 ≥V 14 And V 22 ≥V 24 Calculate the rolling solar angle Gdass according to formula (3): When V 22 +V 24 ≥V 14 +V 12 And V 22 ≥V 12 And V 24 ≥V 14 And V 22 <V 24 Calculate the rolling solar angle Gdass according to formula (4): When V 22 ≥V 12 And V 22 +V 14 ≥V 12 +V 24 And V 14 ≥V 24 Calculate the rolling solar angle Gdass according to formula (5): The rolling sun angle Gdass is filtered, that is, Among them, k-1 represents the filter value of the previous beat, N is the filter coefficient, T is the control period, The rolling pseudo rate Gdass_ω of the simulated sun angle meter is Gdass_ω=(Gdass-Gdass_f(k-1)) / N (7); (2) Pitch solar angle Fyass and pitch pseudo rate Fyass_ω: When V 13 ≥V 21 And V 13 +V 11 ≥V 23 +V 21 And V 11 ≥V 23 Calculate the pitch solar angle Fyass according to formula (8): When V 21 ≥V 13 And V 11 ≥V 23 And V 11 +V 21 ≥V 23 +V 13 Calculate the pitch solar angle Fyass according to formula (9): When V 23 +V 21 ≥V 13 +V 11 And V 23 ≥V 11 And V 21 ≥V 13 And V 23 ≥V 21 Calculate the pitch solar angle Fyass according to formula (10): When V 23 +V 21 ≥V 13 +V 11 And V 23 ≥V 11 And V 21 ≥V 13 And V 23 <V 21 Calculate the pitch solar angle Fyass according to formula (11): When V 23 ≥V 11 And V 23 +V 13 ≥V 11 +V 21 And V 13 ≥V 21 Calculate the pitch solar angle Fyass according to formula (12): The pitch sun angle Fyass is filtered, that is, Among them, k-1 represents the filter value of the previous beat, N is the filter coefficient, and T is the control period; The pitch pseudo rate Fyass_ω of the simulated sun angle meter is Fyass_ω=(Fyass-Fyass_f(k-1)) / N (14).

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