Onboard real-time determination method and device for star sensor field of view interference

Abstract

This invention discloses a method and apparatus for real-time onboard determination of interference in the field of view of a star sensor, belonging to the field of spacecraft control technology. The method includes: pre-determining the obstruction rotation range of the dual-axis solar array's field of view based on its geometry, installation position, and rotation method, as well as the star sensor's field of view angle, installation position, and orientation; determining that the star sensor's field of view is obstructed by the dual-axis solar array when the rotation angles of the A-axis and B-axis of the dual-axis solar array are within the obstruction rotation range; acquiring the rotation angle measurements of the A-axis and B-axis of the dual-axis solar array in real-time on-orbit, and determining whether the star sensor's field of view is obstructed by the dual-axis solar array based on whether the rotation angle measurements are within the obstruction rotation range; and determining whether the star sensor is affected by solar interference based on the change of the solar vector in the satellite orbital system; thus obtaining the result of interference in the star sensor's field of view. This invention enables real-time onboard determination of the star sensor's field of view interference results.

Description

Technical Field

[0001] This invention relates to the field of spacecraft control technology, and in particular to a method and apparatus for real-time determination of interference in the field of view of a star sensor on a satellite. Background Technology

[0002] Star sensors are commonly used sensors on satellites. Due to limitations in optical payload usage, they are frequently interfered with in orbit by factors such as sunlight and Earth's atmospheric radiation. The main ways to solve this problem are, on the one hand, to rationally position the star sensors within the overall satellite structure, and on the other hand, to use onboard software to assess the interference status of the star sensors and cut off the measurement information of the interfered star sensors in the control system loop.

[0003] When satellites employ dual-axis solar arrays to acquire more energy, the larger motion envelope of the dual-axis solar arrays makes the star sensor's field of view more susceptible to obstruction compared to single-axis solar arrays. Therefore, how to determine the interference status of the star sensor for dual-axis solar arrays is an urgent technical problem to be solved. Summary of the Invention

[0004] This invention provides a method and apparatus for real-time onboard determination of interference in the field of view of a star sensor. The technical solution is as follows:

[0005] On the one hand, a real-time onboard method for determining the interference situation of a star sensor's field of view is provided, applicable to satellites with dual-axis solar arrays, the method comprising:

[0006] Based on the geometry, installation position, and rotation method of the dual-axis solar array, as well as the field of view, installation position, and orientation of the star sensor, the obstruction rotation range of the dual-axis solar array on the field of view of the star sensor is determined in advance; when the rotation angles of the A-axis and B-axis of the dual-axis solar array are within the obstruction rotation range, it is determined that the field of view of the star sensor is obstructed by the dual-axis solar array.

[0007] The rotation angles of the dual-axis solar array are acquired in real time on orbit. The star sensor's field of view is determined to be blocked by the dual-axis solar array based on whether the rotation angle measurement is within the blocked rotation range. In addition, the star sensor is determined to be affected by solar interference based on the change of the solar vector in the satellite orbit system. The result of interference with the star sensor's field of view is obtained.

[0008] On the other hand, a real-time onboard determination device for star sensor field-of-view interference is provided, applicable to satellites with dual-axis solar arrays, the device comprising:

[0009] The determining unit is used to pre-determine the obstruction rotation range of the dual-axis solar array on the field of view of the star sensor based on the geometric dimensions, installation position and rotation method of the dual-axis solar array and the field of view angle, installation position and orientation of the star sensor; when the rotation angles of the A-axis and B-axis of the dual-axis solar array are within the obstruction rotation range, it is determined that the field of view of the star sensor is obstructed by the dual-axis solar array.

[0010] The interference determination unit is used to acquire the rotation angle measurements of the A-axis and B-axis of the dual-axis solar array in real time on orbit, determine whether the field of view of the star sensor is blocked by the dual-axis solar array based on whether the rotation angle measurement values ​​are within the blocking rotation range; and determine whether the star sensor is interfered with by the sun based on the change of the solar vector in the satellite orbit system; and obtain the interference result of the star sensor's field of view.

[0011] On the other hand, a computer device is provided, the computer device including a memory and a processor, the memory for storing computer programs, and the processor for executing the computer programs stored in the memory to implement the steps of the above-described method for real-time determination of star sensor field of view interference.

[0012] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, the steps of the above-described method for real-time determination of the interference situation of the star sensor's field of view are implemented.

[0013] On the other hand, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the above-described method for real-time determination of the interference situation of the star sensor's field of view.

[0014] The technical solution provided by this invention can bring at least the following beneficial effects:

[0015] By pre-determining the obstruction rotation range of the dual-axis solar array on the star sensor's field of view based on information from the dual-axis solar array and the star sensor, the rotation angle measurements of the A-axis and B-axis of the dual-axis solar array can be performed in real time on the satellite based on this obstruction rotation range to determine whether the star sensor's field of view is obstructed by the dual-axis solar array. In addition, the changes in the solar vector in the satellite orbit system can be used to determine in real time whether the star sensor is interfered with by the sun, thus enabling the results of interference with the star sensor's field of view to be obtained in real time on the satellite. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart of a method for real-time onboard determination of interference in the field of view of a star sensor, according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram showing the installation position relationship between the dual-axis solar array and the star sensor on a satellite according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of a star sensor subjected to interference from a dual-axis solar array, according to an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram illustrating the variation of the solar vector in a satellite orbital system according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram showing the changes in the rotation angles of the A-axis and B-axis of a dual-axis solar array according to an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of the star sensor being interfered with by the dual-axis solar array and the sun according to an embodiment of the present invention;

[0023] Figure 7 This is an embodiment of the present invention that provides a star sensor subject to interference from solar panels and the sun, and a usability indicator for the star sensor;

[0024] Figure 8 This is a structural diagram of an onboard real-time determination device for the interference of a star sensor's field of view, provided in an embodiment of the present invention.

[0025] Figure 9 This is a hardware architecture diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] Please refer to Figure 1 This invention provides a real-time onboard method for determining interference in the field of view of a star sensor, comprising:

[0028] Step 100: Based on the geometry, installation position, and rotation method of the dual-axis solar array, as well as the field of view, installation position, and orientation of the star sensor, determine the obstruction rotation range of the dual-axis solar array on the field of view of the star sensor; when the rotation angles of the A-axis and B-axis of the dual-axis solar array are within the obstruction rotation range, it is determined that the field of view of the star sensor is obstructed by the dual-axis solar array.

[0029] Step 102: In real time on orbit, acquire the rotation angle measurements of the A-axis and B-axis of the dual-axis solar array; determine whether the field of view of the star sensor is blocked by the dual-axis solar array based on whether the rotation angle measurement values ​​are within the blocking rotation range; and determine whether the star sensor is interfered with by the sun based on the change of the solar vector in the satellite orbit system; thus obtaining the result of interference with the field of view of the star sensor.

[0030] In this embodiment of the invention, the obstruction rotation range of the dual-axis solar array on the field of view of the star sensor is determined in advance based on the information of the dual-axis solar array and the star sensor. Thus, the rotation angle measurements of the A-axis and B-axis of the dual-axis solar array can be determined in real time on the satellite based on the obstruction rotation range to determine whether the field of view of the star sensor is obstructed by the dual-axis solar array. In addition, the star sensor can be determined in real time based on the change of the solar vector in the satellite orbit system to determine whether the star sensor is interfered with by the sun. Thus, the interference result of the star sensor's field of view can be obtained in real time on the satellite.

[0031] The following description Figure 1 The execution method of each step is shown.

[0032] First, for step 100, the obstruction rotation range of the dual-axis solar array on the field of view of the star sensor is determined in advance based on the geometric dimensions, installation position and rotation method of the dual-axis solar array, as well as the field of view, installation position and orientation of the star sensor.

[0033] In this embodiment of the invention, the interference to the star sensor's field of view mainly originates from two types of interference: one is obstruction by the dual-axis solar array, and the other is interference from the sun. Solar interference can be determined in real-time on-board based on the changes in the solar vector within the satellite's orbital system. However, regarding obstruction interference from the dual-axis solar array, to determine the obstruction of the star sensor's field of view by the dual-axis solar array in real-time on-board, it is necessary to pre-determine the obstruction rotation range of the star sensor. Specifically, the obstruction rotation range refers to the range in which the rotation angles of the A-axis and B-axis of the dual-axis solar array fall within, indicating that the star sensor's field of view is obstructed by the dual-axis solar array.

[0034] In one embodiment of the present invention, the obstruction rotation range of the dual-axis solar array on the field of view of the star sensor can be determined by the following method:

[0035] Step 1000: Discretize the rotation angles of the A-axis and B-axis of the dual-axis solar array to obtain the first discrete angle corresponding to the A-axis and the second discrete angle corresponding to the B-axis; combine the first discrete angle and the second discrete angle to obtain the combination of discrete angles of the A-axis and B-axis.

[0036] First, regarding the rotation angle α of the A-axis (rotation axis) of the dual-axis solar array... SA Discretizing the unit (in rad), preferably using equally spaced discretization, yields the following first discrete angle: α SA1 α SA2 ..., α SAn All units are in rad. For the first discrete angle α obtained by equal-interval discretization... SA1 α SA2 ..., α SAn The following relationship must be satisfied:

[0037]

[0038] Where n is the number of the first discrete angles obtained after the A-axis rotation angle is discretized at equal intervals. In one implementation, n is usually an integer greater than 720.

[0039] Then, the rotation angle β of the B-axis (tilt axis) of the dual-axis solar array. SA Discretizing the value (in rad), preferably using equally spaced discretization, yields the following second discrete angle: β SA1 β SA2 ..., β SAm The units are all in rad. For the second discrete angle β obtained by equal-interval discretization... SA1 β SA2 ..., β SAm The following relationship must be satisfied:

[0040]

[0041] Where m is the number of the second discrete angles obtained after equally spaced discretization of the B-axis rotation angle; in one implementation, m can typically be an integer greater than 200; β SAL This is the limit value for the rotation angle of the B-axis, in rad.

[0042] When the rotation angles of axis A and axis B are in different combinations, they correspond to one rotation state of the dual-axis solar array. Therefore, in order to obtain all rotation states of the dual-axis solar array, the first discrete angle and the second discrete angle can be combined to obtain the combination of discrete angles of axis A and axis B.

[0043] Step 1002: Based on the geometric dimensions of the dual-axis solar array, discretize the rectangular configuration space of the dual-axis solar array into points in the local coordinate system of the dual-axis solar array;

[0044] Please refer to Figure 2 This diagram illustrates the installation positional relationship between the dual-axis solar array and the star sensor on a satellite. The satellite consists of a central body, dual-axis solar arrays, and a star sensor. The main coordinate system is defined as follows:

[0045] (1) Satellite mechanical coordinate system O J X J Y J Z J Origin of coordinate system J Located at the theoretical center of the star-rocket separation interface; O J Z J The axis passes through the origin O. J Perpendicular to the separation surface between the satellite and the launch vehicle, along the satellite's longitudinal axis, with the positive direction pointing towards the ground; O J X J The axis passes through the origin O. J Located within the separation surface of the satellite and rocket, parallel to the theoretical normal direction of the satellite's eastern plate, with its positive direction aligned with the outer normal direction of the eastern plate, pointing towards the satellite's normal flight direction; O J Y J The axis passes through the origin O. J Located within the star-rocket separation plane, and adjacent to X J Axis, Z J The axis forms a right-handed system.

[0046] (2) Solar fin mounting coordinate system O SA X SA Y SA Z SA Origin of coordinate system SA Located at the junction of the solar array root and the satellite's central body, when the solar array is not rotating, the coordinate system's O... SA X SA O SA Y SA O SA Z SA The axes are sequentially aligned with the O coordinate system of the satellite. J X J O J Y J O J ZJ Axis coincidence. When the dual-axis solar array rotates, the solar array mounting coordinate system O... SA X SA Y SA Z SA In the satellite mechanical coordinate system O J X J Y J Z J Based on the YX rotation sequence, rotate first around the Y-axis α. SA Angle, then rotate β around the X-axis SA horn.

[0047] (3) Star sensor installation coordinate system O ST X ST Y ST Z ST Origin of coordinate system ST Located at the center of the focal plane of the star sensor optical system, coordinate system O ST Z ST The axis points in the same direction as the optical axis of the star sensor, O ST X ST O ST Y ST They are perpendicular to each other within the focal plane of the optical system.

[0048] The dual-axis solar array has a rectangular geometry. Based on the geometric dimensions of the dual-axis solar array, in the local coordinate system O of the solar array... SA X SA Y SA Z SA The geometric configuration of the rectangular solar array is discretized into points in space, and the discretized points are [x] in order. SA1 y SA1 ,0] T 、[x SA1 y SA2 ,0] T ..., [x SA1 y SAq ,0] T , [x SA2 y SA1 ,0] T 、[x SA2 y SA2 ,0] T ..., [x SA2 y SAq ,0] T , ..., [x SAp y SA1 ,0] T 、[x SAp y SA2 ,0] T..., [x SAp y SAq ,0] T Where, coordinate x SAk (k = 1, 2, ..., p), y SAl (l = 1, 2, ..., q), all in meters, and satisfying the following relationship:

[0049]

[0050] Where, x SAL1 x SAL2 For a dual-axis solar array along the local coordinate system O of the solar array SA X SA Y SA Z SA The x-axis takes values ​​at its lower and upper boundaries, in meters, and satisfies x SAL1 <x SAL2 ;y SAL1 y SAL2 For a dual-axis solar array along the local coordinate system O of the solar array SA X SA Y SA Z SA The Y-axis takes values ​​at its lower and upper boundaries, in meters, and satisfies the following conditions: SAL1 <y SAL2 .

[0051] Step 1004: For each discrete angle combination, perform the following: Determine whether there is a target point that meets the occlusion condition among the discretized points of the dual-axis solar array under the discrete angle combination. If there is, determine that the dual-axis solar array can occlude the star sensor's field of view; otherwise, determine that the dual-axis solar array will not occlude the star sensor's field of view.

[0052] In other words, during the process of sequentially calculating i with values ​​of 1, 2, ..., n, and j with values ​​of 1, 2, ..., m, the A-axis rotation angle of the dual-axis solar array is α. SAi The rotation angle of axis B is β SAj At that time, the interference of the solar array on the star sensor is judged by the following specific conditions:

[0053] At each point [x] in the discretization of the dual-axis solar array geometry SA1 y SA1 ,0] T 、[x SA1 y SA2 ,0] T ..., [x SA1 y SAq ,0] T , [x SA2 y SA1 ,0]T 、[x SA2 y SA2 ,0] T ..., [x SA2 y SAq ,0] T , ..., [x SAp y SA1 ,0] T 、[x SAp y SA2 ,0] T ..., [x SAp y SAq ,0] T In, there exists a point [x] SAf y SAg ,0] T Given that 1 ≤ f ≤ p and 1 ≤ g ≤ q, does there exist a target point that satisfies the following occlusion conditions?

[0054] The occlusion condition is: arccos((I STJ ) T I SASTJ )<θ STLim ;

[0055] Where, θ STLim I is the half-angle of the star sensor's field of view, measured in rad. STJ For the whole star mechanical coordinate system O J X J Y J Z J The unit vector pointing to the optical axis of the lower satellite sensor; I SASTJ For the whole star mechanical coordinate system O J X J Y J Z J Point [x] in the rectangular configuration of the lower dual-axis solar array SAf y SAg ,0] T A unit vector relative to the star sensor's mounting location.

[0056] In this embodiment of the invention, I SASTJ The calculation method is as follows:

[0057]

[0058] Where, r SAJ For the solar panel installation coordinate system O SA X SA Y SA Z SA Origin SA In the whole star mechanical coordinate system O J XJ Y J Z J The position below; r STJ For the star sensor in the whole star mechanical coordinate system O J X J Y J Z J The position below; L X (), L Y Let () be the fundamental transformation matrix about the X and Y axes, satisfying the following definition:

[0059]

[0060] If a target point exists that meets the occlusion conditions, it is determined that the dual-axis solar array can occlude the star sensor's field of view; otherwise, it is determined that the dual-axis solar array will not occlude the star sensor's field of view.

[0061] Step 1006: Determine the occlusion rotation range based on the field of view occlusion results corresponding to each discrete angle combination.

[0062] Step 1004 yields the field-of-view occlusion result for each discrete angle combination, from which the rotation angle α along the A-axis of the dual-axis solar array can be obtained. SA B-axis rotation angle β SA Within the defined domain, the interval of the outer envelope of the field of view of the dual-axis solar array-blocked star sensor, i.e., interval α. SAL1 ≤α SA ≤α SAH1 And β SAL1 ≤β SA ≤β SAH1 α SAL2 ≤α SA ≤α SAH2 And β SAL2 ≤β SA ≤β SAH2 , ..., α SALs ≤α SA ≤α SAHs And β SALs ≤β SA ≤β SAHs When the dual-axis solar array rotates at an angle (α) SA ,β SA When the value is within the above-mentioned range, it is assumed that the solar array obstructs the field of view of the star sensor. SAL1 α SAL2 ..., α SALs The shaded areas 1, 2, ..., s are rotated at angle α along the A-axis of the dual-axis solar array. SA The lower boundary within the domain, α SAH1 α SAH2 ..., α SAHsThe shaded areas 1, 2, ..., s are rotated at angle α along the A-axis of the dual-axis solar array. SA The upper boundary within the domain, β SAL1 β SAL2 ..., β SALs The shaded areas 1, 2, ..., s are rotated at angle β along the B-axis of the dual-axis solar array. SA The lower boundary within the domain, β SAH1 β SAH2 ..., β SAHs The shaded areas 1, 2, ..., s are rotated at angle β along the B-axis of the dual-axis solar array. SA The upper boundary within the domain.

[0063] Please refer to Figure 3 This diagram illustrates the interference of a star sensor with a dual-axis solar array. The black area represents the interference region caused by the solar array, and the solid black line represents the outer envelope of the interference region, i.e., the region 0.1047 rad (6°) ≤ α. SA ≤3.2289rad (185°) and -0.8727rad (-50°) ≤β SA ≤-0.0524rad (-3°), region 3.2725rad (187.5°)≤α SA ≤6.2832rad (360°) and 0.0524rad (3°) ≤β SA ≤0.8727rad (50°), region 0rad (0°)≤α SA ≤0.0873 rad (5°) and 0.0524 rad (3°) ≤β SA ≤0.8727rad (50°).

[0064] Then, for step 102, the rotation angle measurements of the A-axis and B-axis of the dual-axis solar array are acquired in real time on orbit. The star sensor's field of view is determined to be blocked by the dual-axis solar array based on whether the rotation angle measurement values ​​are within the blocking rotation range. In addition, the star sensor is determined to be affected by solar interference based on the change of the solar vector in the satellite orbit system. The result of interference with the star sensor's field of view is obtained.

[0065] To address interference from the dual-axis solar array on the star sensor, the obstruction of the star sensor's field of view by the dual-axis solar array can be determined by real-time on-orbit measurements of the A-axis and B-axis rotation angles. If the rotation angle measurement value is within the obstruction rotation range, the star sensor's field of view is determined to be obstructed by the dual-axis solar array; if the rotation angle measurement value is not within the obstruction rotation range, the star sensor's field of view is determined not to be obstructed by the dual-axis solar array. That is, if the rotation angle measurement values ​​α of the A-axis and B-axis... SAM β SAM There exists a case where αSAL1 ≤α SAM ≤α SAH1 And β SAL1 ≤β SAM ≤β SAH1 α SAL2 ≤α SAM ≤α SAH2 And β SAL2 ≤β SAM ≤β SAH2 , ..., α SALs ≤α SAM ≤α SAHs And β SALs ≤β SAM ≤β SAHs If so, it is determined that the field of view of the star sensor is blocked by the dual-axis solar array.

[0066] To address the issue of solar interference with star sensors, the presence or absence of solar interference can be determined by analyzing the changes in the solar vector within the satellite's orbital system. Specifically, this includes:

[0067] If the solar vector satisfies the following condition, then the star sensor is determined to be affected by solar interference: arccos((I STJ ) T I SunJ )<θ STLimSun ;

[0068] Among them, I SunJ Let θ be the unit vector of the Sun in the whole star mechanical coordinate system. STLimSun This is the angle at which the star sensor suppresses stray light from the sun.

[0069] Please refer to Figure 4 This is a schematic diagram illustrating the variation of the solar vector in a satellite orbital system.

[0070] Please refer to Figure 5 This is a schematic diagram showing the changes in the rotation angles of the A-axis and B-axis of the dual-axis solar array.

[0071] Please refer to Figure 6 This is a schematic diagram illustrating the interference of a star sensor with a dual-axis solar array and the sun.

[0072] In one embodiment of the present invention, the method further includes: if the result of the field of view being disturbed is that the field of view of the star sensor is disturbed, then the attitude determination data output by the star sensor is determined to be invalid.

[0073] Please refer to Figure 7 This indicates that the star sensor is affected by interference from the solar array and the sun, and serves as a marker of its availability. Calculations show that the star sensor is subject to alternating interference from the solar array and the sun. When the star sensor is unavailable, the attitude data output by the interfered star sensor should be disabled.

[0074] Please refer to Figure 8 This invention provides an onboard real-time determination device for the interference of a star sensor's field of view, the device comprising:

[0075] The determining unit 800 is used to pre-determine the obstruction rotation range of the dual-axis solar array on the field of view of the star sensor based on the geometric dimensions, installation position and rotation method of the dual-axis solar array and the field of view angle, installation position and orientation of the star sensor; when the rotation angles of the A-axis and B-axis of the dual-axis solar array are within the obstruction rotation range, it is determined that the field of view of the star sensor is obstructed by the dual-axis solar array.

[0076] The interference determination unit 802 is used to acquire the rotation angle measurements of the A-axis and B-axis of the dual-axis solar array in real time on orbit, determine whether the field of view of the star sensor is blocked by the dual-axis solar array based on whether the rotation angle measurement values ​​are within the obstruction rotation range; and determine whether the star sensor is interfered with by the sun based on the change of the solar vector in the satellite orbital system; thus obtaining the interference result of the star sensor's field of view.

[0077] In one embodiment of the present invention, when the determining unit performs the step of determining the obstruction rotation range of the dual-axis solar array on the star sensor's field of view, it specifically includes: discretizing the rotation angles of the A-axis and B-axis of the dual-axis solar array to obtain a first discrete angle corresponding to the A-axis and a second discrete angle corresponding to the B-axis; combining the first discrete angle and the second discrete angle to obtain the discrete angle combination of the A-axis and B-axis; discretizing the rectangular configuration space of the dual-axis solar array into points in the local coordinate system of the dual-axis solar array according to the geometric dimensions of the dual-axis solar array; for each discrete angle combination, performing the following: determining whether there is a target point that can satisfy the obstruction condition among the discretized points of the dual-axis solar array under the discrete angle combination; if so, determining that the dual-axis solar array can obstruct the star sensor's field of view; otherwise, determining that the dual-axis solar array will not obstruct the star sensor's field of view; and determining the obstruction rotation range according to the field of view obstruction result corresponding to each discrete angle combination.

[0078] In one embodiment of the present invention, when the determining unit performs the process of discretizing the rectangular configuration space of the dual-axis solar array into points in space under the local coordinate system of the dual-axis solar array, it specifically includes:

[0079] The discrete points are [x] in order. SA1 y SA1 ,0] T 、[x SA1 y SA2 ,0] T ..., [x SA1 y SAq ,0] T , [xSA2 y SA1 ,0] T 、[x SA2 y SA2 ,0] T ..., [x SA2 y SAq ,0] T , ..., [x SAp y SA1 ,0] T 、[x SAp y SA2 ,0] T ..., [x SAp y SAq ,0] T Where, coordinate x SAk (k = 1, 2, ..., p), y SAl (l = 1, 2, ..., q), all in meters, and satisfying the following relationship:

[0080]

[0081] Where, x SAL1 x SAL2 Let x be the lower and upper boundaries of the x-axis values ​​along the local coordinate system of the dual-axis solar array, in meters, and satisfy x SAL1 <x SAL2 ;y SAL1 y SAL2 Let be the lower and upper boundaries of the Y-axis values ​​of the dual-axis solar array along the local coordinate system of the solar array, in meters, and satisfy y SAL1 <y SAL2 .

[0082] In one embodiment of the present invention, the occlusion condition is: arccos((I STJ ) T I SASTJ )<θ STLim ;

[0083] Where, θ STLim I is the half-angle of the star sensor's field of view, measured in rad. STJ I is the unit vector pointing to the optical axis of the star sensor in the whole-star mechanical coordinate system; SASTJ [x] is a point in the rectangular configuration of the dual-axis solar array in the whole-plane mechanical coordinate system. SAf y SAg ,0] T A unit vector relative to the star sensor's mounting location.

[0084] In one embodiment of the present invention, the interference determination unit, when performing the task of determining whether the star sensor is subject to solar interference, specifically includes:

[0085] If the solar vector satisfies the following condition, then the star sensor is determined to be affected by solar interference: arccos((I STJ ) T I SunJ )<θ STLimSun ;

[0086] Among them, I SunJ Let θ be the unit vector of the Sun in the whole star mechanical coordinate system. STLimSun This is the angle at which the star sensor suppresses stray light from the sun.

[0087] In one embodiment of the present invention, the interference determination unit is further configured to: if the field of view is interfered with and the star sensor's field of view is interfered with, then determine that the attitude determination data output by the star sensor is invalid.

[0088] It should be noted that the on-board real-time determination device for star sensor field-of-view interference provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the on-board real-time determination device for star sensor field-of-view interference provided in the above embodiments and the on-board real-time determination method for star sensor field-of-view interference belong to the same concept. The specific implementation process is detailed in the method embodiments and will not be repeated here.

[0089] Embodiments of this application also provide a computer device, please refer to... Figure 9 The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, at least one program, code set or instruction set being loaded and executed by the processor to implement the on-board real-time determination method for the interference of the star sensor field of view provided in the above method embodiments.

[0090] The embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the on-board real-time determination method for the interference of the star sensor field of view provided in the above-described method embodiments.

[0091] Embodiments of this application also provide a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium and executes the computer program, causing the computer device to perform the on-board real-time determination method for the interference of the star sensor field of view as described in any of the above embodiments.

[0092] For ease of description, the above systems or devices are described separately as various modules or units based on their functions. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware components.

[0093] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0094] Finally, it should be noted that in this document, relational terms such as first, second, third, and fourth are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0095] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for real-time determination of a star sensor field of view interference case on board, characterized in that, The method is applied to a satellite with a two-axis solar wing, and the method comprises the following steps: According to the geometric size, installation position and rotation mode of the two-axis solar wing and the field of view angle, installation position and pointing direction of the star sensor, a shielding rotation interval of the two-axis solar wing to the field of view of the star sensor is determined; when the rotation angles of the A-axis and the B-axis of the two-axis solar wing are located in the shielding rotation interval, it is determined that the field of view of the star sensor is shielded by the two-axis solar wing; the A-axis is a rotation axis, and the B-axis is a swing axis; In-orbit real-time acquisition of the rotation angle measurement values of the A-axis and the B-axis of the two-axis solar wing, determination of whether the field of view of the star sensor is shielded by the two-axis solar wing according to whether the rotation angle measurement values are located in the shielding rotation interval, and determination of whether the star sensor is interfered by the sun according to the change of the sun vector in the satellite orbit system; and an interference result of the field of view of the star sensor is obtained; The determination of the shielding rotation interval of the two-axis solar wing to the field of view of the star sensor comprises the following steps: Discrete processing is performed on the rotation angles of the A-axis and the B-axis of the two-axis solar wing to obtain first discrete angles corresponding to the A-axis and second discrete angles corresponding to the B-axis; and the first discrete angles and the second discrete angles are combined to obtain the discrete angle combination of the A-axis and the B-axis; According to the geometric size of the two-axis solar wing, the rectangular configuration space of the two-axis solar wing is discretized into points in space in a local coordinate system of the two-axis solar wing; For each discrete angle combination, the following is performed: it is determined whether there is a target point that can meet the shielding condition in the discretized points of the two-axis solar wing under the discrete angle combination; if there is, it is determined that the two-axis solar wing can shield the field of view of the star sensor; otherwise, it is determined that the two-axis solar wing cannot shield the field of view of the star sensor; According to the field of view shielding result corresponding to each discrete angle combination, the shielding rotation interval is determined; The discretization of the rectangular configuration space of the two-axis solar wing into points in space in the local coordinate system of the two-axis solar wing comprises the following steps: The points of the discrete are in turn x SA1 , y SA1 , 0 T , x SA1 , y SA2 , 0 T ,..., x SA1 , y SAq , 0 T , x SA2 , y SA1 , 0 T , x SA2 , y SA2 , 0 T ,..., x SA2 , y SAq , 0 T ,..., x SAp , y SA1 , 0 T , x SAp , y SA2 , 0 T ,..., x SAp , y SAq , 0 T ; wherein the coordinates x SAk ( k =1, 2,..., p ), y SAl ( l =1, 2,..., q ) are all in meters and satisfy the following relationships: in, x SAL1 , x SAL2 For a dual-axis solar array along the local coordinate system of the solar array X The axis takes values ​​at its lower and upper boundaries, in meters, and satisfies the following conditions: x SAL1 < x SAL2 ; y SAL1 , y SAL2 For a dual-axis solar array along the local coordinate system of the solar array Y The axis takes values ​​at its lower and upper boundaries, in meters, and satisfies the following conditions: y SAL1 < y SAL2 .

2. The method according to claim 1, characterized in that, The occlusion condition is: arccos( I STJ ) T I SASTJ )< θ STLim ; wherein, θ STLim is the half opening angle of the star sensor field of view in rad; I STJ is the unit vector of the star sensor optical axis pointing in the body-fixed mechanical coordinate system; I SASTJ is the point in the rectangular configuration of the two-axis solar wing in the body-fixed mechanical coordinate system x SAf , y SAg , 0] T is the unit vector relative to the star sensor mounting position.

3. The method of claim 1, wherein, The determination of whether the star sensor is interfered by the sun comprises the following steps: If the solar vector satisfies the following judgment condition, it is determined that the star sensor is disturbed by the sun: arccos( I STJ ) T I SunJ )< θ STLimSun ; wherein, I SunJ is a unit vector of the sun vector in the whole-satellite mechanical coordinate system, θ STLimSun is the sun's angle of light suppression of the star sensor.

4. The method according to any one of claims 1 to 3, characterized in that, Further comprising: If the field of view interference result is that the field of view of the star sensor is interfered, it is determined that the attitude determination data output by the star sensor is invalid.

5. An on-board real-time determination device for a star sensor field of view interference situation, characterized in that, The method is applied to a satellite with a two-axis solar wing, and the method comprises the following steps: A determination unit is configured to determine, according to the geometric size, installation position and rotation mode of the two-axis solar wing and the field of view angle, installation position and pointing direction of the star sensor, a shielding rotation interval of the two-axis solar wing to the field of view of the star sensor; when the rotation angles of the A-axis and the B-axis of the two-axis solar wing are located in the shielding rotation interval, it is determined that the field of view of the star sensor is shielded by the two-axis solar wing; The interference judging unit is used for acquiring the rotation angle measurement values of the A-axis and the B-axis of the double-axis solar wing in real time on the orbit, judging whether the field of view of the star sensor is blocked by the double-axis solar wing according to whether the rotation angle measurement values are located in the blocking rotation interval, and determining whether the star sensor is interfered by the sun according to the change of the sun vector in the satellite orbit system, so as to obtain the interference result of the field of view of the star sensor.

6. A computer device, comprising: The computer device comprises a memory and a processor, the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory to realize the steps of the method in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is executed by the processor to realize the steps of the method in any one of claims 1-4.

8. A computer program product, characterised in that, The computer program is executed by the processor to realize the steps of the method in any one of claims 1-4.

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