Satellite laser autonomous calibration method based on dynamic coordination of multiple star sensors

Abstract

The invention relates to a satellite laser autonomous calibration method based on multi-star sensor dynamic collaboration, multi-star sensors comprise a plurality of platform cabin star sensors and a plurality of laser self star sensors, and the platform cabin star sensors and the laser self star sensors are arranged on a satellite side plate. The satellite laser autonomous calibration method comprises the following steps: determining an installation matrix of a multi-star sensor and a satellite body system, and completing installation matrix parameter binding; by taking the platform cabin star sensor as an attitude calibration reference, correcting the mounting matrixes of the other platform cabin star sensors and the laser star sensor so as to complete in-orbit autonomous calibration; and calculating the residual error of the platform cabin star sensor and the laser star sensor, when the error quaternion residual error is lower than a set threshold value, ending the autonomous calibration process, and broadcasting the quaternion measured by the multiple star sensors. According to the installation layout of the satellite laser and the star sensor, the calibration process is simplified, a ground station does not need to participate, and the satellite can autonomously complete the calibration process in orbit.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spacecraft attitude control, and relates to a satellite laser autonomous calibration method based on dynamic cooperation of multiple star sensors. BACKGROUND

[0002] In the field of spacecraft attitude control, accurate calibration of satellite laser equipment is a key link to ensure its reliable operation in orbit, which directly affects the implementation effect of core functions such as spacecraft attitude measurement and target pointing. The core of satellite laser calibration is to establish the accurate association of the laser probe and the satellite body coordinate system, and to ensure the consistency of the laser output attitude and the satellite attitude data. The traditional laser is not equipped with a star sensor, and the calibration method with the ground station is time and space constrained and the process is complex. At the same time, the traditional calibration scheme does not fully consider the influence of the complex environment of the satellite in orbit. After the satellite is launched into orbit, it will be affected by factors such as space temperature alternation and orbital mechanics load, resulting in structural deformation and thermal deformation, which changes the relative position relationship between the satellite body coordinate system and the laser probe and the attitude measurement equipment. When the traditional laser uses the satellite attitude in orbit, it does not consider the structural deformation and thermal deformation of the satellite in orbit. In addition, the traditional laser calibration is limited and cannot be calibrated autonomously in orbit. SUMMARY

[0003] The present application provides a satellite laser autonomous calibration method based on dynamic cooperation of multiple star sensors. According to the installation and layout of the satellite laser and the star sensor, the method uses dynamic cooperation of multiple star sensors for calibration without the cooperation of the ground station. The method is flexible and simple. When the laser is used in orbit, the structural deformation and thermal deformation are considered, the satellite attitude data is selected autonomously, the on-orbit autonomous calibration can be completed, and the calibration process can be completed autonomously after the residual error of the platform cabin star sensor and the laser itself star sensor is lower than the threshold.

[0004] To achieve the above-mentioned purpose, the present application provides a satellite laser autonomous calibration method based on dynamic cooperation of multiple star sensors. The multiple star sensors include multiple platform cabin star sensors and multiple laser itself star sensors. The platform cabin star sensors and the laser itself star sensors are arranged on the satellite side plate. The satellite laser autonomous calibration method comprises the following steps: Determine the installation matrix of the multiple star sensors and the satellite body system on the ground under light load, and complete the installation matrix parameter binding; Take the platform cabin star sensor as an attitude calibration reference, correct the installation matrix of the remaining platform cabin star sensors and the laser itself star sensors, and complete the on-orbit autonomous calibration; and On-orbit use: calculate the residual error of the platform cabin star sensor and the laser itself star sensor, and end the autonomous calibration process when the error quaternion residual error is lower than the set threshold. Broadcast the measurement quaternion of the multiple star sensors.

[0005] Furthermore, after ground calibration is completed, the installation matrix parameters of each star sensor and the laser-based star sensor are set. The setting of installation matrix parameters includes: after determining the installation matrix parameters of the star sensor, storing them in the satellite computer, thus completing the parameter setting. The ground calibration includes: using the laser probe, the prism of the star sensor body, and the prism of the satellite body to perform optical calibration so that the actual installation angle of the star sensor meets the design angle requirements.

[0006] Furthermore, the set threshold is generally set to about 1.9e-5, corresponding to an attitude determination result of about 0.5° between the two star sensors. This set threshold is determined by a combination of the satellite pointing accuracy requirements and the star sensor performance indicators.

[0007] Furthermore, the satellite includes a satellite body, which includes: Satellite platform cabin; The satellite +X side panel is a side wall panel that extends from the satellite platform cabin along the +X axis of the satellite's coordinate system (where the +X axis is the rocket's rolling axis when the satellite is docked with the launch vehicle, pointing towards the rocket's nose, and the -X axis is the opposite). The satellite-X side panel is the side wall panel of the satellite platform cabin that extends along the X-axis of the satellite body coordinate system. A first laser, located on the +X side panel of the satellite, is equipped with its own star sensor; and The second laser is located on the side panel of the satellite-X, and the second laser is equipped with its own star sensor.

[0008] Furthermore, the first laser self-star sensor and the star sensor A are mounted on the satellite +X side plate, and the second laser self-star sensor and the star sensor B are mounted on the satellite -X side plate.

[0009] Further, the installation matrix of the multi-satellite sensors and the satellite system is determined, and the installation matrix parameters are completed, including the following steps: The installation matrix of star sensor A, star sensor B, the first laser-based self-star sensor, and the second laser-based self-star sensor relative to the satellite system is determined based on the ground-based light-load method (the light-load method is a test method for determining the installation matrix during the satellite equipment installation phase). The installation matrix of star sensor A is denoted as... The star sensor B is installed in a matrix denoted as The first laser self-star sensor installation matrix is ​​denoted as The second laser self-star sensor mounting matrix is ​​denoted as And complete the binding of the installation matrix parameters.

[0010] Furthermore, using the platform module star sensor as the attitude calibration reference, the installation matrices of the remaining platform module star sensors and the laser's own star sensor are corrected to complete the on-orbit autonomous calibration. This includes using star sensor A as the attitude calibration reference and sequentially correcting the installation matrices of star sensor B, the first laser's own star sensor, and the second laser's own star sensor, including the following steps: Based on the attitude quaternion of star sensor A, the mounting matrix of star sensor B is modified as follows to calibrate star sensor B to star sensor A: in, The installation matrix between star sensor B and the satellite body coordinate system before calibration. Install the matrix on the calibrated star sensor B. The correction matrix is ​​calculated by the correction matrix calculation method (quaternion multiplication) from the attitude quaternions of star sensor A and star sensor B. Based on the attitude quaternion of star sensor A, the mounting matrix of the first laser self-star sensor is modified as follows to calibrate the first laser self-star sensor to star sensor A: in, The installation matrix between the first laser self-star sensor and the satellite body coordinate system before calibration. The mounting matrix for the first laser self-star sensor after calibration. The correction matrix is ​​calculated using the correction matrix calculation method based on the quaternions of star sensor A and the first laser's own star sensor; and Using the attitude quaternion of star sensor A as a reference, the mounting matrix of the second laser self-star sensor is modified as follows to calibrate the second laser self-star sensor to star sensor A. Since the calibration relationship between star sensor B and star sensor A is known, therefore: in, The installation matrix between the second laser self-star sensor and the satellite body coordinate system before calibration. The mounting matrix for the calibrated second laser self-star sensor. The correction matrix is ​​calculated from the difference between the attitude quaternions of star sensor A and star sensor B. The correction matrix is ​​calculated using the correction matrix calculation method of star sensor B and the second laser's own star sensor.

[0011] Furthermore, the correction matrix calculation method includes the following steps: The star sensor used as the attitude calibration reference is denoted as star sensor 1, and the star sensor to be corrected is denoted as star sensor 2. The measurement quaternions of star sensor 1 and star sensor 2 are obtained, and the rotation quaternions are solved by combining their respective mounting matrices to obtain the attitude determination quaternions of star sensor 1 and star sensor 2: in, and Here are the pose determination quaternions for Star-Agility 1 and Star-Agility 2. The measurement quaternion for Star-Agility 1 is: StarSense 2 measures quaternions as , and To install a matrix based on the star sensor and Solve for the rotation quaternion from the star sensor body to the satellite body; Based on the satellite's inertial attitude angular velocity and the exposure time difference between Star-Aware 1 and Star-Aware 2, a time delay correction is performed on the attitude quaternion of Star-Aware 2: in, The satellite's inertial attitude angular velocity, The exposure time difference between StarSense 1 and StarSense 2 for The angle through which the inner satellite rotates, For delay-corrected quaternions, The star-aware 2 attitude quaternion after time-delay correction. These are the three-axis components of the satellite's inertial attitude angular velocity; Then the error quaternion for: ;as well as Calculate the corresponding correction matrix from the error quaternion: For error quaternions The amount, This is the correction matrix.

[0012] Furthermore, the satellite's inertial attitude angular velocity for .

[0013] Furthermore, the residual between the platform cabin star sensor and the laser's own star sensor is calculated. When the error quaternion residual is lower than a set threshold, the autonomous calibration process ends, and the quaternion measurements of the multi-star sensors are broadcast. This includes the following steps: Measurement quaternions based on star sensor A and star sensor B and and installation matrix and Solve for the rotation quaternion from the star sensor body to the satellite body. and ; Calculate the star sensor attitude quaternion , ;as well as The error quaternion is When the residual error of the quaternion is lower than the threshold, the autonomous calibration process ends and the quaternion measurement of the multi-star sensor is broadcast.

[0014] Furthermore, the error quaternion residual is .

[0015] Furthermore, in the broadcasting of the quaternion measurements of the multi-star sensors, when broadcasting the attitude quaternion to the laser, the attitude quaternion of the star sensor on the same side is used: the first laser uses the attitude quaternion of star sensor A; the second laser uses the attitude quaternion of star sensor B.

[0016] The present invention has at least the following beneficial effects: 1) Based on the installation layout of satellite laser and star sensor, the present invention uses star sensor to calibrate the laser. The method is flexible and simple. Using the star sensor built into the laser for on-orbit laser installation matrix calibration breaks the time and space limitations and simplifies the calibration process; 2) When the laser of the present invention is used in orbit, considering structural deformation and thermal deformation, it can autonomously select satellite attitude data to complete on-orbit autonomous calibration. Once the residual between the platform cabin star sensor and the laser's own star sensor is below the threshold, the calibration process can be completed autonomously; 3) The present invention does not require the participation of ground station. The satellite can autonomously complete the calibration process in orbit, freeing itself from time and space constraints, and is suitable for long-term autonomous satellite missions. Attached Figure Description

[0017] To further illustrate the above and other advantages and features of the various embodiments of the present invention, a more specific description of the embodiments of the invention will be presented with reference to the accompanying drawings. It is to be understood that these drawings depict only typical embodiments of the invention and are therefore not intended to limit its scope. In the drawings, identical or corresponding parts will be indicated by identical or similar reference numerals for clarity.

[0018] Figure 1A schematic diagram of the workflow architecture of the satellite laser autonomous calibration method in some embodiments of the present invention is shown; Figure label: 1-Star sensor A, 2-Star sensor B, 3-First laser self-star sensor, 4-Second laser self-star sensor, 5-First laser, 6-Second laser. Detailed Implementation

[0019] It should be noted that the components in the accompanying drawings may be shown exaggerated for illustrative purposes and may not be to scale.

[0020] In this invention, the various embodiments are merely intended to illustrate the solutions of the invention and should not be construed as limiting.

[0021] In this invention, unless otherwise specified, the quantifiers “a” and “one” do not exclude scenarios involving multiple elements.

[0022] It should also be noted that, in the embodiments of the present invention, only a portion of the parts or components may be shown for clarity and simplicity. However, those skilled in the art will understand that, under the teachings of the present invention, the required parts or components can be added as needed for specific scenarios.

[0023] It should also be noted that within the scope of this invention, the terms "same", "equal", and "equal to" do not mean that the two values ​​are absolutely equal, but allow for a certain reasonable error. In other words, the terms also cover "substantially the same", "substantially equal", and "substantially equal to".

[0024] It should also be noted that in the description of this invention, the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not explicitly or implicitly suggest that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] Furthermore, the embodiments of the present invention describe the process steps in a specific order. However, this is only for the convenience of distinguishing each step, and is not a limitation on the order of each step. In different embodiments of the present invention, the order of each step can be adjusted according to the process.

[0026] In the following embodiments, the satellite includes a satellite body, which comprises: Satellite platform cabin; The satellite +X side panel is the side wall panel of the satellite platform cabin that extends along the +X axis of the satellite body coordinate system. The satellite-X side panel is the side wall panel of the satellite platform cabin that extends along the X-axis of the satellite body coordinate system. A first laser (probe), mounted on the +X side panel of the satellite, is equipped with its own star sensor; and The second laser (probe) is located on the side panel of the satellite-X, and the second laser is equipped with its own star sensor.

[0027] Furthermore, the first laser self-star sensor and the star sensor A are mounted on the satellite +X side plate, and the second laser self-star sensor and the star sensor B are mounted on the satellite -X side plate.

[0028] The following examples were tested on a certain type of satellite.

[0029] Example 1 The following embodiments provide a satellite laser autonomous calibration method based on dynamic coordination of multiple satellite sensors. Figure 1 The diagram illustrates the workflow architecture of the satellite laser autonomous calibration method, which includes the following steps: Step 1: Determine the installation matrix under light ground load When installing star sensors and lasers onto the satellite, first determine the installation matrix of star sensor A, star sensor B, the first laser-based self-star sensor, the second laser-based self-star sensor, and the satellite itself, based on the ground-based light-load method. The installation matrix of star sensor A is denoted as follows: The star sensor B is installed in a matrix denoted as The first laser self-star sensor installation matrix is ​​denoted as The second laser self-star sensor mounting matrix is ​​denoted as After ground calibration is completed and the installation matrix parameters are bound: , , , ; Step 2: On-orbit calibration After the satellite enters orbit, due to factors such as installation deviations and thermal deformation, there are deviations in the attitude quaternions between the star sensors. Before the on-orbit laser docking, the installation matrices of star sensor B, the first laser's own star sensor, and the second laser's own star sensor are corrected sequentially, using star sensor A as the attitude calibration reference, to complete the on-orbit autonomous calibration. 1. Telemetry data shows that star sensor A measures quaternions of [0.2877259; -0.3677911; -0.788709; 0.399852], and star sensor B measures quaternions of [-0.5440001; 0.4164396; -0.0266499; 0.727964]. Therefore... =[0.9999,-0.0160,0.0019;0.0160,0.9996,0.0212;-0.0022,-0.0212,0.9998], =[-0.6355,-0.0070,-0.7723;0.0061,1.0000,-0.0138;0.7723,-0.0132 -0.6354]; 2. The quaternion measured by the first laser self-star sensor is [0.7395; -0.4367; 0.3118; 0.4065]. =[-0.9733,-0.0699,0.2186;0.0406,-0.9899,-0.1357;0.2258,-0.1232,0.9663], =[0.0699,-0.9733,0.2186;0.9899 0.0406,-0.1357;0.1232,0.2258,0.9663]; 3. The quaternion measured by the second laser self-star sensor is [0.7379; -0.4388; 0.3129; 0.4063]. =[-1.0000,0.0016,0.0021;-0.0016,-1.0000,0.0026;0.0021,0.0026,1.0000], =[0.0177,0.9999,0.0039;-0.9995,0.0176,0.0238;0.0238,-0.0043,0.9997]; and Step 3: In-orbit use When broadcasting attitude to the lasers, the first laser uses the attitude quaternion of star sensor A, and the second laser uses the attitude quaternion of star sensor B.

[0030] Example 2 The following embodiment provides a satellite laser autonomous calibration method based on dynamic coordination of multiple satellite sensors, including the following steps: Step 1: Determine the installation matrix under light ground load The installation matrix of star sensor A, star sensor B, the first laser-based star sensor, the second laser-based star sensor, and the satellite itself is determined based on the ground-based light-load method. The installation matrix of star sensor A is denoted as follows: The star sensor B is installed in a matrix denoted as The first laser self-star sensor installation matrix is ​​denoted as The second laser self-star sensor mounting matrix is ​​denoted as Complete the binding of the installation matrix parameters: , , , ; Step 2: On-orbit calibration Using star sensor A as the attitude calibration reference, the mounting matrices of star sensor B, the first laser self-star sensor, and the second laser self-star sensor are sequentially corrected to complete the on-orbit autonomous calibration. 1. Telemetry data shows that star sensor A measures quaternions of [0.3383; 0.3308; 0.4570; 0.7531], and star sensor B measures quaternions of [0.3615; 0.5685; -0.7382; 0.0327]. Therefore... =[ 0.9999,-0.0158,0.0020;0.0158,0.9996,0.0214;-0.0023,-0.0213,0.9998], =[ -0.6354, -0.0068, -0.7723; 0.0064, 1.0000, -0.0138; 0.7723, -0.0133, -0.6353]; 2. The quaternions measured by the first laser self-star sensor are [-0.3828; -0.7732; -0.3662; 0.3486]. =[ -1.0000,0.0005,-0.0007;-0.0005,-1.0000,0.0026;-0.0007,0.0026,1.0000], =[ -0.0005,-1.0000,-0.0007;1.0000,-0.0005,0.0026;-0.0026,-0.0007,1.0000]; 3. The quaternions measured by the second laser self-star sensor are [-0.3829; -0.7729; -0.3656; 0.3496]. =[ -1.0000, -0.0007, 0.0006; 0.0007, -1.0000, 0.0010; 0.0006, 0.0010, 1.0000], =[ 0.0151,0.9999,0.0026;-0.9996,0.0151,0.0223;0.0223,-0.0029,0.9997]; and Step 3: In-orbit use When broadcasting attitude to the lasers, the first laser uses the attitude quaternion of star sensor A, and the second laser uses the attitude quaternion of star sensor B.

[0031] While some embodiments of the present invention have been described in this application, those skilled in the art will understand that these embodiments are merely illustrative. Numerous variations, alternatives, and improvements will arise in those skilled in the art under the teachings of this invention without departing from its scope. The appended claims are intended to define the scope of the invention and thereby cover methods and structures within the scope of the claims themselves and their equivalents.

Claims

1. A satellite laser autonomous calibration method based on multi-star sensor dynamic cooperation, characterized in that, The multi-star sensor comprises a plurality of platform cabin star sensors and a plurality of laser self-star sensors, which are arranged on satellite side plates, and the satellite laser autonomous calibration method comprises the following steps: Determine the installation matrix of the multi-star sensor and the satellite body system, and complete the installation matrix parameter binding; Take the platform cabin star sensor as the attitude calibration reference, correct the installation matrix of the remaining platform cabin star sensors and laser self-star sensors, and complete the on-orbit autonomous calibration; And Calculate the residual error of the platform cabin star sensor and the laser self-star sensor, and when the error quaternion residual error is lower than the set threshold, end the autonomous calibration process, and broadcast the measurement quaternion of the multi-star sensor.

2. The satellite laser autonomous calibration method based on multi-star sensor dynamic cooperation according to claim 1, characterized in that, The satellite comprises a satellite body, and the satellite body comprises: A satellite platform cabin; A satellite +X side plate, which is a side wall panel of the satellite platform cabin extending along the +X axis direction of the satellite body coordinate system; A satellite -X side plate, which is a side wall panel of the satellite platform cabin extending along the -X axis direction of the satellite body coordinate system; A first laser arranged on the satellite +X side plate, the first laser being provided with a first laser self-star sensor; and A second laser arranged on the satellite -X side plate, the second laser being provided with a second laser self-star sensor.

3. The satellite laser self-calibration method based on multi-star sensor dynamic cooperation according to claim 2, characterized in that, The first laser self-star sensor and the star sensor A are installed on the satellite +X side plate, and the second laser self-star sensor and the star sensor B are installed on the satellite -X side plate.

4. The satellite laser autonomous calibration method based on multi-star sensor dynamic cooperation according to claim 3, characterized in that, Determine the installation matrix of the multi-star sensor and the satellite body system, and complete the installation matrix parameter binding, comprising the following steps: The installation matrixes of the star sensor A, the star sensor B, the first laser self-star sensor and the second laser self-star sensor with the satellite body are determined by a light load mode, the installation matrix of the star sensor A is denoted as , the installation matrix of the star sensor B is denoted as , the installation matrix of the first laser self-star sensor is denoted as , the installation matrix of the second laser self-star sensor is denoted as , and the installation matrix parameters are bound.

5. The satellite laser autonomous calibration method based on multi-star sensor dynamic cooperation according to claim 4, characterized in that, Take the platform cabin star sensor as the attitude calibration reference, correct the installation matrix of the remaining platform cabin star sensors and laser self-star sensors, and complete the on-orbit autonomous calibration, comprising taking the star sensor A as the attitude calibration reference, correcting the installation matrix of the star sensor B, the first laser self-star sensor and the second laser self-star sensor in turn, comprising the following steps: Take the attitude determination quaternion of the star sensor A as the reference, correct the installation matrix of the star sensor B as follows, and calibrate the star sensor B to the star sensor A: wherein, is the installation matrix between star sensor B and satellite body coordinate system before correction, is the installation matrix of star sensor B after correction, is the correction matrix calculated by the correction matrix calculation method from the attitude determination quaternions of star sensor A and star sensor B. Take the attitude determination quaternion of the star sensor A as the reference, correct the installation matrix of the first laser self-star sensor as follows, and calibrate the first laser self-star sensor to the star sensor A: wherein, is the installation matrix between the first laser self-star sensor before calibration and the satellite body coordinate system, is the installation matrix of the first laser self-star sensor after calibration, is the correction matrix calculated by the star sensor A and the first laser self-star sensor quaternion through the correction matrix calculation method; and Take the attitude determination quaternion of the star sensor A as the reference, correct the installation matrix of the second laser self-star sensor as follows, and calibrate the second laser self-star sensor to the star sensor A: wherein, is the installation matrix between the second laser self-star sensor before calibration and the satellite body coordinate system, is the installation matrix of the second laser self-star sensor after calibration, is the correction matrix calculated by the difference between the attitude determination quaternions of star sensor A and star sensor B, is the correction matrix calculated by the correction matrix calculation method of star sensor B and the second laser self-star sensor.

6. The satellite laser autonomous calibration method based on multi-star sensor dynamic cooperation according to claim 5, characterized in that, The correction matrix calculation method comprises the following steps: Take the star sensor as the attitude calibration reference, take the star sensor to be corrected as the star sensor 2, obtain the measurement quaternion of the star sensor 1 and the star sensor 2, solve the rotation quaternion by combining the respective installation matrices, and obtain the attitude determination quaternion of the star sensor 1 and the star sensor 2: wherein and are the attitude quaternions of Star Sensor 1 and Star Sensor 2, the Star Sensor 1 measurement quaternion is and the Star Sensor 2 measurement quaternion is , and are the rotation quaternions from the satellite body to the star sensor body solved according to the star sensor installation matrix and ​ Based on the satellite inertial attitude angular velocity and the exposure time difference of the star sensor 1 and the star sensor 2, correct the attitude determination quaternion of the star sensor 2 in time delay: wherein, is the satellite inertial attitude angular velocity, is the exposure time difference of Star Sensor 1 and Star Sensor 2, is is the angle value turned by the inner satellite, is the time delay correction quaternion, is the Star Sensor 2 attitude determination quaternion after time delay correction, is the three-axis component of the satellite inertial attitude angular velocity; the error quaternion is: ; and Calculate the corresponding correction matrix from the error quaternion: is the component of the error quaternion is the component of the error quaternion is the correction matrix.

7. The satellite laser autonomous calibration method based on multi-star sensor dynamic cooperation according to claim 6, characterized in that, Satellite inertial attitude angular velocity To .

8. The satellite laser autonomous calibration method based on multi-star sensor dynamic cooperation according to claim 6, characterized in that, The computing platform cabin star sensor and the laser self star sensor are used to calculate the residual error, and when the error quaternion residual error is lower than a set threshold, the autonomous calibration process is ended, and the multi-star sensor measurement quaternion is broadcast, including the following steps: Based on the measurements of star sensor A and star sensor B, a rotation quaternion from the star sensor body to the satellite body is solved and and a mounting matrix and , a rotation quaternion from the star sensor body to the satellite body is solved and ; Computing star sensor attitude quaternion , ; And The error quaternion is When the error quaternion residual is lower than a threshold, the autonomous calibration process is ended, and the multi-satellite sensitive measurement quaternion is broadcasted.

9. The satellite laser autonomous calibration method based on multi-star sensor dynamic cooperation according to claim 8, characterized in that, The error quaternion residual is .

10. The satellite laser autonomous calibration method based on multi-star sensor dynamic cooperation according to claim 8, characterized in that, In the broadcasting of the multi-star sensor measurement quaternion, when the attitude quaternion of the laser is broadcast, the attitude quaternion of the same side star sensor is used: the first laser uses the attitude quaternion of the star sensor A; and the second laser uses the attitude quaternion of the star sensor B.

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