Satellite vibration test data-based method and system for calculating inclination angle of satellite on-board slope

Abstract

This invention provides a method and system for calculating the tilt angle of an onboard inclined plane based on satellite vibration test data, comprising: Step 1: arranging a triaxial accelerometer on the inclined plane, with one measurement axis of the sensor perpendicular to the inclined plane and the other measurement axis parallel to the plane formed by two axes in the satellite coordinate system; Step 2: when the satellite performs a sinusoidal frequency sweep vibration test along a direction perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in Step 1, collecting vibration response spectra in three orthogonal directions using the sensors; Step 3: calculating the angle between the inclined plane and the vibration direction using the data of the approximately linear response frequency band in the collected vibration response spectrum, i.e., the angle between the calculated normal of the inclined plane and the coordinate axis perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in Step 1. This invention can also be used to calculate the tilt angle of inclined planes on large onboard components. This invention is economical and convenient, requiring no additional measurement equipment or operations.

Description

Technical Field

[0001] This invention relates to the technical field of angle measurement between an onboard inclined plane and the satellite coordinate system, specifically, to a method and system for calculating the tilt angle of an onboard inclined plane based on satellite vibration test data. Background Technology

[0002] Currently, theodolites are generally used to measure the angle between an on-board inclined plane and the satellite coordinate system. This measurement method is primarily based on the principle of optical path measurement. When using a theodolite for angle measurement based on this principle, the optical path must be accessible, meaning there must be no obstruction between the surface being measured and the measuring equipment. For areas with obstructions, these obstructions need to be removed before measurement, which increases the difficulty of the measurement and is sometimes impossible. Furthermore, this method requires specialized measuring equipment such as theodolites and professional operators, making the measurement process time-consuming and labor-intensive.

[0003] Currently, no relevant patents were found for "a method for calculating the tilt angle of an inclined plane based on vibration test data." Chinese invention patent application number CN108692667A, entitled "Method for Measuring the Radius of the Circular Arc Surface and the Inclined Angle of Concrete Masonry," is a method for measuring the radius of the circular arc surface of a concrete wall. Its advantage lies in achieving rapid and accurate measurement of the radius of the circular arc surface of concrete masonry, thereby enabling rapid and accurate bending processing of support columns and channels on construction sites, improving the efficiency of support installation. This is unrelated to the present invention. Chinese invention patent application number CN102438251A, entitled "A Method for Calculating the Downtilt Angle of a Mobile Communication Base Station Antenna," is a method for calculating the downtilt angle of a mobile communication base station antenna. Its core is how to optimize the coverage of the mobile communication base station. This invention features global unified calculation and a high degree of automation, significantly improving the accuracy and speed of downtilt angle calculation. However, it is also unrelated to the present invention. A literature search revealed that Chen Liwei, Sun Liming, Yang Bo, Feng Wei, et al. proposed a post-processing method for sinusoidal scanning vibration test data in their paper "Research on Post-processing Method of Sinusoidal Scanning Vibration Test Data" (see Strength and Environment, 2015, Issue 201504). This method does not rely on the COLA function of the vibration controller and data acquisition system, nor does it rely on the drive signal of the synchronous vibration controller as a reference signal. It can post-process the test data based on a reference signal that meets certain conditions, and the method has been verified through examples. This method has no similarities to the method in this patent, meaning they are two completely different methods.

[0004] Therefore, a new technical solution needs to be proposed. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a method and system for calculating the tilt angle of an onboard surface based on satellite vibration test data.

[0006] According to the present invention, a method for calculating the inclination angle of an onboard surface based on satellite vibration test data is provided, the method comprising the following steps:

[0007] Step 1: Arrange a triaxial accelerometer on the inclined plane, with one measurement axis of the sensor perpendicular to the inclined plane and the other measurement axis parallel to the plane formed by the two axes in the satellite coordinate system;

[0008] Step 2: When the satellite performs a sinusoidal frequency sweep vibration test along a direction perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in Step 1, the vibration response spectrum in three orthogonal directions is collected using the sensor.

[0009] Step 3: Using the data from the approximately linear response frequency band of the collected vibration response spectrum, calculate the angle between the inclined plane and the vibration direction, that is, the angle between the normal of the inclined plane and the coordinate axis of the satellite coordinate system plane that is perpendicular to the sensor measurement axis in Step 1.

[0010] Preferably, in step 1, the normal to the inclined plane is denoted as L, and the satellite coordinate system is denoted as O. L X L Y L Z L O is obtained simultaneously by arranging on the inclined plane. M X M O M Y M O M Z M An accelerometer with vibration response in three orthogonal directions is installed such that the sensor's measuring axis O is aligned. M Z M Perpendicular to the inclined plane, measuring axis O M X M Parallel to the satellite coordinate system except O L Z L The plane formed by the other two axes outside the axis, namely O L X L Y L flat.

[0011] Preferably, in step 2, when the satellite performs a sinusoidal frequency sweep vibration test along a direction perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in step 1, the vibration response spectrum in three orthogonal directions is collected using a sensor. This spectrum is represented in the form of real part spectrum and imaginary part spectrum, and the three-directional vibration response spectra are denoted as follows:

[0012]

[0013]

[0014]

[0015] In the formula, f is the sinusoidal scanning frequency, and i is an imaginary number. For the real part of the spectrum, If the spectrum is the imaginary part, then the three amplitude spectra are as follows:

[0016]

[0017]

[0018]

[0019] In the formula, O M X M O M Y M O M Z M The amplitude spectrum of the vibration response in three orthogonal directions is abbreviated as: f is the sinusoidal scanning frequency. Let be the real part of the spectrum of the vibration response. This represents the imaginary part of the vibration response spectrum.

[0020] The three phase spectra are as follows:

[0021]

[0022]

[0023]

[0024] In the formula, O M X M O M Y M O M Z M The phase spectrum of the vibration response in three orthogonal directions is abbreviated as: f is the sinusoidal scanning frequency. Let be the real part of the spectrum of the vibration response. This represents the imaginary part of the vibration response spectrum.

[0025] Preferably, in step 3, the collected vibration response spectrum, where the area near the 1 / 2 resonance frequency is approximately the linear response frequency band, is used to calculate the angle between the inclined plane and the vibration direction using formula (7), i.e., the angle between the inclined plane normal L and the satellite coordinate system O. L Z L The included angle α of the axis:

[0026]

[0027] In the formula, O M Y M O M Z M Vibration response amplitude spectrum in the direction, O M Y M O M Z M Vibration response phase spectrum in the direction.

[0028] Preferably, a frequency band near the 1 / 2 resonance frequency is selected, and the included angle α is calculated using formula (7) respectively. Then, the arithmetic mean is taken as the final result.

[0029] This invention also provides a system for calculating the inclination angle of an onboard surface based on satellite vibration test data, the system comprising the following module M:

[0030] Module M1: A triaxial accelerometer is arranged on the inclined plane, with one measurement axis of the sensor perpendicular to the inclined plane and the other measurement axis parallel to the plane formed by the two axes in the satellite coordinate system;

[0031] Module M2: When the satellite performs a sinusoidal sweep vibration test along a direction perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in module M1, the vibration response spectrum in three orthogonal directions is collected using the sensor.

[0032] Module M3: Using the data from the approximately linear response frequency band of the collected vibration response spectrum, calculate the angle between the inclined plane and the vibration direction, that is, the angle between the normal of the inclined plane and the coordinate axis of the satellite coordinate system plane that is perpendicular to the sensor measurement axis in Module M1.

[0033] Preferably, in module M1, the slope normal is denoted as L, and the satellite coordinate system is denoted as O. L X L Y L Z L O is obtained simultaneously by arranging on the inclined plane. M X M O M Y M O M Z M An accelerometer with vibration response in three orthogonal directions is installed such that the sensor's measuring axis O is aligned. M Z M Perpendicular to the inclined plane, measuring axis O M X M Parallel to the satellite coordinate system except O L ZL The plane formed by the other two axes outside the axis, namely O L X L Y L flat.

[0034] Preferably, in module M2, when the satellite performs a sinusoidal frequency sweep vibration test along a direction perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in module M1, the vibration response spectrum in three orthogonal directions is collected by the sensor. This spectrum is represented in the form of real part spectrum and imaginary part spectrum, and the three-directional vibration response spectra are denoted as follows:

[0035]

[0036]

[0037]

[0038] In the formula, f is the sinusoidal scanning frequency, and i is an imaginary number. For the real part of the spectrum, If the spectrum is the imaginary part, then the three amplitude spectra are as follows:

[0039]

[0040]

[0041]

[0042] In the formula, O M X M O M Y M O M Z M The amplitude spectrum of the vibration response in three orthogonal directions is abbreviated as: f is the sinusoidal scanning frequency. Let be the real part of the spectrum of the vibration response. This represents the imaginary part of the vibration response spectrum.

[0043] The three phase spectra are as follows:

[0044]

[0045]

[0046]

[0047] In the formula, O M X M OM Y M O M Z M The phase spectrum of the vibration response in three orthogonal directions is abbreviated as: f is the sinusoidal scanning frequency. Let be the real part of the spectrum of the vibration response. This represents the imaginary part of the vibration response spectrum.

[0048] Preferably, in module M3, the vibration response spectrum collected is approximately linear in the vibratory frequency band near the 1 / 2 resonance frequency. Using this frequency band data, the angle between the inclined plane and the vibration direction is calculated using formula (7), i.e., the angle between the inclined plane normal L and the satellite coordinate system O. L Z L The included angle α of the axis:

[0049]

[0050] In the formula, O M Y M O M Z M Vibration response amplitude spectrum in the direction, O M Y M O M Z M Vibration response phase spectrum in the direction.

[0051] Preferably, a frequency band near the 1 / 2 resonance frequency is selected, and the included angle α is calculated using formula (7) respectively. Then, the arithmetic mean is taken as the final result.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] 1. This invention is economical and convenient, requiring no additional measuring equipment or operations. It can utilize the vibration test data already required for the satellite to calculate the angular relationship between the inclined plane on the satellite and the satellite coordinate system.

[0054] 2. This invention does not require the optical path to be reachable and can be used to obtain the angular relationship between the optical path obstruction and the satellite coordinate system;

[0055] 3. Compared with conventional methods for measuring the tilt angle of a structure in a static state, this invention can monitor the tilt angle of the part under test in a dynamic vibration environment, and understand its tilt angle change under the vibration environment. This can provide support for evaluating the influence of the mechanical environment on the tilt angle of the inclined plane and the installation pointing accuracy of the product with pointing accuracy installed on it during the vibration process. Attached Figure Description

[0056] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0057] Figure 1 This is a flowchart of the steps of the present invention;

[0058] Figure 2 This diagram illustrates the relationship between the inclined plane normal, the sensor measurement axis, and the satellite coordinate system of this invention.

[0059] Figure 3 O on the inclined surface during the Z-axis vibration test of a satellite according to the present invention M Y M O M Z M Amplitude spectrum of the vibration response;

[0060] Figure 4 O on the inclined surface during the Z-axis vibration test of a satellite according to the present invention M Y M O M Z M Phase spectrum of the vibration response;

[0061] Figure 5 This is a comparison chart of the slope angle calculated using this invention and its nominal value. Detailed Implementation

[0062] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0063] Example 1:

[0064] According to the present invention, a method for calculating the inclination angle of an onboard surface based on satellite vibration test data is provided, the method comprising the following steps:

[0065] Step 1: Arrange a triaxial accelerometer on the inclined plane, with one measurement axis of the sensor perpendicular to the inclined plane and the other measurement axis parallel to the plane formed by the two axes in the satellite coordinate system;

[0066] Step 2: When the satellite performs a sinusoidal sweep vibration test along a direction perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in Step 1, the vibration response spectrum in three orthogonal directions is collected using the sensor.

[0067] Step 3: Using the data from the approximately linear response frequency band of the collected vibration response spectrum, calculate the angle between the inclined plane and the vibration direction, that is, the angle between the normal of the inclined plane and the coordinate axis of the satellite coordinate system plane that is perpendicular to the sensor measurement axis in Step 1.

[0068] In step 1, let the normal to the inclined plane be L, and the satellite coordinate system be O. L X L Y L Z L O is obtained simultaneously by arranging on the inclined plane. M X M O M Y M O M Z M An accelerometer with vibration response in three orthogonal directions is installed such that the sensor's measuring axis O is aligned. M Z M Perpendicular to the inclined plane, measuring axis O M X M Parallel to the satellite coordinate system except O L Z L The plane formed by the other two axes outside the axis, namely O L X L Y L flat.

[0069] In step 2, when the satellite performs a sinusoidal frequency sweep vibration test along a direction perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in step 1, the vibration response spectrum in three orthogonal directions is collected using sensors. This spectrum is represented in the form of real and imaginary part spectra. The three-dimensional vibration response spectra are denoted as follows:

[0070]

[0071]

[0072]

[0073] In the formula, f is the sinusoidal scanning frequency, and i is an imaginary number. For the real part of the spectrum, If the spectrum is the imaginary part, then the three amplitude spectra are as follows:

[0074]

[0075]

[0076]

[0077] In the formula, OM X M O M Y M O M Z M The amplitude spectrum of the vibration response in three orthogonal directions is abbreviated as: f is the sinusoidal scanning frequency. Let be the real part of the spectrum of the vibration response. This represents the imaginary part of the vibration response spectrum.

[0078] The three phase spectra are as follows:

[0079]

[0080]

[0081]

[0082] In the formula, O M X M O M Y M O M Z M The phase spectrum of the vibration response in three orthogonal directions is abbreviated as: f is the sinusoidal scanning frequency. Let be the real part of the spectrum of the vibration response. This represents the imaginary part of the vibration response spectrum.

[0083] In step 3, the collected vibration response spectrum is used, with the area near the 1 / 2 resonance frequency being approximately the linear response band. Using this frequency band data, the angle between the inclined plane and the vibration direction is calculated using formula (7), that is, the angle between the inclined plane normal L and the satellite coordinate system O. L Z L The included angle α of the axis:

[0084]

[0085] In the formula, O M Y M O M Z M Vibration response amplitude spectrum in the direction, O M Y M O M Z M Vibration response phase spectrum in the direction.

[0086] Take a frequency band near the 1 / 2 resonance frequency, calculate the included angle α using formula (7), and then take the arithmetic mean as the final result.

[0087] Example 2:

[0088] Example 2 is a preferred embodiment of Example 1, and is used to illustrate the present invention in more detail.

[0089] This invention also provides a system for calculating the inclination angle of an onboard surface based on satellite vibration test data, the system comprising the following module M:

[0090] Module M1: A triaxial accelerometer is arranged on the inclined plane, with one measurement axis of the sensor perpendicular to the inclined plane and the other measurement axis parallel to the plane formed by the two axes in the satellite coordinate system;

[0091] Module M2: When the satellite performs a sinusoidal sweep vibration test along a direction perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in Module M1, the vibration response spectrum in three orthogonal directions is collected using sensors.

[0092] Module M3: Using the data from the approximately linear response frequency band of the collected vibration response spectrum, calculate the angle between the inclined plane and the vibration direction, that is, the angle between the normal of the inclined plane and the coordinate axis of the satellite coordinate system plane that is perpendicular to the sensor measurement axis in Module M1.

[0093] In module M1, let the slope normal be L and the satellite coordinate system be O. L X L Y L Z L O is obtained simultaneously by arranging on the inclined plane. M X M O M Y M O M Z M An accelerometer with vibration response in three orthogonal directions is installed such that the sensor's measuring axis O is aligned. M Z M Perpendicular to the inclined plane, measuring axis O M X M Parallel to the satellite coordinate system except O L Z L The plane formed by the other two axes outside the axis, namely O L X L Y L flat.

[0094] In module M2, when the satellite performs a sinusoidal frequency sweep vibration test along a plane perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in module M1, the vibration response spectrum in three orthogonal directions is collected using sensors. This spectrum is represented in the form of real and imaginary part spectra. The three-dimensional vibration response spectra are denoted as follows:

[0095]

[0096]

[0097]

[0098] In the formula, f is the sinusoidal scanning frequency, and i is an imaginary number. For the real part of the spectrum, If the spectrum is the imaginary part, then the three amplitude spectra are as follows:

[0099]

[0100]

[0101]

[0102] In the formula, O M X M O M Y M O M Z M The amplitude spectrum of the vibration response in three orthogonal directions is abbreviated as: f is the sinusoidal scanning frequency. Let be the real part of the spectrum of the vibration response. This represents the imaginary part of the vibration response spectrum.

[0103] The three phase spectra are as follows:

[0104]

[0105]

[0106]

[0107] In the formula, O M X M O M Y M O M Z M The phase spectrum of the vibration response in three orthogonal directions is abbreviated as: f is the sinusoidal scanning frequency. Let be the real part of the spectrum of the vibration response. This represents the imaginary part of the vibration response spectrum.

[0108] In module M3, the vibration response spectrum collected is approximately linear near the 1 / 2 resonance frequency. Using this frequency band data, the angle between the inclined plane and the vibration direction is calculated using formula (7), which is the angle between the inclined plane normal L and the satellite coordinate system O. L Z L The included angle α of the axis:

[0109]

[0110] In the formula, O M Y M O M Z M Vibration response amplitude spectrum in the direction, O M Y M O M Z M Vibration response phase spectrum in the direction.

[0111] Take a frequency band near the 1 / 2 resonance frequency, calculate the included angle α using formula (7), and then take the arithmetic mean as the final result.

[0112] Example 3:

[0113] Example 3 is a preferred example of Example 1, and is used to illustrate the present invention in more detail.

[0114] To address the aforementioned needs and the shortcomings of existing technologies, this invention provides a method for calculating the inclination angle of an onboard inclined plane based on satellite vibration test data. Sine sweep vibration testing is an environmental test that is inherently required during satellite development. This method can directly calculate the angle between the sensor mounting inclined plane and the satellite coordinate system from vibration test data, without requiring additional measurement equipment or operations. Since this method is not based on optical path measurement principles, it has no requirements regarding optical path availability. Currently, no similar descriptions or reports have been found, and no similar domestic or international materials have been collected.

[0115] This invention provides a method for calculating the tilt angle of an onboard inclined plane based on satellite vibration test data. This method obtains the angular relationship between the sensor mounting inclined plane and the satellite coordinate system through sensor installation, vibration response data acquisition, and data processing. Furthermore, this invention can also be used to calculate the tilt angle of inclined planes on large onboard components.

[0116] In this embodiment, the method for calculating the inclination angle of an onboard surface based on satellite vibration test data provided by the present invention includes the following steps:

[0117] Step 1: The normal of a certain sloping structural panel on a certain satellite is perpendicular to the satellite coordinate system O. L XL perpendicular to the axis, and to O L Z L The axes have a certain angle. This is to obtain the angle between the slope normal L and the satellite coordinate system O. L Z L The included angle α of the axes, when arranged on the inclined plane, can simultaneously obtain O. M X M O M Y M O M Z M An accelerometer with vibration response in three orthogonal directions is installed such that the sensor's measuring axis O is aligned. M Z M Perpendicular to the inclined plane, i.e. parallel to the normal line L of the inclined plane, the measurement axis O M X M Parallel to the satellite coordinate system except O L Z L The plane formed by the other two axes outside the axis, namely O L X L Y L flat.

[0118] Step 2: When the satellite moves along the satellite coordinate system plane that is perpendicular to the satellite coordinate system plane that was parallel to the sensor measurement axis in Step 1 (i.e., O) L X L Y L The direction of the plane (i.e., O) L Z L During a sinusoidal sweep vibration test, sensors are used to collect vibration response spectra in three orthogonal directions. The obtained spectra are in the form of real and imaginary parts, denoted as follows:

[0119]

[0120]

[0121]

[0122] In the formula, f is the sinusoidal scanning frequency, and i is an imaginary number. For the real part of the spectrum, The imaginary part of the spectrum. Then the three-dimensional amplitude spectra are as follows:

[0123]

[0124]

[0125]

[0126] The three phase spectra are as follows:

[0127]

[0128]

[0129]

[0130] Figure 3 , Figure 4 The O on the inclined plane during the Z-axis sinusoidal frequency sweep vibration test of the satellite are respectively M Y M O M Z M The amplitude and phase spectra of the vibration response.

[0131] Step 3: Since the area near the 1 / 2 resonance frequency is approximately a linear response frequency band, the angle between the inclined plane and the vibration direction can be calculated using formula (10) using data from this frequency band. That is, the angle between the inclined plane normal L and the satellite coordinate system O is the angle between the inclined plane normal L and the satellite coordinate system O. L Z L The included angle α between the axes. In this embodiment, from Figure 3 The amplitude spectrum shows that the satellite's Z-axis resonance frequency is approximately 30 Hz. Therefore, data from the 15 Hz ± 5 Hz frequency band is used to calculate the tilt angle of the slope. Figure 5 The calculated slope angle is compared with its nominal value (i.e., design value). It can be seen that the slope angle calculated by this invention matches its nominal value well, and the result is reliable.

[0132]

[0133] In step 3, since calculations cannot be performed directly in the frequency domain, it is necessary to convert to the time domain for relevant derivations. Based on the triaxial vibration response spectrum, the time-domain signals of the triaxial vibration response at a sinusoidal scanning frequency f are as follows:

[0134]

[0135]

[0136]

[0137] The time-domain signal of the triaxial vibration response in O L Z L The components on the axis are combined to form z. L (t), then we have:

[0138]

[0139] In the formula, z L The amplitude spectrum and phase spectrum of (t) are as follows:

[0140]

[0141]

[0142] For the approximately linear response frequency band, the satellite's vibration is mainly in the dominant vibration direction (i.e., the same direction as the test direction) (oscillation and torsional vibration can be ignored). Therefore, the response in the dominant vibration direction is the largest (relative to the other two directions), i.e. Therefore, we have:

[0143]

[0144] In the formula:

[0145]

[0146] Therefore, we can conclude that:

[0147]

[0148] Therefore, in step 3, the collected vibration response spectrum is approximately linear in the vibratory frequency band around the 1 / 2 resonance frequency. Using this frequency band data, the angle between the inclined plane and the vibration direction is calculated using formula (10), i.e., the angle between the inclined plane normal L and the satellite coordinate system O. L Z L The included angle α between the axes.

[0149] To improve the accuracy of tilt angle identification, a frequency band near the 1 / 2 resonance frequency can be selected, and the included angle α can be calculated using formula (10). Then, the arithmetic mean can be taken as the final result.

[0150] To obtain the slope normal L and the satellite coordinate system O L X L shaft or O L Y L The included angle of the axis can be determined by arranging the sensor using the methods described above, so that the sensor's measuring axis O... M X M Parallel to O L Y L Z L Plane (used to calculate the normals L and O of the inclined plane) L X L (angle between axes) or O L X L Z L Plane (used to calculate the normals L and O of the inclined plane) L Y L (The included angle of the shaft), the subsequent processing steps and methods are the same.

[0151] The present invention also provides a system for calculating the inclination angle of an onboard surface based on satellite vibration test data, the system comprising the following modules:

[0152] Module M1: A triaxial accelerometer is placed on an inclined plane, with one measurement axis of the sensor perpendicular to the inclined plane and the other measurement axis parallel to the plane formed by the two axes in the satellite coordinate system; let the normal to the inclined plane be L, and the satellite coordinate system be O. L X L Y L Z L O is obtained simultaneously by arranging on the inclined plane. M X M O M Y M O M Z M An accelerometer with vibration response in three orthogonal directions is installed such that the sensor's measuring axis O is aligned. M Z M Perpendicular to the inclined plane, measuring axis O M X M Parallel to the satellite coordinate system except O L Z L The plane formed by the other two axes outside the axis, namely O L X L Y L flat.

[0153] Module M2: When the satellite performs a sinusoidal frequency sweep vibration test along a direction perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in Module M1, the vibration response spectrum in three orthogonal directions is collected using sensors. This spectrum is represented in the form of real and imaginary part spectra. The three-directional vibration response spectra are denoted as follows:

[0154]

[0155]

[0156]

[0157] In the formula, f is the sinusoidal scanning frequency, and i is an imaginary number. For the real part of the spectrum, The imaginary part of the spectrum, then the three-dimensional amplitude spectra are as follows:

[0158]

[0159]

[0160]

[0161] The three phase spectra are as follows:

[0162]

[0163]

[0164]

[0165] Module M3: Using the data of the approximately linear response frequency band in the collected vibration response spectrum, the angle between the inclined plane and the vibration direction is calculated, that is, the angle between the required normal of the inclined plane and the coordinate axis of the satellite coordinate system plane that is perpendicular to the sensor measurement axis in Module M1; For the collected vibration response spectrum, the area near the 1 / 2 resonance frequency is approximately a linear response frequency band. Using the data of this frequency band, the angle between the inclined plane and the vibration direction is calculated using formula (7), that is, the angle between the required normal L of the inclined plane and the satellite coordinate system O. L Z L The included angle α of the axis:

[0166]

[0167] Take a frequency band near the 1 / 2 resonance frequency, calculate the included angle α using formula (7), and then take the arithmetic mean as the final result.

[0168] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0169] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for calculating the inclination angle of an on-board ramp based on satellite vibration test data, characterized in that, The method includes the following steps: Step 1: Arrange a triaxial accelerometer on the inclined plane, with one measurement axis of the sensor perpendicular to the inclined plane and the other measurement axis parallel to the plane formed by the two axes in the satellite coordinate system; Step 2: When the satellite performs a sinusoidal frequency sweep vibration test along a direction perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in Step 1, the vibration response spectrum in three orthogonal directions is collected using the sensor. Step 3: Using the data from the approximately linear response frequency band of the collected vibration response spectrum, calculate the angle between the inclined plane and the vibration direction, that is, the angle between the normal of the inclined plane and the coordinate axis of the satellite coordinate system plane that is perpendicular to the sensor measurement axis in Step 1; The step 3 is to collect the vibration response spectrum, wherein the frequency band near 1 / 2 resonance frequency is approximately linear response frequency band, and the frequency band data is used to calculate the angle between the slope and the vibration direction by using formula (7), that is, the normal of the slope to be solved With the satellite coordinate system The angle between the axes : （7） In the formula, , They are respectively , Vibration response amplitude spectrum in the direction, , They are respectively , Vibration response phase spectrum in the direction.

2. The method for calculating the on-board tilt angle based on satellite vibration test data according to claim 1, characterized in that, In step 1, the normal to the inclined plane is denoted as... The satellite coordinate system is Simultaneously obtain data on the inclined plane. , , An accelerometer with vibration response in three orthogonal directions, when installing the sensor, align the sensor's measuring axis... Perpendicular to the inclined plane, measuring axis Parallel to the satellite coordinate system except The plane formed by the other two axes outside the axis, i.e. flat.

3. The method for calculating the on-board tilt angle based on satellite vibration test data according to claim 1, characterized in that, In step 2, when the satellite performs a sinusoidal frequency sweep vibration test along a direction perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in step 1, the vibration response spectrum in three orthogonal directions is collected using a sensor. This spectrum is represented in the form of real and imaginary part spectra, and the three-directional vibration response spectra are denoted as follows: In the formula, The frequency is a sinusoidal scanning frequency. It is an imaginary number. , , For the real part of the spectrum, , , If the spectrum is the imaginary part, then the three-dimensional amplitude spectra are as follows: （1） （2） （3） In the formula, , , They are respectively , , The amplitude spectrum of the vibration response in three orthogonal directions is abbreviated as: , , ; The frequency is a sinusoidal scanning frequency. , , Let be the real part of the spectrum of the vibration response. , , This represents the imaginary part of the vibration response spectrum. The three phase spectra are as follows: （4） （5） （6） In the formula, , , They are respectively , , The phase spectrum of the vibration response in three orthogonal directions is abbreviated as: , , ; The frequency is a sinusoidal scanning frequency. , , Let be the real part of the spectrum of the vibration response. , , This represents the imaginary part of the vibration response spectrum.

4. The method for calculating the on-board tilt angle based on satellite vibration test data according to claim 1, characterized in that, Take a frequency point in a frequency band near the 1 / 2 resonance frequency, and calculate the included angle using formula (7). Then, the arithmetic mean is taken as the final result.

5. A satellite-based inclined plane tilt angle calculation system based on satellite vibration test data, characterized in that, The system includes the following module M: Module M1: A triaxial accelerometer is arranged on the inclined plane, with one measurement axis of the sensor perpendicular to the inclined plane and the other measurement axis parallel to the plane formed by the two axes in the satellite coordinate system; Module M2: When the satellite performs a sinusoidal sweep vibration test along a direction perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in module M1, the vibration response spectrum in three orthogonal directions is collected using the sensor. Module M3: Using the data from the approximately linear response frequency band of the collected vibration response spectrum, calculate the angle between the inclined plane and the vibration direction, that is, the angle between the normal of the inclined plane and the coordinate axis of the satellite coordinate system plane that is perpendicular to the sensor measurement axis in Module M1; In module M3, the frequency band near the 1 / 2 resonance frequency is approximately the linear response frequency band. Using this frequency band data, the angle between the inclined plane and the vibration direction is calculated using formula (7), which is the required normal to the inclined plane. With satellite coordinate system Angle between axes : （7） In the formula, , They are respectively , Vibration response amplitude spectrum in the direction, , They are respectively , Vibration response phase spectrum in the direction.

6. The on-board tilt angle calculation system based on satellite vibration test data according to claim 5, characterized in that, In module M1, the normal to the inclined plane is... The satellite coordinate system is Simultaneously obtain data on the inclined plane. , , An accelerometer with vibration response in three orthogonal directions, when installing the sensor, align the sensor's measuring axis... Perpendicular to the inclined plane, measuring axis Parallel to the satellite coordinate system except The plane formed by the other two axes outside the axis, i.e. flat.

7. The on-board tilt angle calculation system based on satellite vibration test data according to claim 5, characterized in that, In module M2, when the satellite performs a sinusoidal frequency sweep vibration test along a direction perpendicular to the satellite coordinate system plane parallel to the sensor measurement axis in module M1, the sensor collects the vibration response spectrum in three orthogonal directions. This spectrum is represented in the form of real and imaginary part spectra, and the three-directional vibration response spectra are denoted as follows: In the formula, The frequency is a sinusoidal scanning frequency. It is an imaginary number. , , For the real part of the spectrum, , , If the spectrum is the imaginary part, then the three-dimensional amplitude spectra are as follows: （1） （2） （3） In the formula, , , They are respectively , , The amplitude spectrum of the vibration response in three orthogonal directions is abbreviated as: , , ; The frequency is a sinusoidal scanning frequency. , , Let be the real part of the spectrum of the vibration response. , , This represents the imaginary part of the vibration response spectrum. The three phase spectra are as follows: （4） （5） （6） In the formula, , , They are respectively , , The phase spectrum of the vibration response in three orthogonal directions is abbreviated as: , , ; The frequency is a sinusoidal scanning frequency. , , Let be the real part of the spectrum of the vibration response. , , This represents the imaginary part of the vibration response spectrum.

8. The on-board tilt angle calculation system based on satellite vibration test data according to claim 5, characterized in that, Take a frequency point in a frequency band near the 1 / 2 resonance frequency, and calculate the included angle using formula (7). Then, the arithmetic mean is taken as the final result.

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