A method for determining relative attitude of target satellite by local detailed inspection

Abstract

The present invention discloses a method for determining the relative attitude of a local detailed inspection of a target star, comprising the following steps: S1, determining the detailed inspection point position of the target star according to the task and establishing a relative attitude measurement reference coordinate system; S2, performing data preprocessing based on the relative attitude information output by the laser imaging navigation radar combined with the layout of the detailed inspection point on the target star; S3, calculating the relative attitude angle by a filtering algorithm. The present invention obtains the local relative attitude of the target star based on the calculation of the laser imaging navigation radar, realizes the measurement of the relative attitude during the rendezvous process between the target star and the service satellite, and provides relative attitude control input for the detailed inspection function of the space on-orbit service satellite.

Description

Technical Field

[0001] The invention relates to the field of space science, and in particular to a method for determining relative attitude of a target star based on local detailed inspection of a laser imaging navigation radar. Background Art

[0002] With the development of space science, large spacecraft such as space stations and space service platforms will carry companion satellites as on-orbit service tools. These companion satellites will fly with the space station at a very close distance and monitor its health. When a part of the serviced spacecraft fails, the companion satellite needs to be able to quickly locate the fault location and conduct a detailed fault investigation, which puts forward new requirements for the relative attitude determination of the companion satellite. The existing relative attitude determination technology mainly includes differential technology based on air-to-air communication and direct measurement technology based on cameras. Among them, the differential technology of air-to-air communication is limited by the installation position of the antenna, and the camera requires a cooperative target. Both of the above methods cannot achieve relative attitude determination of any point. Summary of the invention

[0003] The present invention proposes a method for determining the relative attitude of a target star during local detailed inspection based on a laser imaging navigation radar, and realizes the measurement of the relative attitude of a target star during a detailed inspection task at any point by means of the laser imaging navigation radar.

[0004] In order to achieve the above object, the present invention proposes a method for determining the relative attitude of a target star in local detailed inspection, using a laser imaging navigation radar as a relative attitude measurement device, and the method comprises the following steps:

[0005] S1. Determine the target satellite detailed inspection point according to the mission and establish a relative attitude measurement reference coordinate system;

[0006] S2. Preprocessing the data based on the relative attitude information output by the laser imaging navigation radar and the layout of the detailed inspection points on the target star;

[0007] S3. Calculate the relative attitude angle through filtering algorithm.

[0008] Furthermore, the relative attitude measurement reference coordinate system includes: the companion satellite's layout and attitude control coordinate system, the companion satellite's laser imaging navigation radar measurement coordinate system, the target satellite's layout coordinate system, and the target satellite's detailed inspection point coordinate system.

[0009] Furthermore, the relative attitude information includes: a relative attitude angle of the target star's layout coordinate system relative to the companion star's laser imaging navigation radar measurement coordinate system, and a corresponding attitude rotation matrix.

[0010] Furthermore, the data preprocessing method in step S2 comprises the following steps:

[0011] S2.1, according to the installation matrix R of the laser imaging navigation radar on the active approach satellite s_sc and the installation matrix of the detailed inspection point on the target satellite, and calculate the rotation matrix of the detailed inspection point relative to the attitude control coordinate system of the active approaching satellite;

[0012] R s_td =R s_sc R sc_t R t_td

[0013] In the formula, R s_td The rotation matrix of the detailed inspection point relative to the attitude control coordinate system of the active approaching satellite, R s_sc is the installation matrix of the laser imaging navigation radar on the active approach satellite, R t_td To check the installation matrix of the target star in detail, R sc_t It is the corresponding attitude rotation matrix in the relative attitude information.

[0014] S2.2, according to the calculated rotation matrix R s_td Calculate the relative attitude angle of the detailed inspection point relative to the attitude control coordinate system of the active approach satellite

[0015] S2.3, calculate the angular velocity of the target star detailed inspection point;

[0016] The calculation formula of the angular velocity of the target star detailed inspection point is:

[0017]

[0018] In the formula, ω t is the target star angular velocity.

[0019] Furthermore, the relative attitude angle in step S3 is:

[0020] The angular velocity relationship of the relative attitude angle of the detailed inspection point relative to the service satellite control coordinate system is:

[0021]

[0022] in, are the attitude angular velocities of the active and passive ends of the capture mechanism respectively;

[0023]

[0024]

[0025]

[0026] θ and ψ are the relative attitude angles of the detailed inspection point to the attitude control coordinate system of the active approaching satellite; are the angular velocities of the relative attitude angles;

[0027] The angular velocity relationship of the relative attitude angle of the detailed inspection point relative to the service satellite control coordinate system is:

[0028]

[0029] Furthermore, the filtering method is extended Kalman filtering or lossless Kalman filtering.

[0030] The present invention has the following advantages:

[0031] The present invention obtains the local relative attitude of the target star based on laser imaging navigation radar calculation, realizes the measurement of the relative attitude during the rendezvous process between the target star and the service satellite, and provides relative attitude control input for the detailed inspection function of the space on-orbit service satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of the structure of the target star and the companion star.

[0033] Figure 2 A schematic flow chart of a method for determining relative attitude of a target star by local detailed inspection provided in this embodiment. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are all in a very simplified form and use non-precise ratios, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0035] like Figure 1 As shown, it is a schematic diagram of the structure of the target satellite and the companion satellite. Any point on the target satellite can be used as a detailed inspection point. The detailed inspection point can be a thruster detailed inspection point, a docking port detailed inspection point, a solar wing detailed inspection point, or any position on the target satellite. Without loss of generality, the thruster detailed inspection point is taken as a specific embodiment of the present invention for description.

[0036] like Figure 2 FIG. 1 is a flow chart of a method for determining relative attitude of a target star by local detailed inspection proposed by the present invention. The method adopts a laser imaging navigation radar as a relative attitude measurement device and specifically includes the following steps:

[0037] S1. Determine the target satellite location according to the mission and establish a reference coordinate system for relative attitude measurement.

[0038] Specifically, the relative attitude measurement reference coordinate system includes: the companion satellite layout and attitude control coordinate system. s -x s y s zs , the laser imaging navigation radar measurement coordinate system of the companion satellite sc -x sc y sc z sc , the layout coordinate system of the target star o t -x t y t z t , and the target star's detailed inspection point coordinate system o tp -x tp y tp z tp .

[0039] Furthermore, the thruster detailed inspection point position information in the target satellite layout coordinate system Target satellite thruster detailed inspection point coordinate system o tp -x tp y tp z tp In the target star layout coordinate system o t -x t y t z t The attitude rotation matrix R t_tp .

[0040] S2. Data preprocessing is performed based on the relative attitude information output by the laser imaging navigation radar and the layout of the detailed inspection points on the target star.

[0041] Specifically, the relative attitude information includes: the relative attitude angle of the layout coordinate system of the target star relative to the laser imaging navigation radar measurement coordinate system of the companion star, and the corresponding attitude rotation matrix.

[0042] The data preprocessing method comprises the following steps:

[0043] S2.1, according to the installation matrix R of the laser imaging navigation radar on the active approach satellite s_sc and the installation matrix of the detailed inspection point on the target satellite, and calculate the rotation matrix of the detailed inspection point relative to the attitude control coordinate system of the active approaching satellite;

[0044] R s_td =R s_sc R sc_t R t_td

[0045] In the formula, R s_td The rotation matrix of the detailed inspection point relative to the attitude control coordinate system of the active approaching satellite, R s_sc is the installation matrix of the laser imaging navigation radar on the active approach satellite, R t_td To check the installation matrix of the target star in detail, R sc_t It is the corresponding attitude rotation matrix in the relative attitude information.

[0046] S2.2, according to the calculated rotation matrix R s_td Calculate the relative attitude angle of the detailed inspection point relative to the attitude control coordinate system of the active approach satellite

[0047] S2.3, calculate the angular velocity of the target star detailed inspection point;

[0048] The calculation formula of the angular velocity of the target star detailed inspection point is:

[0049]

[0050] In the formula, ω t is the target star angular velocity.

[0051] S3. Calculate the relative attitude angle through filtering algorithm.

[0052] Specifically, the filtering algorithm adopts extended Kalman filtering or lossless Kalman filtering.

[0053] The relative attitude angle is:

[0054] The angular velocity relationship of the relative attitude angle of the detailed inspection point relative to the service satellite control coordinate system is:

[0055]

[0056] in, are the attitude angular velocities of the active and passive ends of the capture mechanism respectively;

[0057]

[0058]

[0059]

[0060] θ and ψ are the relative attitude angles of the detailed inspection point to the attitude control coordinate system of the active approaching satellite; are the angular velocities of the relative attitude angles;

[0061] The angular velocity relationship of the relative attitude angle of the detailed inspection point relative to the service satellite control coordinate system is:

[0062]

[0063] The present invention obtains the local relative attitude of the target star based on laser imaging navigation radar calculation, realizes the measurement of the relative attitude during the rendezvous process between the target star and the service satellite, and provides relative attitude control input for the detailed inspection function of the space on-orbit service satellite.

[0064] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A method for determining relative attitude of a target star by local detailed inspection, using a laser imaging navigation radar as a relative attitude measurement device, characterized in that: The following steps are involved: S1. Determine the target satellite detailed inspection point according to the mission and establish a relative attitude measurement reference coordinate system; S2. Preprocessing the data based on the relative attitude information output by the laser imaging navigation radar and the layout of the detailed inspection points on the target star; The relative attitude information includes: the relative attitude angle of the layout coordinate system of the target star relative to the laser imaging navigation radar measurement coordinate system of the companion star, and the corresponding attitude rotation matrix; The data preprocessing method comprises the following steps: S2.

1. Calculate the rotation matrix of the detailed inspection point relative to the attitude control coordinate system of the active approach satellite based on the installation matrix of the laser imaging navigation radar on the active approach satellite and the installation matrix of the detailed inspection point on the target satellite; R s_td =R s_sc R sc_t R t_td In the formula, R s_td The rotation matrix of the detailed inspection point relative to the attitude control coordinate system of the active approaching satellite, R s_sc is the installation matrix of the laser imaging navigation radar on the active approach satellite, R t_td To check the installation matrix of the target star in detail, R sc_t is the corresponding attitude rotation matrix in the relative attitude information; S2.2, calculating the relative attitude angle of the detailed inspection point relative to the attitude control coordinate system of the active approaching satellite according to the calculated rotation matrix; S2.3, calculate the angular velocity of the target star detailed inspection point; The calculation formula of the angular velocity of the target star detailed inspection point is: oh td =[ω tdx oh tdy oh tdz ] T =(R t_td ) T oh t In the formula, ω t is the target star angular velocity; S3, calculating the relative attitude angle through filtering algorithm; The relative attitude angle is: The angular velocity relationship of the relative attitude angle of the detailed inspection point relative to the service satellite control coordinate system is: Among them, ω sz =[ω szx t szy ω szz ] T ,ω tb =[ω tbx ω tby ω tbz ] are the attitude angular velocities of the active and passive ends of the capture mechanism respectively; θ and ψ are the relative attitude angles of the detailed inspection point to the attitude control coordinate system of the active approaching satellite; are the angular velocities of the relative attitude angles respectively; The angular velocity relationship of the relative attitude angle of the detailed inspection point relative to the service satellite control coordinate system is:

2. The method for determining relative attitude of a target star by local detailed inspection as claimed in claim 1, characterized in that: The relative attitude measurement reference coordinate system includes: a companion satellite layout and attitude control coordinate system, a companion satellite laser imaging navigation radar measurement coordinate system, a target satellite layout coordinate system, and a target satellite detailed inspection point coordinate system.

3. The method for determining relative attitude of a target star by local detailed inspection as claimed in claim 1, characterized in that: The filtering algorithm is an extended Kalman filter or a lossless Kalman filter.

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