Method and device for judging validity of measurement data of intersection imaging sensor

Abstract

The present invention relates to the field of rendezvous and docking navigation technology, and particularly relates to a method and device for judging the validity of measurement data of a rendezvous imaging sensor. Among them, the method is applied to the navigation system of an active spacecraft, and includes: obtaining the installation azimuth and installation position of each rendezvous imaging sensor in the reference coordinate system of the active spacecraft; based on the installation azimuth and installation position, performing coordinate transformation on the measurement data of each rendezvous imaging sensor for the same cooperative target in the current measurement period to obtain the target measurement data of each rendezvous imaging sensor in the reference coordinate system of the active spacecraft; comparing the target relative positions of the rendezvous imaging sensors pairwise to obtain the first judgment result in the current measurement period; based on the first judgment result, judging the validity of the target relative attitude of the rendezvous imaging sensors to obtain the second judgment result in the current measurement period, so as to improve the reliability and safety of the space rendezvous and docking navigation system.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of rendezvous and docking navigation, and particularly to a method and device for judging the validity of measurement data of a rendezvous imaging sensor. Background Art

[0002] As the last approaching stage in the rendezvous and docking process, the translational approach stage is the connection between the rendezvous mission and the docking mission. Its flight process and control accuracy directly determine the success or failure of the rendezvous and docking mission, so it is particularly important.

[0003] In the last translational approach stage, an optical imaging sensor is generally used as the main navigation sensor to obtain the navigation information of the relative position and relative attitude between the active spacecraft and the target spacecraft, complete six-degree-of-freedom control, and realize the rendezvous and docking of these two spacecraft. However, due to the limitations of constraints such as the safe flight distance, docking corridor, and sensor field of view, relying solely on one rendezvous imaging sensor cannot complete the relative measurement of the entire last translational approach stage. Therefore, multiple sets of rendezvous imaging sensors are usually configured on the active spacecraft, and the relative measurement of the last translational approach stage is completed by separately identifying the far-field and near-field cooperative targets.

[0004] However, in the prior art, there is no method for judging the validity of the measurement data of multiple sets of rendezvous imaging sensors, which may affect the reliability and safety of the space rendezvous and docking navigation system.

[0005] Therefore, there is an urgent need for a method for judging the validity of the measurement data of a rendezvous imaging sensor. Summary of the Invention

[0006] In order to solve the problem that the reliability and safety of the space rendezvous and docking navigation system are affected due to the lack of a method for judging the validity of the measurement data of a rendezvous imaging sensor, the embodiments of the present invention provide a method and device for judging the validity of the measurement data of a rendezvous imaging sensor.

[0007] In a first aspect, the embodiments of the present invention provide a method for judging the validity of the measurement data of a rendezvous imaging sensor, which is applied to the navigation system of an active spacecraft. The active spacecraft is provided with at least two rendezvous imaging sensors, and the method includes:

[0008] For each measurement period, the following operations are performed:

[0009] Obtain the installation azimuth and installation position of each of the rendezvous imaging sensors in the reference coordinate system of the active spacecraft;

[0010] Based on the installation orientation and the installation position, perform coordinate transformation on the measurement data of each rendezvous imaging sensor for the same cooperative target in the current measurement cycle, so as to obtain the target measurement data of each rendezvous imaging sensor in the reference coordinate system of the active spacecraft; wherein, the measurement data includes relative position and relative attitude, and the target measurement data includes target relative position and target relative attitude;

[0011] Compare the target relative positions of the rendezvous imaging sensors pairwise to obtain the first judgment result in the current measurement cycle;

[0012] Based on the first judgment result, perform validity judgment on the target relative attitude of the rendezvous imaging sensors to obtain the second judgment result in the current measurement cycle.

[0013] In a second aspect, an embodiment of the present invention further provides a device for judging the validity of measurement data of a rendezvous imaging sensor, which is arranged in the navigation system of an active spacecraft. The active spacecraft is provided with at least two rendezvous imaging sensors. The device includes:

[0014] An acquisition unit, configured to execute for each measurement cycle: acquire the installation orientation and installation position of each rendezvous imaging sensor in the reference coordinate system of the active spacecraft;

[0015] A conversion unit, configured to perform coordinate transformation on the measurement data of each rendezvous imaging sensor for the same cooperative target in the current measurement cycle based on the installation orientation and the installation position, so as to obtain the target measurement data of each rendezvous imaging sensor in the reference coordinate system of the active spacecraft; wherein, the measurement data includes relative position and relative attitude, and the target measurement data includes target relative position and target relative attitude;

[0016] A first judgment unit, configured to compare the target relative positions of the rendezvous imaging sensors pairwise to obtain the first judgment result in the current measurement cycle;

[0017] A second judgment unit, configured to perform validity judgment on the target relative attitude of the rendezvous imaging sensors based on the first judgment result to obtain the second judgment result in the current measurement cycle.

[0018] In a third aspect, an embodiment of the present invention further provides a computing device, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the method described in any embodiment of this specification is implemented.

[0019] Fourthly, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed on a computer, the computer is made to execute the method described in any embodiment of this specification.

[0020] An embodiment of the present invention provides a method and a device for judging the validity of measurement data of a rendezvous imaging sensor, which are applied to the navigation system of an active spacecraft. In each measurement cycle, the installation orientation and installation position of each rendezvous imaging sensor in the reference coordinate system of the active spacecraft are first obtained. Then, based on the installation orientation and installation position, the measurement data of each rendezvous imaging sensor for the same cooperative target in the current measurement cycle are respectively subjected to coordinate transformation to obtain the target measurement data of each rendezvous imaging sensor in the reference coordinate system of the active spacecraft, that is, the target relative position and the target relative attitude. Then, after the measurement data of each rendezvous imaging sensor are converted to the reference coordinate system of the active spacecraft, the target relative positions of the rendezvous imaging sensors can be compared pairwise to obtain the first judgment result of the current cycle. After obtaining the first judgment result, the validity of the target relative attitude of the rendezvous imaging sensor is judged based on the first judgment result to obtain the second judgment result of the current measurement cycle. This solution can perform a system-level validity evaluation on the measurement data provided by each rendezvous imaging sensor through multi-source data fusion, and can improve the reliability and safety of the space rendezvous and docking navigation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 is a flowchart of a method for judging the validity of measurement data of a rendezvous imaging sensor provided by an embodiment of the present invention;

[0023] Figure 2 is a hardware architecture diagram of a computing device provided by an embodiment of the present invention;

[0024] Figure 3 is a structural diagram of a device for judging the validity of measurement data of a rendezvous imaging sensor provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] The following describes the specific implementation manners of the above concepts.

[0027] Please refer to Figure 1 , the embodiments of the present invention provide a method for judging the validity of measurement data of a rendezvous imaging sensor, which is applied to the navigation system of an active spacecraft. The active spacecraft is provided with at least two rendezvous imaging sensors. The method includes:

[0028] Step 100: For each measurement period, execute: obtain the installation azimuth and installation position of each rendezvous imaging sensor in the reference coordinate system of the active spacecraft;

[0029] Step 102: Based on the installation azimuth and installation position, perform coordinate transformation on the measurement data of each rendezvous imaging sensor for the same cooperative target in the current measurement period to obtain the target measurement data of each rendezvous imaging sensor in the reference coordinate system of the active spacecraft; wherein, the measurement data includes relative position and relative attitude, and the target measurement data includes target relative position and target relative attitude;

[0030] Step 104: Compare the target relative positions of the rendezvous imaging sensors pairwise to obtain the first judgment result of the current measurement period;

[0031] Step 106: Based on the first judgment result, judge the validity of the target relative attitude of the rendezvous imaging sensor to obtain the second judgment result of the current measurement period.

[0032] In the embodiments of the present invention, in each measurement cycle, the navigation system of the active spacecraft first obtains the installation azimuth and installation position of each rendezvous imaging sensor in the reference coordinate system of the active spacecraft; then, based on the installation azimuth and installation position, the measurement data of each rendezvous imaging sensor for the same cooperative target in the current measurement cycle is respectively subjected to coordinate transformation to obtain the target measurement data of each rendezvous imaging sensor in the reference coordinate system of the active spacecraft, that is, the target relative position and the target relative attitude; then, after converting the measurement data of each rendezvous imaging sensor to the reference coordinate system of the active spacecraft, the target relative positions of the rendezvous imaging sensors can be compared pairwise to obtain the first judgment result of the current cycle; after obtaining the first judgment result, the effectiveness of the target relative attitude of the rendezvous imaging sensor is judged based on the first judgment result to obtain the second judgment result of the current measurement cycle. This solution can perform system-level effectiveness evaluation on the measurement data provided by each rendezvous imaging sensor through multi-source data fusion, and can improve the reliability and safety of the space rendezvous and docking navigation system.

[0033] Regarding step 100:

[0034] Due to the limitations of constraints such as the safe flight distance, docking corridor, and sensor field of view, a single rendezvous imaging sensor cannot complete the relative measurement of the entire final translation and approach section. Therefore, the active spacecraft is usually equipped with N rendezvous imaging sensors (N≥2), and the installation azimuth and installation position of each rendezvous imaging sensor are known. Since the measurement data of each rendezvous imaging sensor will be converted to the reference coordinate system of the active spacecraft in subsequent step 102, the installation azimuth and installation position of each of the rendezvous imaging sensors in the reference coordinate system of the active spacecraft can be obtained in this step. In this embodiment, the installation azimuth is represented by the direction cosine matrix Cs i and the installation position is represented by Ps i (i = 1 to N), where Cs i is a 3×3 matrix and Ps i is a 3×1 matrix.

[0035] Regarding step 102:

[0036] In some embodiments, step 102 may include:

[0037] For each rendezvous imaging sensor, the following operations are performed:

[0038] Obtain the relative position and relative attitude of the current rendezvous imaging sensor measuring the cooperative target in the current measurement cycle;

[0039] Based on the installation orientation and installation position of the current rendezvous imaging sensor, perform coordinate transformation on the relative position to obtain the target relative position of the current rendezvous imaging sensor in the reference coordinate system of the active spacecraft;

[0040] Based on the installation orientation of the current rendezvous imaging sensor, perform coordinate transformation on the relative attitude to obtain the target relative attitude of the current rendezvous imaging sensor in the reference coordinate system of the active spacecraft.

[0041] In this embodiment, since it is necessary to compare and judge the target measurement data of each rendezvous imaging sensor, it is necessary to transform the relative position and relative attitude obtained by each rendezvous imaging sensor measuring the same cooperative target located on the target spacecraft into the same reference coordinate system, that is, the reference coordinate system of the active spacecraft.

[0042] Specifically, the coordinate transformation of the relative position can be performed through the following formula:

[0043]

[0044] In the formula, [Xmea i ,Ymea i ,Zmea i is the relative position obtained by the i-th rendezvous imaging sensor measuring the cooperative target in the current measurement cycle, [X i ,Y i ,Z i is the target relative position of the i-th rendezvous imaging sensor in the reference coordinate system of the active spacecraft, Ps i is the installation position of the i-th rendezvous imaging sensor, Cs i is the installation orientation of the i-th rendezvous imaging sensor, and i is the number of the rendezvous imaging sensor;

[0045] The coordinate transformation of the relative attitude can be performed through the following formula:

[0046] C i =Cs i T ·Cmea i

[0047] In the formula, Cs i is the installation orientation of the i-th rendezvous imaging sensor, C i is the target relative attitude of the i-th rendezvous imaging sensor in the reference coordinate system of the active spacecraft, and Cmea i is the relative attitude obtained by the i-th rendezvous imaging sensor measuring the cooperative target in the current measurement cycle.

[0048] Regarding step 104:

[0049] In some embodiments, step 104 may include the following steps S1 - S3:

[0050] Step S1: Compare the relative positions of the target of the rendezvous imaging sensor in pairs. Set the two rendezvous imaging sensors in each group that meet the first difference threshold as having valid position data.

[0051] For example, if the active spacecraft is equipped with three rendezvous imaging sensors numbered 1, 2, and 3 respectively, then a total of 3 groups are compared in pairs, namely: 1 and 2 are compared, 1 and 3 are compared, and 2 and 3 are compared. Suppose the comparison between 1 and 2 meets the first difference threshold requirement, then 1 and 2 are set as having valid position data. Next, the comparison between 1 and 3 does not meet the first difference threshold requirement, so no processing is performed. Immediately afterwards, the comparison between 2 and 3 meets the first difference threshold requirement. Since 2 has already been set as having valid position data, only 3 needs to be set as having valid position data. Therefore, the final comparison result is that 1, 2, and 3 all have valid position data.

[0052] Specifically, the comparison method is: when then set the two rendezvous imaging sensors numbered m and n as having valid position data. In the formula, X m and X n are the X - axis values of the rendezvous imaging sensor m and the rendezvous imaging sensor n respectively, Y m and Y n are the Y - axis values of the rendezvous imaging sensor m and the rendezvous imaging sensor n respectively, Z m and Z n are the Z - axis values of the rendezvous imaging sensor m and the rendezvous imaging sensor n respectively, and Poserr1 is the first difference threshold.

[0053] Step S2: If at least one group is valid, use the position data validity result of each rendezvous imaging sensor as the first judgment result for the current measurement cycle.

[0054] If after the pairwise comparison in step S1, at least one group is valid, then the position data validity result of each rendezvous imaging sensor in step S1 can be directly used as the first judgment result for the current measurement cycle. For example, if only the comparison between 1 and 2 meets the first difference threshold requirement, then the first judgment result is that the position data of 1 and 2 are valid, and the position data of 3 is invalid.

[0055] It should be noted that the first difference threshold is determined according to the average position measurement accuracy of the rendezvous imaging sensor. In this embodiment, the first difference threshold is calculated by the following formula:

[0056] Poserr1 = k·W

[0057] Wherein, Poserr1 is the first phase difference threshold, k is the magnification factor, and W is the average position measurement accuracy of the rendezvous imaging sensor.

[0058] Step S3, if there is no valid set, compare the target relative position of each rendezvous imaging sensor in the current measurement period with the target relative position in the historical measurement period to determine the first judgment result in the current measurement period.

[0059] In this embodiment, if there is no valid set after step S1, it is necessary to combine the target relative positions of each rendezvous imaging sensor in the historical measurement period to determine whether it conforms to the data change rule, and determine whether the target relative positions measured by each rendezvous imaging sensor are continuously valid and whether there is a jump in the number. Therefore, for each rendezvous imaging sensor, it is necessary to compare the target relative position in the current measurement period with the target relative position in the historical measurement period. If it is determined that the target relative position of the current rendezvous imaging sensor in the current measurement period and the historical measurement period are continuous data, then the position data of the current rendezvous imaging sensor can be considered valid. Therefore, this embodiment can improve the judgment accuracy of the validity of the position measurement data of each rendezvous imaging sensor.

[0060] In some embodiments, the step in S3 of "comparing the target relative position of each rendezvous imaging sensor in the current measurement period with the target relative position in the historical measurement period to determine the first judgment result in the current measurement period" may include:

[0061] Compare the target relative position of each rendezvous imaging sensor in the current measurement period with the target relative position in the previous measurement period, and set the rendezvous imaging sensor that satisfies the second phase difference threshold as valid position data to obtain the first judgment result in the current measurement period; wherein, the second phase difference threshold is less than the first phase difference threshold.

[0062] For example, if the active spacecraft is provided with three rendezvous imaging sensors numbered 1, 2, and 3 respectively, compare the target relative position of each rendezvous imaging sensor in the current measurement period with the target relative position in the previous measurement period. Assume that the difference between the target relative position of the rendezvous imaging sensor 1 in the current measurement period and the target relative position in the previous measurement period is less than the second phase difference threshold, then set the rendezvous imaging sensor 1 as valid position data, and the comparison results of the rendezvous imaging sensor 2 and the rendezvous imaging sensor 3 do not meet the requirements of the second phase difference threshold, then it is considered that the rendezvous imaging sensor has jumped, and the rendezvous imaging sensor 2 and the rendezvous imaging sensor 3 are set as invalid position data.

[0063] Specifically, the comparison method is: when If so, the rendezvous imaging sensor numbered i is set to have valid position data. Wherein, X i and X ilast are the X-axis values of the rendezvous imaging sensor i in the current measurement period and the previous measurement period respectively, Y i and Y ilast are the Y-axis values of the rendezvous imaging sensor i in the current measurement period and the previous measurement period respectively, Z i and Z ilast are the Z-axis values of the rendezvous imaging sensor i in the current measurement period and the previous measurement period respectively, and Poserr2 is the second phase difference threshold.

[0064] It should be noted that the second phase difference threshold is determined according to the average position measurement accuracy of the rendezvous imaging sensor. Since the flight speed of the active spacecraft in the translational approach section is relatively slow and the actual interval between measurement periods is relatively small, the relative position of the target of the same rendezvous imaging sensor in adjacent two measurement periods does not differ much. Therefore, in this embodiment, the second phase difference threshold is less than the first phase difference threshold.

[0065] Regarding step 106:

[0066] In some embodiments, step 106 may include:

[0067] Set the rendezvous imaging sensor with invalid position data in the first judgment result to have invalid attitude data;

[0068] For each rendezvous imaging sensor with valid position data in the first judgment result, perform the following operations:

[0069] Obtain the absolute attitude in the current measurement period;

[0070] Based on the target relative attitude and absolute attitude of the current rendezvous imaging sensor, determine the relative attitude measurement error of the current rendezvous imaging sensor;

[0071] Based on the relative attitude measurement error, determine each attitude angle;

[0072] When each attitude angle is less than the angle threshold, set the current rendezvous imaging sensor to have valid attitude data; otherwise, set it to have invalid attitude data;

[0073] Until the attitude data validity results of each rendezvous imaging sensor are obtained, obtain the second judgment result in the current measurement period.

[0074] In this embodiment, since the relative position measurement data of the rendezvous imaging sensor is more reliable and less interfered, if the relative position measurement data of a certain rendezvous imaging sensor has been determined to be invalid in step 104, then the relative attitude measurement data must also be invalid.

[0075] For each rendezvous imaging sensor with valid relative position measurement data in the first judgment result, the following processing is performed:

[0076] Obtain the absolute attitude C measured by the star sensor or the earth sensor in the current measurement period sys ;

[0077] Calculate the relative attitude measurement error of the current rendezvous imaging sensor:

[0078] δC i = C sys -1 ·C i

[0079] In the formula, C i is the target relative attitude of the i-th rendezvous imaging sensor in the reference coordinate system of the active spacecraft, C sys is the absolute attitude, and δC i is the relative attitude measurement error.

[0080] Based on the relative attitude measurement error, determine each attitude angle:

[0081] Suppose Then

[0082] In the formula, c11, c12, c13, c21, c22, c23, c31, c32, c33 are each element of the relative attitude measurement error matrix of the current rendezvous imaging sensor, δC i is the relative attitude measurement error, and att1, att2, att3 are the three attitude angles corresponding to the relative attitude measurement error.

[0083] If |att1| < Atterr and |att2| < Atterr and |att3| < Atterr, then the attitude data of the current rendezvous imaging sensor is valid, otherwise the attitude data is set to invalid. Finally, the attitude data validity result of each rendezvous imaging sensor can be obtained, which is the second judgment result of the current measurement period.

[0084] It should be noted that Atterr is the angle threshold, and the angle threshold is determined according to the average angle measurement accuracy of the rendezvous imaging sensor.

[0085] As Figure 2 、 Figure 3 shown, the embodiment of the present invention provides a device for judging the validity of measurement data of a rendezvous imaging sensor. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, as Figure 2As shown in the figure, it is a hardware architecture diagram of a computing device where a device for judging the validity of measurement data of an intersection imaging sensor provided by an embodiment of the present invention is located. In addition to Figure 2 the shown processor, memory, network interface, and non-volatile memory, the computing device where the device in the embodiment is located usually may also include other hardware, such as a forwarding chip responsible for processing packets, etc. Taking software implementation as an example, as Figure 3 shown, as a logically meaningful device, it is formed by the CPU of its corresponding computing device reading the computer program in the non-volatile memory into the memory for operation. A device for judging the validity of measurement data of an intersection imaging sensor provided by this embodiment is set in the navigation system of the active spacecraft. The active spacecraft is provided with at least two intersection imaging sensors. The device includes:

[0086] An acquisition unit 301, configured to execute for each measurement period: acquire the installation orientation and installation position of each intersection imaging sensor in the reference coordinate system of the active spacecraft;

[0087] A conversion unit 302, configured to perform coordinate conversion on the measurement data of each intersection imaging sensor for the same cooperative target in the current measurement period based on the installation orientation and installation position, to obtain the target measurement data of each intersection imaging sensor in the reference coordinate system of the active spacecraft; wherein, the measurement data includes relative position and relative attitude, and the target measurement data includes target relative position and target relative attitude;

[0088] A first judgment unit 303, configured to compare the target relative positions of the intersection imaging sensors pairwise to obtain a first judgment result of the current measurement period;

[0089] A second judgment unit 304, configured to perform validity judgment on the target relative attitude of the intersection imaging sensor based on the first judgment result to obtain a second judgment result of the current measurement period.

[0090] In an embodiment of the present invention, the conversion unit 302 is configured to execute:

[0091] For each intersection imaging sensor, execute:

[0092] Acquire the relative position and relative attitude obtained by the current intersection imaging sensor measuring the cooperative target in the current measurement period;

[0093] Based on the installation orientation and installation position of the current intersection imaging sensor, perform coordinate conversion on the relative position to obtain the target relative position of the current intersection imaging sensor in the reference coordinate system of the active spacecraft;

[0094] Based on the installation orientation of the current rendezvous imaging sensor, perform coordinate transformation on the relative attitude to obtain the target relative attitude of the current rendezvous imaging sensor in the reference coordinate system of the active spacecraft.

[0095] In an embodiment of the present invention, the relative position in the conversion unit 302 performs coordinate transformation through the following formula:

[0096]

[0097] In the formula, [Xmea i , Ymea i , Zmea i is the relative position obtained by the i-th rendezvous imaging sensor measuring the cooperative target in the current measurement period, [X i , Y i , Z i is the target relative position of the i-th rendezvous imaging sensor in the reference coordinate system of the active spacecraft, Ps i is the installation position of the i-th rendezvous imaging sensor, Cs i is the installation orientation of the i-th rendezvous imaging sensor, and i is the number of the rendezvous imaging sensor;

[0098] The relative attitude performs coordinate transformation through the following formula:

[0099]

[0100] In the formula, Cs i is the installation orientation of the i-th rendezvous imaging sensor, C i is the target relative attitude of the i-th rendezvous imaging sensor in the reference coordinate system of the active spacecraft, and Cmea i is the relative attitude obtained by the i-th rendezvous imaging sensor measuring the cooperative target in the current measurement period.

[0101] In an embodiment of the present invention, the first judgment unit 303 is used to execute:

[0102] Compare the target relative positions of the rendezvous imaging sensors in pairs of two, and set the two rendezvous imaging sensors in each group that meet the first difference threshold as having valid position data;

[0103] If at least one group is valid, use the position data validity result of each rendezvous imaging sensor as the first judgment result of the current measurement period;

[0104] If none of the groups is valid, compare the target relative position of each rendezvous imaging sensor in the current measurement period with the target relative position in the historical measurement period to determine the first judgment result of the current measurement period.

[0105] In one embodiment of the present invention, when the first determination unit 303 determines the first determination result of the current measurement period by comparing the target relative position of each rendezvous imaging sensor in the current measurement period with the target relative position in the historical measurement period, it is used for:

[0106] Compare the target relative position of each rendezvous imaging sensor in the current measurement period with the target relative position in the previous measurement period, set the rendezvous imaging sensors that meet the second difference threshold as valid position data, and obtain the first determination result of the current measurement period; wherein, the second difference threshold is less than the first difference threshold.

[0107] In one embodiment of the present invention, the second determination unit 304 is used to execute:

[0108] Set the rendezvous imaging sensors with invalid position data in the first determination result as invalid attitude data;

[0109] For each rendezvous imaging sensor with valid position data in the first determination result, execute:

[0110] Obtain the absolute attitude of the current measurement period;

[0111] Based on the target relative attitude and absolute attitude of the current rendezvous imaging sensor, determine the relative attitude measurement error of the current rendezvous imaging sensor;

[0112] Based on the relative attitude measurement error, determine each attitude angle;

[0113] When each attitude angle is less than the angle threshold, set the current rendezvous imaging sensor as valid attitude data; otherwise, set it as invalid attitude data;

[0114] Until the attitude data validity results of each rendezvous imaging sensor are obtained, obtain the second determination result of the current measurement period.

[0115] In one embodiment of the present invention, the relative attitude measurement error in the second determination unit 304 is calculated by the following formula:

[0116] δC i =C sys -1 ·C i

[0117] In the formula, C i is the target relative attitude of the i-th rendezvous imaging sensor in the reference coordinate system of the active spacecraft, C sys is the absolute attitude, and δC i is the relative attitude measurement error.

[0118] It can be understood that the structure illustrated in the embodiments of the present invention does not constitute a specific limitation on a device for judging the validity of measurement data of a rendezvous imaging sensor. In other embodiments of the present invention, a device for judging the validity of measurement data of a rendezvous imaging sensor may include more or fewer components than those illustrated, or combine certain components, or split certain components, or have different component arrangements. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0119] Regarding the information interaction, execution process, etc. between the various modules within the above-mentioned device, since they are based on the same concept as the method embodiments of the present invention, the specific content can be referred to the description in the method embodiments of the present invention and will not be elaborated here.

[0120] The embodiments of the present invention further provide a computing device, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, it implements a method for judging the validity of measurement data of a rendezvous imaging sensor in any embodiment of the present invention.

[0121] The embodiments of the present invention further provide a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, it causes the processor to execute a method for judging the validity of measurement data of a rendezvous imaging sensor in any embodiment of the present invention.

[0122] Specifically, a system or device equipped with a storage medium can be provided. Software program codes for implementing the functions of any one of the above embodiments are stored on the storage medium, and the computer (or CPU or MPU) of the system or device reads and executes the program codes stored in the storage medium.

[0123] In this case, the program code read from the storage medium itself can implement the functions of any one of the above embodiments. Therefore, the program code and the storage medium storing the program code constitute a part of the present invention.

[0124] Embodiments of the storage medium for providing program codes include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Optionally, the program code can be downloaded from a server computer via a communication network.

[0125] In addition, it should be clear that not only can the actual operations be completed in part or in whole by executing the program code read by the computer, but also by the operating system etc. operating on the computer based on the instructions of the program code, so as to implement the functions of any one of the above embodiments.

[0126] In addition, it can be understood that the program code read from the storage medium is written into the memory provided in the expansion board inserted into the computer or into the memory provided in the expansion module connected to the computer. Subsequently, based on the instructions of the program code, the CPU or the like installed on the expansion board or the expansion module is made to execute part or all of the actual operations, thereby implementing the functions of any one of the above embodiments.

[0127] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0128] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes various media such as ROM, RAM, magnetic disk or optical disc that can store program code.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for judging the validity of measurement data of an intersection imaging sensor, characterized in that, it is applied to the navigation system of an active spacecraft, and at least two intersection imaging sensors are provided on the active spacecraft, including: For each measurement period, the following are all executed: Obtain the installation azimuth and installation position of each of the intersection imaging sensors in the reference coordinate system of the active spacecraft; Based on the installation azimuth and the installation position, perform coordinate transformation on the measurement data of each intersection imaging sensor for the same cooperative target in the current measurement period to obtain the target measurement data of each intersection imaging sensor in the reference coordinate system of the active spacecraft; wherein, the measurement data includes relative position and relative attitude, and the target measurement data includes target relative position and target relative attitude; Compare the target relative positions of the intersection imaging sensors in pairs of two, and set the two intersection imaging sensors in each group that meet the first difference threshold as having valid position data; If at least one group is valid, use the position data validity result of each intersection imaging sensor as the first judgment result for the current measurement period; If no group is valid, compare the target relative position of each intersection imaging sensor in the current measurement period with the target relative position in the historical measurement period to determine the first judgment result for the current measurement period; Set the intersection imaging sensors with invalid position data in the first judgment result as having invalid attitude data; For each intersection imaging sensor with valid position data in the first judgment result, the following are all executed: Obtain the absolute attitude of the current measurement period; Based on the target relative attitude of the current intersection imaging sensor and the absolute attitude, determine the relative attitude measurement error of the current intersection imaging sensor; Based on the relative attitude measurement error, determine each attitude angle; When each attitude angle is less than the angle threshold, set the current intersection imaging sensor as having valid attitude data; otherwise, set it as having invalid attitude data; Until the attitude data validity result of each intersection imaging sensor is obtained, obtain the second judgment result for the current measurement period.

2. The method according to claim 1, characterized in that, The performing coordinate transformation on the measurement data of each intersection imaging sensor for the same cooperative target in the current measurement period based on the installation azimuth and the installation position to obtain the target measurement data of each intersection imaging sensor in the reference coordinate system of the active spacecraft includes: For each of the intersection imaging sensors, the following are all executed: Obtain the relative position and relative attitude obtained by the current intersection imaging sensor when measuring the cooperative target in the current measurement period; Based on the installation azimuth and installation position of the current intersection imaging sensor, perform coordinate transformation on the relative position to obtain the target relative position of the current intersection imaging sensor in the reference coordinate system of the active spacecraft; Based on the installation azimuth of the current intersection imaging sensor, perform coordinate transformation on the relative attitude to obtain the target relative attitude of the current intersection imaging sensor in the reference coordinate system of the active spacecraft.

3. The method according to claim 2, characterized in that, The relative position is subjected to coordinate system transformation through the following formula: In the formula, is the relative position obtained by the th rendezvous imaging sensor measuring the cooperative target in the current measurement cycle, is the relative position of the target of the th rendezvous imaging sensor in the reference coordinate system of the active spacecraft, is the installation position of the th rendezvous imaging sensor, is the installation orientation of the th rendezvous imaging sensor, is the number of the rendezvous imaging sensor; The relative attitude is subjected to coordinate system transformation through the following formula: In the formula, is the installation orientation of the th rendezvous imaging sensor, is the relative attitude of the target of the th rendezvous imaging sensor in the reference coordinate system of the active spacecraft, is the relative attitude obtained by the th rendezvous imaging sensor for measuring the cooperative target in the current measurement cycle.

4. The method according to claim 1, wherein, the comparison of the target relative position of each rendezvous imaging sensor in the current measurement period with the target relative position in the historical measurement period to determine the first judgment result in the current measurement period includes: comparing the target relative position of each rendezvous imaging sensor in the current measurement period with the target relative position in the previous measurement period, setting the rendezvous imaging sensors that meet the second difference threshold as valid position data, and obtaining the first judgment result in the current measurement period; wherein, the second difference threshold is less than the first difference threshold.

5. The method according to claim 1, wherein, the relative attitude measurement error is calculated through the following formula: In the formula, is the relative attitude of the target with respect to the th intersection imaging sensor in the reference coordinate system of the active spacecraft, is the absolute attitude, is the relative attitude measurement error.

6. A device for judging the validity of measurement data of a rendezvous imaging sensor, which is used to implement the method according to any one of claims 1-5, wherein, it is arranged in the navigation system of the active spacecraft, and at least two rendezvous imaging sensors are arranged on the active spacecraft, including: an acquisition unit, configured to execute for each measurement period: acquire the installation orientation and installation position of each of the rendezvous imaging sensors in the reference coordinate system of the active spacecraft; a conversion unit, configured to perform coordinate system transformation on the measurement data of each rendezvous imaging sensor for the same cooperative target in the current measurement period based on the installation orientation and the installation position, so as to obtain the target measurement data of each rendezvous imaging sensor in the reference coordinate system of the active spacecraft; wherein, the measurement data includes relative position and relative attitude, and the target measurement data includes target relative position and target relative attitude; a first judgment unit, configured to compare the target relative positions of the rendezvous imaging sensors pairwise to obtain the first judgment result in the current measurement period; a second judgment unit, configured to perform validity judgment on the target relative attitude of the rendezvous imaging sensors based on the first judgment result to obtain the second judgment result in the current measurement period.

7. A computing device, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method according to any one of claims 1-5 is implemented.

8. A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed in a computer, the computer is made to execute the method according to any one of claims 1-5.

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