A method, device and storage medium for measuring the attitude of a spacecraft

Abstract

The present invention relates to a method and device for measuring the attitude of a spacecraft, the method comprising: measuring infrared radiation data of the outer space from multiple directions based on the detection surface of the equipment to obtain multiple groups of infrared radiation data of the outer space; fusing the multiple groups of infrared radiation data of the outer space to obtain a complete infrared image of the outer space field of view; extracting infrared radiation data of the earth's boundary based on the complete infrared image; and obtaining the attitude of the spacecraft based on the infrared radiation data of the earth's boundary. The present invention also provides a device for measuring the attitude of a spacecraft. The method and device of the present invention can improve the accuracy of the attitude measurement of the spacecraft and adapt to the spacecrafts at different orbital altitudes.

Description

Technical Field

[0001] The present invention belongs to the field of aerospace measurement technology, and in particular relates to a method, device and storage medium for measuring the attitude of a spacecraft. Background Art

[0002] Infrared earth sensors can be used to measure the pitch and roll attitude angle signals of spacecraft relative to the local vertical line of the earth, capture the earth by spacecraft in the initial state, and control the attitude of spacecraft during steady-state operation. Currently used infrared earth sensors include array infrared earth sensors, conical scanning infrared earth sensors, and swing scanning infrared earth sensors.

[0003] However, in the prior art, the measurement accuracy of the attitude angle is not high. How to improve the measurement accuracy of the attitude angle is a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of the above deficiencies in the prior art, an object of the present invention is to provide a method and device for measuring the attitude of a spacecraft, thereby improving the measurement accuracy of the attitude angle.

[0005] A first aspect of the present invention provides a method for measuring the attitude of a spacecraft, comprising:

[0006] Based on the device detection surface, the infrared radiation data of the universe is measured from N directions to obtain N sets of infrared radiation data of the universe;

[0007] Performing data fusion on the N groups of cosmic space infrared radiation data to obtain a complete infrared image of the cosmic space field of view;

[0008] Extracting infrared radiation data of the earth's boundary according to the complete infrared image;

[0009] Obtaining the attitude of the spacecraft according to the infrared radiation data of the earth's boundary;

[0010] Wherein, N represents the number of directions, which is an integer greater than or equal to 4, and the N directions based on the detection surface of the device point to different directions of the universe respectively;

[0011] The field of view of the detection surface of the device points towards the earth.

[0012] Furthermore, when N is 4, the N directions include:

[0013] a first direction, a second direction, a third direction, and a fourth direction;

[0014] The projection angles of the first direction, the second direction, the third direction and the fourth direction on the detection surface of the device are 90 degrees respectively.

[0015] Furthermore, the complete infrared image includes an infrared image of the earth.

[0016] Furthermore, extracting the infrared radiation data of the earth boundary according to the complete infrared image includes:

[0017] The detection surface points to the earth's boundary to obtain the earth's infrared radiation data and space infrared radiation data;

[0018] Among them, the infrared radiation of the earth is at a high level, the infrared radiation of space is at a low level, and the boundary point between the earth and space is where the infrared radiation data changes from low to high.

[0019] Further, obtaining the spacecraft attitude according to the earth boundary infrared radiation data includes:

[0020] According to the complete infrared radiation field of view of the detection surface in the infrared radiation data of the earth boundary and the position of the earth and space boundary point from low to high, N directions of earth and space crossing points are obtained;

[0021] The attitude of the spacecraft is obtained based on the crossing point data in N directions of the linear array infrared earth sensor.

[0022] Furthermore, according to the complete infrared radiation field of the detection surface in the infrared radiation data of the earth boundary, and the position of the earth and space boundary point from low to high, the earth and space crossing points in N directions are obtained, including:

[0023] (X n,i , Y n,i ) is the coordinate of the ith pixel in the nth direction, (X n,i+1 , Y n,i+1 ) is the coordinate of the i+1th pixel in the nth direction, (X n,i-1 , Y n,i-1 ) is the coordinate of the pixel before the ith pixel, (X n,i+2 , Y n,i+2 ) is the coordinate of the pixel after the i+1th pixel, i is the pixel number, n is the number of the N directions, and the value is an integer from 1 to N;

[0024] And among the differences between the ordinates of all two adjacent pixels in the nth direction, the difference Y between the ordinates of the i-th pixel and the i+1-th pixel is n,i+1 -Y n,i is the largest;

[0025] The coordinates of the points passing through the earth and space in the N directions are (X n,s , Y n,s ), X n,s is the horizontal coordinate of the point where the earth and space pass through in the nth direction, Y n,sis the ordinate of the point where the earth and space cross in the nth direction, and s indicates that the coordinate is the coordinate of the crossing point;

[0026] Among them, (X n,s , Y n,s )satisfy:

[0027]

[0028] Among them, K n is the slope in the nth direction, K n Determined by the following formula:

[0029]

[0030] Further, obtaining the attitude of the spacecraft according to the crossing point data in N directions of the linear array infrared earth sensor includes:

[0031] When N is equal to 4, the coordinates of the Earth and space crossing points in the four directions are (X 1,s , Y 1,s ), (X 2,s , Y 2,s ), (X 3,s , Y 3,s ) and (X 4,s , Y 4,s );

[0032] The pitch angle P and roll angle R of the spacecraft's attitude are determined by the following formulas:

[0033]

[0034] Among them, X 1,0 , X 2,0 , X 3,0 and X 4,0 The theoretical horizontal coordinates of the earth and space crossing points in four directions when the spacecraft is at zero attitude;

[0035] FOV is the spatial field of view designed for a detector element.

[0036] A second aspect of the present invention provides a device for implementing a method for measuring the attitude of a spacecraft, comprising:

[0037] The infrared radiation acquisition module is configured to measure infrared radiation data of the universe from N directions based on the detection surface of the device to obtain N groups of infrared radiation data of the universe; perform data fusion on the N groups of infrared radiation data of the universe to obtain a complete infrared image of the universe field of view; and extract infrared radiation data of the earth boundary based on the complete infrared image;

[0038] An attitude calculation module is configured to obtain the attitude of the spacecraft according to the infrared radiation data of the earth boundary;

[0039] Here, N represents the number of directions, which is an integer greater than or equal to 4, and the N directions point to different directions of the universe respectively.

[0040] The third aspect of the present invention provides a device for implementing a method for measuring the attitude of a spacecraft, comprising: a memory and a processor:

[0041] A memory for storing a computer program; a processor for reading the computer program in the memory and performing the following operations:

[0042] Based on the detection surface of the equipment, measure the infrared radiation data of the universe from N directions to obtain N sets of infrared radiation data of the universe;

[0043] Performing data fusion on the N groups of cosmic space infrared radiation data to obtain a complete infrared image of the cosmic space field of view;

[0044] Extracting infrared radiation data of the earth's boundary according to the complete infrared image;

[0045] Obtaining the attitude of the spacecraft according to the infrared radiation data of the earth's boundary;

[0046] Wherein, N represents the number of directions, which is an integer greater than or equal to 4, and the N directions point to different directions of the universe respectively;

[0047] The field of view of the detection surface of the device points towards the earth.

[0048] According to a fourth aspect of the present invention, a processor-readable storage medium is provided, wherein the processor-readable storage medium stores a computer program, and when the processor executes the computer program, any of the above-mentioned spacecraft attitude measurement methods is implemented.

[0049] The beneficial effects of the present invention are as follows:

[0050] The method and device of the present invention realizes static imaging of the earth space crossing point and can adapt to different spacecraft orbital altitudes. In the present invention, the attitude angles in multiple directions are measured, and then the attitude angle of the aircraft is jointly solved, which improves the measurement accuracy of the attitude angle of the spacecraft and provides technical conditions for the steady-state operation of the spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings are only used to illustrate specific embodiments and are not considered to limit the present invention. In the entire drawings, the same reference symbols represent the same components. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0052] Figure 1 This is a flow chart of a method for measuring the attitude of a spacecraft according to an embodiment of the present invention;

[0053] Figure 2 A flow chart of a method for measuring a crossing point and a posture according to an embodiment of the present invention;

[0054] Figure 3 Schematic diagram of the subdivision algorithm of the detector photosensitive element output signal according to an embodiment of the present invention;

[0055] Figure 4 A schematic diagram of a spacecraft attitude measurement device according to an embodiment of the present invention;

[0056] Figure 5 Schematic diagram of another spacecraft attitude measurement device according to an embodiment of the present invention.

[0057] Reference numerals:

[0058] S101, step 101; S102, step 102; S103, step 103; S104, step 104; S201, step 201; S202, step 202; 400: measuring device; 401, infrared radiation acquisition module; 402, posture calculation module; 501, processor; 502, memory; 503, user interface; 504, bus interface. DETAILED DESCRIPTION

[0059] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work should fall within the scope of protection of the present invention.

[0060] Furthermore, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concepts disclosed in the present invention.

[0061] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. The terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of methods and systems consistent with some aspects of the present invention as detailed in the appended claims.

[0063] In the present invention, a linear array infrared detector refers to a device in which detection elements are arranged in a linear array direction and can convert received infrared radiation into a physical quantity (usually electrical quantity) that is easy to measure;

[0064] Infrared earth sensors are instruments that measure the infrared thermal radiation of the earth;

[0065] The attitude angle refers to the pitch and roll angle of a spacecraft relative to the local vertical of the earth when it is in orbit.

[0066] Infrared earth sensors are generally composed of optical systems, bandpass filters, thermal detectors and information processing circuits. Conical scanning infrared earth sensors are generally used for attitude measurement of medium and low orbit spacecraft; swing scanning infrared earth sensors and array infrared earth sensors are mostly used for attitude measurement of high orbit spacecraft. Due to the requirements of the orbits used, the optical systems of array infrared earth sensors, conical scanning infrared earth sensors and swing scanning infrared earth sensors are generally large in size. Scanning infrared earth sensors are also equipped with rotating parts, so they are large in size, high in power consumption and heavy in weight. According to the on-orbit use, the random noise equivalent angle index of the above products is generally greater than or equal to 0.05°.

[0067] However, in the prior art, the device is large in size, high in power consumption, heavy in weight, and the measurement accuracy of the attitude angle is low, which is a technical problem that needs to be solved urgently.

[0068] In view of the shortcomings of the prior art, the present invention proposes a method, device and storage medium for measuring the attitude of a spacecraft.

[0069] In a first aspect, the present invention provides a method for measuring the attitude of a spacecraft, specifically, as follows: Figure 1 As shown, the method includes steps S101 to S104:

[0070] S101, measuring infrared radiation data of the universe from N directions based on the detection surface of the device, and obtaining N groups of infrared radiation data of the universe;

[0071] S102, fusing N groups of cosmic space infrared radiation data to obtain a complete infrared image of the cosmic space field of view;

[0072] S103, extracting infrared radiation data of the earth boundary according to the complete infrared image;

[0073] S104, obtaining the attitude of the spacecraft according to the infrared radiation data of the earth's boundary;

[0074] Wherein, N represents the number of directions, which is an integer greater than or equal to 4, and the N directions based on the detection surface of the device point to different directions of the universe respectively;

[0075] The field of view of the detection surface of the device points towards the earth.

[0076] In this embodiment, the field of view of the device detection surface points to the direction of the earth. Preferably, the vertical line of the device detection surface points to the center of the earth.

[0077] As a preferred example, N is equal to 4, that is, the N directions include: a first direction, a second direction, a third direction and a fourth direction; wherein, these four directions satisfy: the projection angles of the first direction, the second direction, the third direction and the fourth direction on the detection surface of the device are 90 degrees respectively.

[0078] Optionally, the complete infrared image includes an infrared image of the earth.

[0079] Optionally, in the above S102, performing data fusion on the N groups of cosmic space infrared radiation data to obtain a complete infrared image of the cosmic space field of view includes:

[0080] The amplitude of the infrared radiation signal from space and the earth obtained by each pixel of the detector is arranged and processed in pixel order.

[0081] Optionally, the N directions point to different directions of the universe, which means that the N directions all point to the universe, but the N directions point to different directions, wherein the N directions are part of all directions of the universe.

[0082] Optionally, in the above S103, extracting the infrared radiation data of the earth boundary according to the complete infrared image includes the following two steps A and B:

[0083] Step A: The detection surface points to the earth's boundary to obtain the earth's infrared radiation data and space infrared radiation data. The earth's boundary refers to the point where the detector's detection direction crosses the space and the earth.

[0084] Step B: The infrared radiation of the earth is high, the infrared radiation of space is low, and the boundary point between the earth and space is at the position where the infrared radiation data changes from low to high. After determining the infrared radiation data of space and earth corresponding to each pixel of the detector, the crossing point of space and earth on the detection surface can be calculated.

[0085] Optionally, in the above S104, the spacecraft attitude is obtained according to the infrared radiation data of the earth boundary, such as Figure 2 As shown, it may specifically include S201 and S202:

[0086] S201: Obtain N directions of earth and space crossing points according to the complete infrared radiation field of view of the detection surface and the position of the earth and space boundary points from low to high in the earth boundary infrared radiation data;

[0087] In this step, by detecting the complete infrared radiation field of the surface and the position of the earth and space boundary points from low to high, the preset algorithm can be used to obtain N directions of earth and space crossing points. For example, when N is equal to 4, by detecting the complete infrared radiation field of the surface and the position of the earth and space boundary points from low to high, the preset algorithm can be used to obtain 4 directions of earth and space crossing angles.

[0088] As an optional example, the preset algorithm may be as follows:

[0089] The 16 photosensitive elements of the infrared detector are used to obtain space / earth signals. The analog signal is processed into a digital signal by the circuit. The signal amplitude diagram is shown in Figure 3 As shown. Each pixel X corresponds to the signal amplitude Y, and the pixel X i The corresponding signal amplitude is Y i , the signal amplitude corresponding to pixel Xs is Ys, and so on. After considering the direction n, the corresponding expression is: (X n,i , Y n,i ) is the coordinate of the ith pixel in the nth direction, (X n,i+1 , Y n,i+1) is the coordinate of the i+1th pixel in the nth direction, (X n,i-1 , Y n,i-1 ) is the coordinate of the pixel before the ith pixel, (X n,i+2 , Y n,i+2 ) is the coordinate of the pixel after the i+1th pixel, i is the pixel number, n is the number of the N directions, and the value is an integer from 1 to N. This expression can also be understood as:

[0090] Y n,i is pixel X n,i The signal amplitude in direction n;

[0091] Y n,i+1 is pixel X n,i+1 The signal amplitude in direction n;

[0092] Y n,i-1 is pixel X n,i-1 The signal amplitude in direction n

[0093] Y n,i+2 is pixel X n,i+2 The signal amplitude in direction n.

[0094] Where i is the pixel number, n is the number of N directions, and its value is an integer from 1 to N;

[0095] Taking a detector with 16 photosensors as an example, i is the pixel number, which is an integer from 1 to 16.

[0096] Taking N equal to 4 as an example, the value of n is an integer from 1 to 4, representing the first direction, the second direction, the third direction and the fourth direction respectively, and the projection angles of the first direction, the second direction, the third direction and the fourth direction on the detection surface of the device are 90 degrees respectively.

[0097] For the earth and space crossing point s, if the crossing point s is located between the i-th pixel and the i+1-th pixel, the i-th pixel and the i+1-th pixel here meet the following conditions: among the differences in the ordinates of all two adjacent pixels in the n-th direction, the difference Y between the ordinates of the i-th pixel and the i+1-th pixel is n,i+1 -Y n,i That is to say, for all pixels, the difference of signal amplitude is solved between every two adjacent pixels, and the difference of signal amplitude between every two adjacent photosensitive elements is compared. The space / earth crossing point must fall between the two pixels with the largest difference. Figure 3 As shown, X n,s In X n,i and X n,i+1 between.

[0098] The coordinates of the point where the earth and space pass through in the nth direction are (Xn,s , Y n,s ), X n,s is the horizontal coordinate of the point where the earth and space pass through in the nth direction, Y n,s is the ordinate of the point where the earth and space cross in the nth direction, and s indicates that the coordinate is the coordinate of the crossing point;

[0099] Among them, (X n,s , Y n,s )satisfy:

[0100]

[0101] Among them, K n is the slope in the nth direction, K n Determined by the following formula:

[0102]

[0103] The solution process is as follows:

[0104] like Figure 3 As shown, pixel X n,i and X n,i+1 The coordinates of the corresponding curve point are (X n,i , Y n,i ) and (X n,i+1 , Y n,i+1 ), the equation of the straight line L1 is established through two coordinate points as follows:

[0105] L1:

[0106] The slope K of L1 can be obtained n for:

[0107]

[0108] Among them, X n,i+1 -X n,i =1, equation L1 is simplified to:

[0109] L1:

[0110] Response, slope K n Simplified to:

[0111] K n =Y n,i+1 -Y n,i ;

[0112] Take X n,i The adjacent previous pixel and X n,i+1 The next adjacent pixel, such as Figure 3 As shown, the corresponding coordinates are (X n,i-1 , Yn,i-1 ) and (X n,i+2 , Y n,i+2 ), set the straight line L2 to be parallel to the X axis, and the intercept on the Y axis is Y n,i+2 and Y n,i-1 The mean of the straight line L2 equation can be established as follows:

[0113] L2:

[0114] The coordinates of the intersection of the two lines (X n,s , Y n,s ):

[0115]

[0116] X n,s That is, the point where space and the earth cross in the nth direction, Y n,s is the signal amplitude of the crossing point in the nth direction.

[0117] S202: Obtaining the attitude of the spacecraft according to the crossing point data in N directions of the linear array infrared earth sensor.

[0118] When N is equal to 4, the coordinates of the Earth and space crossing points in the four directions are (X 1,s , Y 1,s ), (X 2,s , Y 2,s ), (X 3,s , Y 3,s ) and (X 4,s , Y 4,s ), where X 1,s , X 2,s , X 3,s and X 4,s The horizontal coordinates of the earth and space crossing points in four directions, Y 1,s , Y 2,s , Y 3,s and Y 4,s They are the vertical coordinates of the earth and space crossing points in four directions.

[0119] The pitch angle P and roll angle R of the spacecraft's attitude are determined by the following formulas:

[0120]

[0121] Among them, X 1,0 , X 2,0 , X 3,0 and X 4,0 The theoretical horizontal coordinates of the earth and space crossing points in four directions when the spacecraft is at zero attitude;

[0122] FOV is the spatial field of view designed for a detector element.

[0123] The method of the present invention realizes static imaging of the earth-space crossing point and can adapt to different spacecraft orbital altitudes. In the present invention, the attitude angles in N directions are measured to obtain N groups of space infrared radiation data; the N groups of space infrared radiation data are fused to obtain a complete infrared image of the space field of view; then the coordinates of the earth and space crossing points in each direction are solved respectively, and then the attitude angle of the aircraft is solved by combining the data of the crossing points in N directions, thereby improving the measurement accuracy of the spacecraft attitude angle and providing technical conditions for the steady-state operation of the spacecraft.

[0124] In the second aspect, based on the same inventive concept, another specific embodiment of the present invention discloses a spacecraft attitude measurement device 400, such as Figure 4 As shown, including:

[0125] The infrared radiation acquisition module 401 is configured to measure infrared radiation data of the universe from N directions based on the detection surface of the device to obtain N groups of infrared radiation data of the universe; perform data fusion on the N groups of infrared radiation data of the universe to obtain a complete infrared image of the universe field of view; and extract infrared radiation data of the earth boundary based on the complete infrared image;

[0126] The attitude calculation module 402 is configured to obtain the attitude of the spacecraft according to the infrared radiation data of the earth boundary;

[0127] Wherein, N represents the number of directions, which is an integer greater than or equal to 4, and the N directions based on the detection surface of the device point to different directions of the universe respectively.

[0128] Optional. When N is 4, the N directions include:

[0129] a first direction, a second direction, a third direction, and a fourth direction;

[0130] The projection angles of the first direction, the second direction, the third direction and the fourth direction on the detection surface of the device are 90 degrees respectively.

[0131] Optionally, the complete infrared image includes an infrared image of the earth.

[0132] As an optional example, the infrared radiation collection module 401 is further configured to extract infrared radiation data of the earth boundary according to the complete infrared image, including:

[0133] The detection surface points to the earth's boundary to obtain the earth's infrared radiation data and space infrared radiation data;

[0134] Among them, the infrared radiation of the earth is at a high level, the infrared radiation of space is at a low level, and the boundary point between the earth and space is where the infrared data changes from low to high.

[0135] As an optional example, the attitude calculation module 402 is further configured to obtain the attitude of the spacecraft according to the infrared radiation data of the earth boundary, including:

[0136] According to the complete infrared radiation field of view of the detection surface in the infrared radiation data of the earth boundary and the position of the earth and space boundary point from low to high, N directions of earth and space crossing points are obtained;

[0137] The attitude of the spacecraft is obtained based on the crossing point data in N directions of the linear array infrared earth sensor.

[0138] Optionally, according to the complete infrared radiation field of view of the detection surface in the infrared radiation data of the earth boundary and the position of the earth and space boundary point from low to high, the earth and space crossing points in N directions are obtained, including:

[0139] (X n,i , Y n,i ) is the coordinate of the ith pixel in the nth direction, (X n,i+1 , Y n,i+1 ) is the coordinate of the i+1th pixel in the nth direction, (X n,i-1 , Y n,i-1 ) is the coordinate of the pixel before the ith pixel, (X n,i+2 , Y n,i+2 ) is the coordinate of the pixel after the i+1th pixel, i is the pixel number, n is the number of the N directions, and the value is an integer from 1 to N;

[0140] And among the differences between the ordinates of all two adjacent pixels in the nth direction, the difference Y between the ordinates of the i-th pixel and the i+1-th pixel is n,i+1 -Y n,i is the largest;

[0141] The coordinates of the point where the earth and space pass through in the nth direction are (X n,s , Y n,s ), X n,s is the horizontal coordinate of the point where the earth and space pass through in the nth direction, Y n,s is the ordinate of the point where the earth and space cross in the nth direction, and s indicates that the coordinate is the coordinate of the crossing point;

[0142] Among them, (X n,s , Y n,s )satisfy:

[0143]

[0144] Among them, Kn is the slope in the nth direction, K n Determined by the following formula:

[0145] K n =Y n,i+1 -Y n,i .

[0146] Optionally, obtaining the attitude of the spacecraft according to the crossing point data in N directions of the linear array infrared earth sensor includes:

[0147] When N is equal to 4, the coordinates of the Earth and space crossing points in the four directions are (X 1,s , Y 1,s ), (X 2,s , Y 2,s ), (X 3,s , Y 3,s ) and (X 4,s , Y 4,s ), where X 1,s , X 2,s , X 3,s and X 4,s The horizontal coordinates of the earth and space crossing points in four directions, Y 1,s , Y 2,s , Y 3,s and Y 4,s They are the vertical coordinates of the earth and space crossing points in four directions.

[0148] The pitch angle P and roll angle R of the spacecraft's attitude are determined by the following formulas:

[0149]

[0150] Among them, X 1,0 , X 2,0 , X 3,0 and X 4,0 The theoretical horizontal coordinates of the earth and space crossing points in four directions when the spacecraft is at zero attitude;

[0151] FOV is the spatial field of view designed for a detector element.

[0152] It should be noted that the infrared radiation collection module 401 in the embodiment of the present device can realize the functions of S101, S102 and S103 in the above method embodiment, solve the same technical problems, and achieve the same technical effects, and the similarities will not be repeated here.

[0153] It should be noted that the posture calculation module 402 in the embodiment of the present device can implement the function S104 in the above method embodiment, solve the same technical problem, and achieve the same technical effect, and the similarities will not be repeated.

[0154] It should be noted that the device embodiment and the method embodiment solve the same technical problems and achieve the same technical effects, and the similarities will not be repeated here.

[0155] The device described in the present invention realizes static imaging of the earth-space crossing point and can adapt to different spacecraft orbital altitudes. In the present invention, the attitude angles in N directions are measured to obtain N groups of space infrared radiation data; the N groups of space infrared radiation data are fused to obtain a complete infrared image of the space field of view; then the coordinates of the earth and space crossing points in each direction are solved respectively, and then the attitude angle of the aircraft is solved by combining the data of the crossing points in N directions, thereby improving the measurement accuracy of the spacecraft attitude angle and providing technical conditions for the steady-state operation of the spacecraft.

[0156] In the third aspect, based on the same inventive concept, the present invention proposes another spacecraft attitude measurement device, such as Figure 5 As shown, it includes: a memory 502 and one or more processors 501.

[0157] One or more application programs are stored in the memory 502 , and the one or more application programs are suitable for being executed by the one or more processors 501 to implement the spacecraft attitude measurement method described in the first aspect.

[0158] like Figure 5 As shown, the processor 501 and the memory 502 are connected, such as via a bus 504 .

[0159] like Figure 5 As shown, the spacecraft attitude measurement device of this embodiment may further include a user interface 503 for interaction and communication with the outside.

[0160] Processor 501 may be a CPU, a general-purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 501 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of FPGA and a microprocessor, etc.

[0161] The bus 504 may include a path to transmit information between the above components. The bus 504 may be a PCI bus or a CAN bus, etc. The bus 504 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0162] The memory 502 may be a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, or an EEPROM, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0163] When the processor 501 executes one or more application programs stored in the memory 502, the following is achieved:

[0164] Based on the device detection surface, the infrared radiation data of the universe is measured from N directions to obtain N sets of infrared radiation data of the universe;

[0165] Performing data fusion on the N groups of cosmic space infrared radiation data to obtain a complete infrared image of the cosmic space field of view;

[0166] Extracting infrared radiation data of the earth's boundary according to the complete infrared image;

[0167] Obtaining the attitude of the spacecraft according to the infrared radiation data of the earth's boundary;

[0168] Wherein, N represents the number of directions, which is an integer greater than or equal to 4, and the N directions based on the detection surface of the device point to different directions of the universe respectively;

[0169] The field of view of the detection surface of the device points towards the earth.

[0170] Optionally, when N is 4, the N directions include:

[0171] a first direction, a second direction, a third direction, and a fourth direction;

[0172] The projection angles of the first direction, the second direction, the third direction and the fourth direction on the detection surface of the device are 90 degrees respectively.

[0173] Optionally, the complete infrared image includes an infrared image of the earth.

[0174] Optionally, when the processor 501 executes one or more application programs stored in the memory 502, the following is implemented:

[0175] The detection surface points to the earth's boundary to obtain the earth's infrared radiation data and space infrared radiation data;

[0176] Among them, the infrared radiation of the earth is at a high level, the infrared radiation of space is at a low level, and the boundary point between the earth and space is where the infrared data changes from low to high.

[0177] Optionally, when the processor 501 executes one or more application programs stored in the memory 502, the following is implemented:

[0178] According to the complete infrared radiation field of view of the detection surface in the infrared radiation data of the earth boundary and the position of the earth and space boundary point from low to high, N directions of earth and space crossing points are obtained;

[0179] The attitude of the spacecraft is obtained based on the crossing point data in N directions of the linear array infrared earth sensor.

[0180] Optionally, according to the complete infrared radiation field of view of the detection surface in the infrared radiation data of the earth boundary and the position of the earth and space boundary point from low to high, the earth and space crossing points in N directions are obtained, including:

[0181] (X n,i , Y n,i ) is the coordinate of the ith pixel in the nth direction, (X n,i+1 , Y n,i+1 ) is the coordinate of the i+1th pixel in the nth direction, (X n,i-1 , Y n,i-1 ) is the coordinate of the pixel before the ith pixel, (X n,i+2 , Y n,i+2 ) is the coordinate of the pixel after the i+1th pixel, i is the pixel number, n is the number of the N directions, and the value is an integer from 1 to N;

[0182] And among the differences between the ordinates of all two adjacent pixels in the nth direction, the difference Y between the ordinates of the i-th pixel and the i+1-th pixel is n,i+1 -Y n,i is the largest;

[0183] The coordinates of the point where the earth and space pass through in the nth direction are (X n,s , Y n,s ), X n,s is the horizontal coordinate of the point where the earth and space pass through in the nth direction, Y n,s is the ordinate of the point where the earth and space cross in the nth direction, and s indicates that the coordinate is the coordinate of the crossing point;

[0184] Among them, (X n,s , Y n,s )satisfy:

[0185]

[0186] Among them, K n is the slope in the nth direction, K n Determined by the following formula:

[0187] K n =Y n,i+1 -Y n,i .

[0188] Optionally, obtaining the attitude of the spacecraft according to the crossing point data in N directions of the linear array infrared earth sensor includes:

[0189] When N is equal to 4, the coordinates of the Earth and space crossing points in the four directions are (X 1,s , Y 1,s ), (X 2,s , Y 2,s ), (X 3,s , Y 3,s ) and (X 4,s , Y 4,s ), where X 1,s , X 2,s , X 3,s and X 4,s The horizontal coordinates of the earth and space crossing points in four directions, Y 1,s , Y 2,s , Y 3,s and Y 4,s They are the vertical coordinates of the earth and space crossing points in four directions.

[0190] The pitch angle P and roll angle R of the spacecraft's attitude are determined by the following formulas:

[0191]

[0192] Among them, X 1,0 , X 2,0 , X 3,0 and X 4,0 The theoretical horizontal coordinates of the earth and space crossing points in four directions when the spacecraft is at zero attitude;

[0193] FOV is the spatial field of view designed for a detector element.

[0194] It should be noted that the device embodiment and the method embodiment solve the same technical problems and achieve the same technical effects, and the similarities will not be repeated here.

[0195] The device described in the present invention realizes static imaging of the earth-space crossing point and can adapt to different spacecraft orbital altitudes. In the present invention, the attitude angles in N directions are measured to obtain N groups of space infrared radiation data; the N groups of space infrared radiation data are fused to obtain a complete infrared image of the space field of view; then the coordinates of the earth and space crossing points in each direction are solved respectively, and then the attitude angle of the aircraft is solved by combining the data of the crossing points in N directions, thereby improving the measurement accuracy of the spacecraft attitude angle and providing technical conditions for the steady-state operation of the spacecraft.

[0196] In a fourth aspect, the present invention proposes a processor-readable storage medium having a computer program stored thereon, wherein the computer program can be loaded and executed by a processor to implement the spacecraft attitude measurement method described in the first aspect.

[0197] The applicant of the present invention has made a detailed explanation and description of the implementation examples of the present invention in conjunction with the drawings in the specification. However, those skilled in the art should understand that the above implementation examples are only preferred implementation schemes of the present invention, and the detailed description is only to help readers better understand the spirit of the present invention, but not to limit the scope of protection of the present invention. On the contrary, any improvements or modifications based on the inventive spirit of the present invention should fall within the scope of protection of the present invention.

[0198] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the above embodiments, or replace some of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. Any changes or replacements that can be easily thought of by those skilled in the art within the technical scope disclosed in the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for measuring the attitude of a spacecraft, characterized in that: include: Based on the device detection surface, the infrared radiation data of the universe is measured from N directions to obtain N sets of infrared radiation data of the universe; Performing data fusion on the N groups of cosmic space infrared radiation data to obtain a complete infrared image of the cosmic space field of view; Extracting infrared radiation data of the earth's boundary according to the complete infrared image; Obtaining the attitude of the spacecraft according to the infrared radiation data of the earth's boundary; Wherein, N represents the number of directions, which is an integer greater than or equal to 4, and the N directions based on the detection surface of the device point to different directions of the universe respectively; the field of view of the detection surface of the device points to the direction of the earth; The obtaining of the spacecraft attitude according to the earth boundary infrared radiation data comprises: According to the complete infrared radiation field of view of the detection surface in the infrared radiation data of the earth boundary and the position of the earth and space boundary point from low to high, N directions of earth and space crossing points are obtained; The attitude of the spacecraft is obtained based on the crossing point data in N directions of the linear array infrared earth sensor; The method of obtaining N directions of earth and space crossing points according to the complete infrared radiation field of view of the detection surface and the position of the earth and space boundary points from low to high in the earth boundary infrared radiation data includes: (X n,i , Y n,i ) is the coordinate of the ith pixel in the nth direction, (X n,i+1 , Y n,i+1 ) is the coordinate of the i+1th pixel in the nth direction, (X n,i-1 , Y n,i-1 ) is the coordinate of the pixel before the ith pixel, (X n,i+2 , Y n,i+2 ) is the coordinate of the pixel after the i+1th pixel, i is the pixel number, n is the number of the N directions, and the value is an integer from 1 to N; And among the differences between the ordinates of all two adjacent pixels in the nth direction, the difference Y between the ordinates of the i-th pixel and the i+1-th pixel is n,i+1 -Y n,i is the largest; The coordinates of the point where the earth and space pass through in the nth direction are (X n,s , Y n,s ), X n,s is the horizontal coordinate of the point where the earth and space pass through in the nth direction, Y n,s is the ordinate of the point where the earth and space cross in the nth direction, and s indicates that the coordinate is the coordinate of the crossing point; Among them, (X n,s , Y n,s )satisfy: Among them, K n is the slope in the nth direction, K n Determined by the following formula: K n =And n,i+1 -AND n,i 。 2. A method for measuring the attitude of a spacecraft according to claim 1, characterized in that: When N is 4, the N directions include: a first direction, a second direction, a third direction, and a fourth direction; The projection angles of the first direction, the second direction, the third direction and the fourth direction on the detection surface of the device are 90 degrees respectively.

3. A method for measuring the attitude of a spacecraft according to claim 1, characterized in that: The complete infrared image includes an infrared image of the earth.

4. A method for measuring the attitude of a spacecraft according to claim 3, characterized in that: The step of extracting the infrared radiation data of the earth boundary according to the complete infrared image comprises: The detection surface points to the earth's boundary to obtain the earth's infrared radiation data and space infrared radiation data; Among them, the infrared radiation of the earth is at a high level, the infrared radiation of space is at a low level, and the boundary point between the earth and space is where the infrared radiation data changes from low to high.

5. A method for measuring the attitude of a spacecraft according to claim 1, characterized in that: The step of obtaining the attitude of the spacecraft according to the crossing point data in N directions of the linear array infrared earth sensor comprises: When N is equal to 4, the coordinates of the Earth and space crossing points in the four directions are (X 1,s , Y 1,s ), (X 2,s , Y 2,s ), (X 3,s , Y 3,s ) and (X 4,s , Y 4,s ); The pitch angle P and roll angle R of the spacecraft's attitude are determined by the following formulas: Among them, X 1,0 , X 2,0 , X 3,0 and X 4,0 The theoretical horizontal coordinates of the earth and space crossing points in four directions when the spacecraft is at zero attitude; FOV is the spatial field of view designed for a detector element.

6. A spacecraft attitude measurement device, characterized in that: Used to implement the spacecraft attitude measurement method according to any one of claims 1 to 5, the device comprises: The infrared radiation acquisition module is configured to measure infrared radiation data of the universe from N directions based on the detection surface of the device to obtain N groups of infrared radiation data of the universe; perform data fusion on the N groups of infrared radiation data of the universe to obtain a complete infrared image of the universe field of view; and extract infrared radiation data of the earth boundary based on the complete infrared image; An attitude calculation module is configured to obtain the attitude of the spacecraft according to the infrared radiation data of the earth boundary; Wherein, N represents the number of directions, which is an integer greater than or equal to 4, and the N directions based on the detection surface of the device point to different directions of the universe respectively; The obtaining of the spacecraft attitude according to the earth boundary infrared radiation data comprises: According to the complete infrared radiation field of view of the detection surface in the infrared radiation data of the earth boundary and the position of the earth and space boundary point from low to high, N directions of earth and space crossing points are obtained; The attitude of the spacecraft is obtained based on the crossing point data in N directions of the linear array infrared earth sensor; The method of obtaining N directions of earth and space crossing points according to the complete infrared radiation field of view of the detection surface and the position of the earth and space boundary points from low to high in the earth boundary infrared radiation data includes: (X n,i , Y n,i ) is the coordinate of the ith pixel in the nth direction, (X n,i+1 , Y n,i+1 ) is the coordinate of the i+1th pixel in the nth direction, (X n,i-1 , Y n,i-1 ) is the coordinate of the pixel before the ith pixel, (X n,i+2 , Y n,i+2 ) is the coordinate of the pixel after the i+1th pixel, i is the pixel number, n is the number of the N directions, and the value is an integer from 1 to N; And among the differences between the ordinates of all two adjacent pixels in the nth direction, the difference Y between the ordinates of the i-th pixel and the i+1-th pixel is n,i+1 -Y n,i is the largest; The coordinates of the point where the earth and space pass through in the nth direction are (X n,s , Y n,s ), X n,s is the horizontal coordinate of the point where the earth and space pass through in the nth direction, Y n,s is the ordinate of the point where the earth and space cross in the nth direction, and s indicates that the coordinate is the coordinate of the crossing point; Among them, (X n,s , Y n,s )satisfy: Among them, K n is the slope in the nth direction, K n Determined by the following formula: K n =And n,i+1 -AND n,i 。 7. A spacecraft attitude measurement device, characterized in that: Used to implement the spacecraft attitude measurement method according to any one of claims 1 to 5, the device comprises: a memory and a processor: A memory for storing a computer program; a processor for reading the computer program in the memory and performing the following operations: Based on the detection surface of the equipment, measure the infrared radiation data of the universe from N directions to obtain N sets of infrared radiation data of the universe; Performing data fusion on the N groups of cosmic space infrared radiation data to obtain a complete infrared image of the cosmic space field of view; Extracting infrared radiation data of the earth's boundary according to the complete infrared image; Obtaining the attitude of the spacecraft according to the infrared radiation data of the earth's boundary; Wherein, N represents the number of directions, which is an integer greater than or equal to 4, and the N directions point to different directions of the universe respectively; The field of view of the detection surface of the device points towards the direction of the earth; The obtaining of the spacecraft attitude according to the earth boundary infrared radiation data comprises: According to the complete infrared radiation field of view of the detection surface in the infrared radiation data of the earth boundary and the position of the earth and space boundary point from low to high, N directions of earth and space crossing points are obtained; The attitude of the spacecraft is obtained based on the crossing point data in N directions of the linear array infrared earth sensor; The method of obtaining N directions of earth and space crossing points according to the complete infrared radiation field of view of the detection surface and the position of the earth and space boundary points from low to high in the earth boundary infrared radiation data includes: (X n,i , Y n,i ) is the coordinate of the ith pixel in the nth direction, (X n,i+1 , Y n,i+1 ) is the coordinate of the i+1th pixel in the nth direction, (X n,i-1 , Y n,i-1 ) is the coordinate of the pixel before the ith pixel, (X n,i+2 , Y n,i+2 ) is the coordinate of the pixel after the i+1th pixel, i is the pixel number, n is the number of the N directions, and the value is an integer from 1 to N; And among the differences between the ordinates of all two adjacent pixels in the nth direction, the difference Y between the ordinates of the i-th pixel and the i+1-th pixel is n,i+1 -Y n,i is the largest; The coordinates of the point where the earth and space pass through in the nth direction are (X n,s , Y n,s ), X n,s is the horizontal coordinate of the point where the earth and space pass through in the nth direction, Y n,s is the ordinate of the point where the earth and space cross in the nth direction, and s indicates that the coordinate is the coordinate of the crossing point; Among them, (X n,s , Y n,s )satisfy: Among them, K n is the slope in the nth direction, K n Determined by the following formula: K n =And n,i+1 -AND n,i 。 8. A processor-readable storage medium, characterized in that: The processor-readable storage medium stores a computer program, and when the processor executes the computer program, the spacecraft attitude measurement method according to any one of claims 1 to 5 is implemented.

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