Space target staring tracking multistage composite control method

Abstract

The invention provides a space target staring tracking multistage composite control method. A satellite platform first-level control system and an active pointing super static platform second-level control system are adopted for combined control; the method comprises the following steps: based on an attitude angle of a satellite staring space target, calculating a first inertial quaternion and a first inertial angular velocity of the satellite staring space target in a first-stage control period so as to obtain an attitude control moment of a first-stage control system; calculating the first inertial quaternion and the first inertial angular velocity based on an interpolation method to obtain a second inertial quaternion and a second inertial angular velocity of a satellite staring space target in the active pointing secondary control period, and further obtaining an attitude control moment of the active ultra-static platform secondary control system; and performing staring tracking on the space target based on the attitude control moment of the satellite platform primary control system and the attitude control moment of the active ultra-static platform secondary control system. According to the scheme, accurate and stable staring tracking of the space target can be realized.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of spacecraft attitude control, and in particular to a multi-level composite control method for space target gaze tracking. Background Art

[0002] Tasks such as gaze tracking of dim targets in space require high-precision pointing and high-stability control of the target.

[0003] In the related technologies, the attitude control system of remote sensing satellites equipped with array cameras currently only has a first-level model of the satellite body, and does not include a second-level attitude control system for the payload. Limited by factors such as the measurement bandwidth of the sensor and the response bandwidth of the actuator, it is difficult to concentrate the energy of the space target when imaging the space target using the array camera, making it difficult to meet the high-performance tracking control requirements for moving space targets.

[0004] Therefore, there is an urgent need to provide a multi-level composite control method for space target gaze tracking. Summary of the invention

[0005] In order to solve the problem that the traditional control method of a remote sensing satellite equipped with an array camera is difficult to meet the high-performance tracking of space moving targets, an embodiment of the present invention provides a multi-level composite control method for space target staring tracking.

[0006] In a first aspect, an embodiment of the present invention provides a multi-level composite control method for space target gaze tracking, which adopts a satellite platform primary control system and an active pointing ultra-quiet platform secondary control system for joint control;

[0007] Methods include:

[0008] Based on the position vector and velocity vector of the satellite and the space target respectively obtained in the inertial system, the attitude angle of the satellite staring at the space target is calculated;

[0009] According to the attitude angle of the satellite staring at the space target, calculating the first inertial quaternion and the first inertial angular velocity of the satellite staring at the space target within the primary control cycle of the satellite platform;

[0010] Calculate the attitude control torque of the satellite platform primary control system according to the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the satellite platform primary control system;

[0011] The inertial quaternion and the inertial angular velocity of the satellite staring at the space target are calculated based on the interpolation method to obtain the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target within the secondary control period of the active pointing super-quiet platform;

[0012] Calculate the attitude control torque of the active super-quiet platform secondary control system according to the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the active super-quiet platform secondary control system;

[0013] Based on the attitude control torque of the primary control system of the satellite platform and the attitude control torque of the secondary control system of the active super-quiet platform, gaze tracking is performed on the space target.

[0014] In a second aspect, an embodiment of the present invention further provides a multi-level composite control device for space target staring tracking, which is jointly controlled by a satellite platform primary control system and an active pointing ultra-quiet platform secondary control system;

[0015] The device includes:

[0016] An attitude angle calculation unit is used to calculate the attitude angle of the satellite staring at the space target based on the position vector and velocity vector of the satellite and the space target in the inertial system respectively obtained;

[0017] A first inertial parameter calculation unit is used to calculate a first inertial quaternion and a first inertial angular velocity of the satellite gazing at the space target within a primary control period of the satellite platform according to the attitude angle of the satellite gazing at the space target;

[0018] A primary control torque calculation unit, used for calculating the attitude control torque of the primary control system of the satellite platform according to the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the primary control system of the satellite platform;

[0019] A second inertial parameter calculation unit is used to calculate a second inertial quaternion and a second inertial angular velocity of the satellite staring at the space target within a secondary control period of the active pointing super-quiet platform based on the inertial quaternion and the inertial angular velocity of the satellite staring at the space target;

[0020] A secondary control torque calculation unit, used for calculating the attitude control torque of the active super-quiet platform secondary control system according to the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the active super-quiet platform secondary control system;

[0021] A gaze tracking unit is used to perform gaze tracking on the space target based on the attitude control torque of the satellite platform primary control system and the attitude control torque of the active super-quiet platform secondary control system.

[0022] In a third aspect, an embodiment of the present invention further provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of this specification is implemented.

[0023] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, enables the computer to execute the method described in any embodiment of this specification.

[0024] On the other hand, an embodiment of the present application further provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes any of the methods described in the above embodiments.

[0025] On the other hand, an embodiment of the present invention further provides a computer program product, including a computer program, which implements the steps of the method described above when executed by a processor.

[0026] The embodiment of the present invention provides a multi-level composite control method for gaze tracking of a space target. By carrying an area array camera in a satellite to image the space target, detailed characteristics of the space target can be obtained, and a joint control method of a satellite platform primary control system and an active super-quiet platform secondary control system is used to perform imaging and tracking of the space target. The target attitude calculation of the gaze tracking of the space target can be realized, ensuring that in the process of the satellite pointing to the space target in an inertial system, the energy of the space target is concentrated and the problem of image rotation does not occur, thereby realizing accurate and stable gaze tracking of the space target. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a flow chart of a multi-level composite control method for space target gaze tracking provided by one embodiment of the present invention;

[0029] Figure 2 is the three-axis attitude angle of the satellite when staring at a space target provided by an embodiment of the present invention; in the figure, is the roll angle of the satellite pointing to the space target, θ r is the elevation angle of the satellite pointing to the space target, ψ r The yaw angle of the satellite push-scan in the J2000 inertial system;

[0030] Figure 3 is a hardware architecture diagram of a computing device provided by an embodiment of the present invention;

[0031] Figure 4 It is a structural diagram of a multi-level composite control device for space target gaze tracking provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] Please refer to Figure 1 , the embodiment of the present invention provides a multi-level composite control method for space target staring tracking, which adopts the joint control of the satellite platform primary control system and the active pointing ultra-quiet platform secondary control system;

[0034] The method includes:

[0035] Step 100, calculating the attitude angle of the satellite staring at the space target based on the position vector and velocity vector of the satellite and the space target in the inertial system respectively obtained;

[0036] Step 102, calculating a first inertial quaternion and a first inertial angular velocity of the satellite gazing at the space target within a primary control period of the satellite platform according to the attitude angle of the satellite gazing at the space target;

[0037] Step 104, calculating the attitude control torque of the satellite platform primary control system according to the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the satellite platform primary control system;

[0038] Step 106, calculating the inertial quaternion and the inertial angular velocity of the satellite staring at the space target based on the interpolation method, and obtaining the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target within the secondary control period of the active pointing super-quiet platform;

[0039] Step 108, calculating the attitude control torque of the active super-quiet platform secondary control system according to the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the active super-quiet platform secondary control system;

[0040] Step 110: performing gaze tracking on the space target based on the attitude control torque of the primary control system of the satellite platform and the attitude control torque of the secondary control system of the active super-quiet platform.

[0041] In an embodiment of the present invention, by carrying an array camera in a satellite to image a space target, detailed characteristics of the space target can be obtained, and a joint control method of a satellite platform primary control system and an active super-quiet platform secondary control system is used to image and track the space target; wherein, the satellite platform primary control system uses a star gyroscope to measure the angular velocity of the satellite, and uses a control torque gyroscope as an actuator. First, based on the first inertial quaternion and the first inertial angular velocity of the satellite gazing at the space target within the satellite platform primary control cycle, the attitude control torque of the satellite platform primary control system is calculated to achieve closed-loop stability control of the satellite platform level; the active pointing super-quiet platform secondary control system uses a micrometer sensor to measure the angular velocity of the load, a star sensor to measure the load attitude, and uses the active execution component control of the active pointing super-quiet platform itself, and uses the interpolation method to interpolate the first inertial quaternion and the first inertial angular velocity, thereby obtaining the real-time attitude control torque of the active pointing super-quiet platform secondary control system.

[0042] In the embodiment of the present invention, through the mutual coordination of the attitude control torque of the satellite platform primary control system and the active pointing super-quiet platform secondary control system, the target attitude calculation of the space target gaze tracking can be realized, ensuring that in the process of the satellite pointing to the space target in the inertial system, the energy of the space target is concentrated and the image rotation problem does not occur, thereby realizing accurate and stable gaze tracking of the space target.

[0043] For step 100:

[0044] In some embodiments, the attitude angles include a roll angle, a pitch angle, and a yaw angle of the satellite gel space target;

[0045] Step 100 includes:

[0046] Based on the acquired position vectors and velocity vectors of the satellite and the space target in the inertial system, respectively, the position vector of the satellite staring at the space target in the inertial system and the orbital system is calculated;

[0047] Based on the position vector of the satellite staring at the space target in the inertial system, the roll angle and pitch angle of the satellite staring at the space target are calculated;

[0048] Based on the pitch angle and the roll angle, the yaw angle of the satellite staring at the space target is obtained.

[0049] In some specific embodiments, the position vector of the satellite staring at the space target in the inertial system (J2000 inertial system) is Calculated by the following formula:

[0050]

[0051] In the formula, is the position vector of the space target in the J2000 inertial system, is the position vector of the satellite J2000 inertial system;

[0052] Position vector of satellite staring at space target in orbital system Calculated by the following formula:

[0053]

[0054] In the formula, C oi is the conversion coefficient matrix of the satellite from the J2000 inertial system to the orbital system, Among them, r st (1),r st (2),r st (3) is a vector The corresponding element of

[0055] In some specific embodiments, the roll angle of the satellite's gaze at the space target and the pitch angle θ r Calculated by the following formula:

[0056]

[0057] The yaw angle ψ of the satellite staring at the space target r Calculated by the following formula:

[0058]

[0059] Where ω0 is the satellite orbital angular velocity, and ΔΤ is the primary control period of the satellite platform.

[0060] In an embodiment of the present invention, firstly, the position vector of the satellite gazing at the space target in the inertial system is calculated, and then the attitude angle of the satellite in the process of gazing at the space target is further calculated based on the position vector of the satellite gazing at the space target. The attitude angle includes a roll angle, a pitch angle and a yaw angle, wherein the roll angle and the pitch angle determine the position orientation of the satellite, so that the satellite can gaze at the space target in real time, and the yaw angle determines the speed orientation of the satellite. Since the space target and the satellite are in a state of motion in real time, the satellite can gaze at the space target in real time by controlling the yaw angle, and the target attitude (such as the orientation of the target) of the satellite gaze tracking is calculated according to the orbital characteristics of the real-time space target. Figure 2 This helps ensure that the speed, magnitude and direction of the satellite body and the space target are close in real time, which in turn helps to achieve real-time tracking and high-resolution imaging of the space target.

[0061] Regarding step 102:

[0062] In some implementations, step 102 includes:

[0063] According to the attitude angle of the satellite staring at the space target, a target attitude direction cosine array of the satellite staring at the space target in the orbital system is obtained;

[0064] The target attitude direction cosine matrix of the satellite staring at the space target in the orbital system is converted to obtain the target attitude direction cosine matrix of the satellite staring at the space target in the inertial system;

[0065] The direction cosine array is used to convert the attitude quaternion function to solve the target attitude direction cosine array of the satellite staring at the space target in the inertial system, and the first inertial quaternion of the satellite staring at the space target within the first-level control period of the satellite platform is obtained;

[0066] According to the attitude angle of the satellite staring at the space target, the target attitude direction cosine array of the satellite staring at the space target in the inertial system and the satellite orbit angular velocity, the first inertial angular velocity of the satellite staring at the space target in the primary control cycle of the satellite platform is obtained.

[0067] In some specific implementations, the target attitude direction cosine array C of the satellite staring at the space target in the orbit system ro Calculated by the following formula:

[0068]

[0069] Wherein, Angle2DCM() is the attitude angle direction cosine matrix function;

[0070] The target attitude direction cosine array C of the satellite staring at the space target in the inertial system ri Calculated by the following formula:

[0071] C ri =C ro *C oi

[0072] In the formula, C oi The conversion coefficient matrix from the satellite J2000 inertial system to the orbital system;

[0073] The first inertial quaternion q of the satellite staring at the space target during the first-level control cycle of the satellite platform ri Calculated by the following formula:

[0074] q ri =DCM2Quat(C ri )

[0075] Where DCM2Quat() is the function of converting direction cosine array to attitude quaternion;

[0076] The first inertial angular velocity ω of the satellite staring at the space target during the first-level control cycle of the satellite platform riCalculated by the following formula:

[0077]

[0078] In the formula, is the target angular velocity of the roll axis, is the target angular velocity of the pitch axis, is the target angular velocity of the yaw axis.

[0079] In an embodiment of the present invention, in order to realize real-time gaze tracking of a space target, based on the attitude angle of the satellite gazing at the space target, the quaternion and inertial angular velocity of the satellite gazing at the space target at each moment in the primary control cycle of the satellite platform are calculated, and the primary control system of the satellite platform is controlled by the quaternion in the inertial system to realize gaze tracking imaging of the space target.

[0080] Regarding step 104:

[0081] In some implementations, step 104 includes:

[0082] Obtaining an attitude control variable of the satellite platform primary control system according to the first inertial quaternion and the attitude measurement quaternion of the satellite platform primary control system;

[0083] Subtracting the first inertial angular velocity from the measured angular velocity of the satellite platform primary control system to obtain an angular velocity control amount of the satellite platform primary control system;

[0084] The attitude control torque of the satellite platform primary control system is calculated according to the attitude control variable and the angular velocity control variable of the satellite platform primary control system.

[0085] In some specific implementations, the attitude control value Δθ of the primary control system of the satellite platform is calculated by the following formula:

[0086]

[0087] In the formula, q bi is the attitude measurement quaternion of the satellite platform primary control system, q ri is the first inertial quaternion, Δq b (1:3) is the error quaternion Δq b The first 3 elements of ;

[0088] Angular velocity control quantity Δω of the primary control system of the satellite platform b Calculated by the following formula:

[0089] Δω b =ω ri -ω bi

[0090] In the formula, ω bi It is the angular velocity measurement value of the first-level control system of the satellite platform.

[0091] Furthermore, the attitude control torque of the satellite platform's primary control system is calculated using the following formula:

[0092]

[0093] In the formula, I sat is the inertia of the whole star, is the satellite three-axis target inertial angular acceleration, for The reverse stacking array, ω bi is the angular velocity measurement value of the satellite platform's primary control system, Δθ is the satellite's three-axis attitude control value, Δω is the satellite's three-axis angular velocity control value, and k satp , k sati and k satd are the attitude controller parameters of the satellite platform first-level control system, τ b It is the attitude control torque of the first-level control system of the satellite platform.

[0094] In an embodiment of the present invention, the attitude difference and angular velocity difference between the satellite and the space target are calculated to obtain the attitude control quantity and angular velocity control quantity of the satellite platform's primary control system, and the above control quantities are used as input parameters of the attitude controller of the satellite platform's primary control system to obtain the attitude control torque of the control torque gyro to drive the satellite as a whole to achieve gaze tracking of the space target.

[0095] It should be noted that, in the embodiment of the present invention, the controller parameters can be adjusted according to actual needs. For example, the controller parameters can be: sat =[900,850,600], k satp =[355,335,236], k satd =[799,755,533].

[0096] Regarding step 106:

[0097] In some implementations, step 106 includes:

[0098] Take m first inertial quaternions and m first inertial angular velocities in the primary control period of the satellite platform respectively, and form them into a first inertial quaternion sequence and a first inertial angular velocity sequence with a time sequence respectively; wherein, the first inertial quaternion sequence is as follows: [q ri (ΔΤ) q ri (2*ΔΤ) … q ri (m*ΔΤ)], the first inertial angular velocity sequence is as follows: [ω ri(ΔΤ)ω ri (2*ΔΤ)…ω ri (m*ΔΤ);

[0099] The first inertial quaternion sequence and the first inertial angular velocity sequence are respectively substituted into the m-order Newton interpolation calculation formula to obtain the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target within the secondary control period of the active pointing super-quiet platform.

[0100] In some specific implementations, the m-order Newton interpolation calculation formula is as follows:

[0101] f(x)=f(x0)+(x-x0)f(x,x0)+(x-x0)(x-x1)f(x0,x1,x2)+...

[0102] +(x-x0)(x-x1)...(x m )f(x0,x1,...x m ).

[0103] Considering that the first-level control system of the satellite platform can only realize attitude control within a coarse time period and cannot realize attitude control at a finer moment, in an embodiment of the present invention, based on the first inertial quaternion and inertial angular velocity calculated within the period of the first-level control system of the satellite platform, the first inertial quaternion and inertial angular velocity obtained within the first-level control cycle are interpolated by using the Newton interpolation method (for example, the sixth-order Newton interpolation method can be used), thereby realizing the control of the satellite gaze tracking space target attitude at the millisecond level, meeting the high-stability control requirements of the satellite, and further realizing high-precision and high-stability gaze tracking of the space target.

[0104] For steps 108 to 110:

[0105] In some embodiments, step 108 includes:

[0106] Obtaining an attitude control variable of the active super-quiet platform secondary control system according to the second inertial quaternion and an attitude measurement quaternion of the active super-quiet platform secondary control system;

[0107] Subtracting the second inertial angular velocity from the measured angular velocity of the active super-quiet platform secondary control system to obtain an angular velocity control amount of the active super-quiet platform secondary control system;

[0108] The attitude control torque of the active super-quiet platform secondary control system is calculated according to the attitude control variable and the angular velocity control variable of the active super-quiet platform secondary control system.

[0109] In some specific implementations, the attitude control amount of the active super-quiet platform secondary control system is calculated by the following formula:

[0110]

[0111] In the formula, q pbi is the attitude measurement quaternion of the active super-quiet platform secondary control system, q pri is the second inertial quaternion, Δq p (1:3) is the error quaternion Δq p The first 3 elements of ;

[0112] Angular velocity control variable Δω of the two-stage control system of active super-quiet platform p Calculated by the following formula:

[0113] Δω p =ω pri -ω pbi

[0114] In the formula, ω pbi is the measured angular velocity of the active super-quiet platform secondary control system, ω pri is the second inertial angular velocity.

[0115] In some specific implementations, the attitude control torque of the active super-quiet platform secondary control system is calculated by the following formula:

[0116]

[0117] In the formula, I p is the load inertia driven by the secondary control system of the active pointing super-quiet platform, for example, it can be [150, 150, 80], k pp , k pd , k pi are all attitude controller parameters of the secondary control system of the active pointing super-quiet platform, for example, k pp =[23687,23687,12633], k pd =[2665,2665,1421], k pi =[12000,12000,10000],τ p is the control torque of the active super-quiet platform secondary control system. The target angular acceleration of the secondary control of the active super-quiet platform is for The antisymmetric matrix, Δθ p is the attitude control variable of the active super-quiet platform secondary control system, Δω p It is the angular velocity control quantity of the active super-quiet platform secondary control system.

[0118] In summary, in the embodiments of the present invention, by calculating the space target posture of the satellite's mid-array camera gaze tracking according to the real-time target orbit characteristics, and the target posture of the active pointing super-quiet platform secondary control system in an extremely short period, high-precision and high-stability gaze tracking of the space target is achieved through a multi-level composite control system such as the combined satellite platform primary control and the active pointing super-quiet platform secondary control.

[0119] like Figure 3 , Figure 4 As shown, an embodiment of the present invention provides a multi-level composite control device for space target gaze tracking. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 3 As shown, it is a hardware architecture diagram of a computing device where a multi-level composite control device for space target gaze tracking provided by an embodiment of the present invention is located, except Figure 3 In addition to the processor, memory, network interface, and non-volatile memory shown in the figure, the computing device in which the device is located in the embodiment may also generally include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 4 As shown, as a device in a logical sense, the CPU of the computing device in which it is located reads the corresponding computer program in the non-volatile memory into the memory and runs it. This embodiment provides a multi-level composite control device for staring and tracking space targets, which is jointly controlled by the primary control system of the satellite platform and the secondary control system of the active pointing super-quiet platform;

[0120] The device includes:

[0121] The attitude angle calculation unit 401 is used to calculate the attitude angle of the satellite staring at the space target based on the position vector and velocity vector of the satellite and the space target in the inertial system respectively obtained;

[0122] The first inertial parameter calculation unit 402 is used to calculate the first inertial quaternion and the first inertial angular velocity of the satellite staring at the space target within the primary control period of the satellite platform according to the attitude angle of the satellite staring at the space target;

[0123] The primary control torque calculation unit 403 is used to calculate the attitude control torque of the primary control system of the satellite platform according to the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the primary control system of the satellite platform;

[0124] The second inertial parameter calculation unit 404 is used to calculate the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target within the secondary control period of the active pointing super-quiet platform based on the inertial quaternion and the inertial angular velocity of the satellite staring at the space target;

[0125] A secondary control torque calculation unit 405 is used to calculate the attitude control torque of the active super-quiet platform secondary control system according to the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the active super-quiet platform secondary control system;

[0126] The gaze tracking unit 406 is used to perform gaze tracking on the space target based on the attitude control torque of the satellite platform primary control system and the attitude control torque of the active super-quiet platform secondary control system.

[0127] In an embodiment of the present invention, the attitude angle calculation unit 401 can be used to execute step 100 in the above method embodiment, the first inertia parameter calculation unit 402 can be used to execute step 102 in the above method embodiment, the first control torque calculation unit 403 can be used to execute step 104 in the above method embodiment, the second inertia parameter calculation unit 404 can be used to execute step 106 in the above method embodiment, the second control torque calculation unit 405 can be used to execute step 108 in the above method embodiment, and the gaze tracking unit 406 can be used to execute step 110 in the above method embodiment.

[0128] In one embodiment of the present invention, in the attitude angle calculation unit 401, the attitude angle includes the roll angle, pitch angle and yaw angle of the satellite gel space target;

[0129] The attitude angle calculation unit 401 is used to perform the following operations when calculating the attitude angle of the satellite staring at the space target based on the position vector and velocity vector of the satellite and the space target in the inertial system respectively obtained:

[0130] Based on the acquired position vectors and velocity vectors of the satellite and the space target in the inertial system, respectively, the position vector of the satellite staring at the space target in the inertial system and the orbital system is calculated;

[0131] Based on the position vector of the satellite staring at the space target in the inertial system, the roll angle and pitch angle of the satellite staring at the space target are calculated;

[0132] Based on the pitch angle and the roll angle, the yaw angle of the satellite staring at the space target is obtained.

[0133] In one embodiment of the present invention, the first inertial parameter calculation unit 402 is used to perform the following operations when calculating the first inertial quaternion and the first inertial angular velocity of the satellite staring at the space target within the primary control period of the satellite platform according to the attitude angle of the satellite staring at the space target:

[0134] According to the attitude angle of the satellite staring at the space target, a target attitude direction cosine array of the satellite staring at the space target in the orbital system is obtained;

[0135] The target attitude direction cosine matrix of the satellite staring at the space target in the orbital system is converted to obtain the target attitude direction cosine matrix of the satellite staring at the space target in the inertial system;

[0136] The direction cosine array is used to convert the attitude quaternion function to solve the target attitude direction cosine array of the satellite staring at the space target in the inertial system, and the first inertial quaternion of the satellite staring at the space target within the first-level control period of the satellite platform is obtained;

[0137] According to the attitude angle of the satellite staring at the space target, the target attitude direction cosine array of the satellite staring at the space target in the inertial system and the satellite orbit angular velocity, the first inertial angular velocity of the satellite staring at the space target in the primary control cycle of the satellite platform is obtained.

[0138] In one embodiment of the present invention, the primary control torque calculation unit 403 is used to perform the following operations when calculating the attitude control torque of the primary control system of the satellite platform according to the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the primary control system of the satellite platform:

[0139] Obtaining an attitude control variable of the satellite platform primary control system according to the first inertial quaternion and the attitude measurement quaternion of the satellite platform primary control system;

[0140] Subtracting the first inertial angular velocity from the measured angular velocity of the satellite platform primary control system to obtain an angular velocity control amount of the satellite platform primary control system;

[0141] The attitude control torque of the satellite platform primary control system is calculated according to the attitude control variable and the angular velocity control variable of the satellite platform primary control system.

[0142] In one embodiment of the present invention, the second inertial parameter calculation unit 404 calculates the inertial quaternion and the inertial angular velocity of the satellite staring at the space target based on the interpolation method to obtain the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target within the secondary control period of the active pointing super-quiet platform, and is used to perform the following operations:

[0143] Respectively obtain m first inertial quaternions and m first inertial angular velocities within the primary control period of the satellite platform, and respectively compose them into a first inertial quaternion sequence and a first inertial angular velocity sequence with a time sequence;

[0144] The first inertial quaternion sequence and the first inertial angular velocity sequence are respectively substituted into the m-order Newton interpolation calculation formula to obtain the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target within the secondary control period of the active pointing super-quiet platform.

[0145] In one embodiment of the present invention, the secondary control torque calculation unit 405 is used to perform the following operations when calculating the attitude control torque of the active super-quiet platform secondary control system according to the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the active super-quiet platform secondary control system:

[0146] Obtaining an attitude control variable of the active super-quiet platform secondary control system according to the second inertial quaternion and an attitude measurement quaternion of the active super-quiet platform secondary control system;

[0147] Subtracting the second inertial angular velocity from the measured angular velocity of the active super-quiet platform secondary control system to obtain an angular velocity control amount of the active super-quiet platform secondary control system;

[0148] The attitude control torque of the active super-quiet platform secondary control system is calculated according to the attitude control variable and the angular velocity control variable of the active super-quiet platform secondary control system.

[0149] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a multi-level composite control device for space target gaze tracking. In other embodiments of the present invention, a multi-level composite control device for space target gaze tracking may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0150] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0151] An embodiment of the present invention further provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a multi-level composite control method for space target gaze tracking in any embodiment of the present invention is implemented.

[0152] 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 by a processor, the processor executes a multi-level composite control method for space target gaze tracking in any embodiment of the present invention.

[0153] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0154] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0155] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0156] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0157] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0158] An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement a multi-level composite control method for space target gaze tracking provided by the above-mentioned method embodiments.

[0159] 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 such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0160] A person 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, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0161] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-level composite control method for space target gaze tracking, characterized in that: It adopts the joint control of the satellite platform's first-level control system and the active pointing ultra-quiet platform's second-level control system; Methods include: Based on the position vector and velocity vector of the satellite and the space target respectively obtained in the inertial system, the attitude angle of the satellite staring at the space target is calculated; According to the attitude angle of the satellite staring at the space target, calculating the first inertial quaternion and the first inertial angular velocity of the satellite staring at the space target within the primary control cycle of the satellite platform; Calculate the attitude control torque of the satellite platform primary control system according to the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the satellite platform primary control system; The inertial quaternion and the inertial angular velocity of the satellite staring at the space target are calculated based on the interpolation method to obtain the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target within the secondary control period of the active pointing super-quiet platform; Calculate the attitude control torque of the active super-quiet platform secondary control system according to the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the active super-quiet platform secondary control system; Based on the attitude control torque of the primary control system of the satellite platform and the attitude control torque of the secondary control system of the active super-quiet platform, gaze tracking is performed on the space target.

2. The method according to claim 1, characterized in that The attitude angles include the roll angle, pitch angle and yaw angle of the satellite gel space target; The step of calculating the attitude angle of the satellite staring at the space target based on the position vector and velocity vector of the satellite and the space target in the inertial system respectively obtained comprises: Based on the acquired position vectors and velocity vectors of the satellite and the space target in the inertial system, respectively, the position vector of the satellite staring at the space target in the inertial system and the orbital system is calculated; Based on the position vector of the satellite staring at the space target in the inertial system, the roll angle and pitch angle of the satellite staring at the space target are calculated; Based on the pitch angle and the roll angle, the yaw angle of the satellite staring at the space target is obtained.

3. The method according to claim 1, characterized in that The step of calculating the first inertial quaternion and the first inertial angular velocity of the satellite gazing at the space target within the primary control cycle of the satellite platform according to the attitude angle of the satellite gazing at the space target comprises: According to the attitude angle of the satellite staring at the space target, a target attitude direction cosine array of the satellite staring at the space target in the orbital system is obtained; The target attitude direction cosine matrix of the satellite staring at the space target in the orbital system is converted to obtain the target attitude direction cosine matrix of the satellite staring at the space target in the inertial system; The direction cosine array is used to convert the attitude quaternion function to solve the target attitude direction cosine array of the satellite staring at the space target in the inertial system, and the first inertial quaternion of the satellite staring at the space target within the first-level control period of the satellite platform is obtained; According to the attitude angle of the satellite staring at the space target, the target attitude direction cosine array of the satellite staring at the space target in the inertial system and the satellite orbit angular velocity, the first inertial angular velocity of the satellite staring at the space target in the primary control cycle of the satellite platform is obtained.

4. The method according to claim 1, characterized in that: The step of calculating the attitude control torque of the satellite platform primary control system according to the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the satellite platform primary control system comprises: Obtaining an attitude control variable of the satellite platform primary control system according to the first inertial quaternion and the attitude measurement quaternion of the satellite platform primary control system; Subtracting the first inertial angular velocity from the measured angular velocity of the satellite platform primary control system to obtain an angular velocity control amount of the satellite platform primary control system; The attitude control torque of the satellite platform primary control system is calculated according to the attitude control variable and the angular velocity control variable of the satellite platform primary control system.

5. The method according to claim 1, characterized in that: The inertial quaternion and the inertial angular velocity of the satellite staring at the space target are calculated based on the interpolation method to obtain the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target within the secondary control period of the active pointing super-quiet platform, including: Respectively obtain m first inertial quaternions and m first inertial angular velocities within the primary control period of the satellite platform, and respectively compose them into a first inertial quaternion sequence and a first inertial angular velocity sequence with a time sequence; The first inertial quaternion sequence and the first inertial angular velocity sequence are respectively substituted into the m-order Newton interpolation calculation formula to obtain the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target within the secondary control period of the active pointing super-quiet platform.

6. The method according to any one of claims 1 to 5, characterized in that The method of calculating the attitude control torque of the active super-quiet platform secondary control system according to the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the active super-quiet platform secondary control system comprises: Obtaining an attitude control variable of the active super-quiet platform secondary control system according to the second inertial quaternion and an attitude measurement quaternion of the active super-quiet platform secondary control system; Subtracting the second inertial angular velocity from the measured angular velocity of the active super-quiet platform secondary control system to obtain an angular velocity control amount of the active super-quiet platform secondary control system; The attitude control torque of the active super-quiet platform secondary control system is calculated according to the attitude control variable and the angular velocity control variable of the active super-quiet platform secondary control system.

7. A multi-level composite control device for space target gaze tracking, characterized in that: It adopts the joint control of the satellite platform's first-level control system and the active pointing ultra-quiet platform's second-level control system; The device includes: An attitude angle calculation unit is used to calculate the attitude angle of the satellite staring at the space target based on the position vector and velocity vector of the satellite and the space target in the inertial system respectively obtained; A first inertial parameter calculation unit is used to calculate a first inertial quaternion and a first inertial angular velocity of the satellite gazing at the space target within a primary control period of the satellite platform according to the attitude angle of the satellite gazing at the space target; A primary control torque calculation unit, used for calculating the attitude control torque of the primary control system of the satellite platform according to the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the primary control system of the satellite platform; A second inertial parameter calculation unit is used to calculate a second inertial quaternion and a second inertial angular velocity of the satellite staring at the space target within a secondary control period of the active pointing super-quiet platform based on the inertial quaternion and the inertial angular velocity of the satellite staring at the space target; A secondary control torque calculation unit, used for calculating the attitude control torque of the active super-quiet platform secondary control system according to the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the active super-quiet platform secondary control system; A gaze tracking unit is used to perform gaze tracking on the space target based on the attitude control torque of the satellite platform primary control system and the attitude control torque of the active super-quiet platform secondary control system.

8. A computing device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The method comprises a computer program, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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