Satellite attitude adjustment anomaly detection method and device based on luminosity characteristics

Abstract

The invention provides a satellite attitude adjustment anomaly detection method and device based on luminosity characteristics. The method comprises the following steps: constructing a full-angle luminosity simulation database of a satellite; wherein the full-angle luminosity simulation database comprises equivalent magnitude corresponding to each group of attitude parameters; calculating a phase angle, an attitude parameter and an equivalent magnitude of the satellite at each sampling point according to the orbital element number of the satellite, a preset sampling interval and the full-angle luminosity simulation database, and constructing a phase angle luminosity template of the satellite based on a corresponding relationship between the phase angle and the equivalent magnitude; adjusting the attitude of the satellite according to a preset rotation angle, and calculating a phase angle, attitude parameters and equivalent magnitude of the satellite after attitude adjustment based on the full-angle luminosity simulation database; and matching the phase angle after attitude adjustment of the satellite with the equivalent magnitude in the phase angle luminosity template, and detecting the current attitude adjustment abnormal condition of the satellite based on a matching result and an attitude adjustment abnormal threshold value. According to the scheme, accurate detection of the current attitude adjustment abnormal condition of the satellite can be realized.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of satellite photometric characteristic characterization, and in particular to a method and device for detecting satellite attitude anomaly based on photometric characteristics. Background Art

[0002] Satellite luminosity refers to the brightness of sunlight energy reflected or scattered from the satellite surface and detected by the detector. Satellite luminosity is also visual brightness. As one of the basic physical characteristics of space targets, luminosity can reflect the size, shape, posture and surface material characteristics of the target to a certain extent.

[0003] The template established for the light curve should meet two conditions: first, the constructed template has obvious characteristics and can accurately identify the target and accurately judge the abnormal working state of the target; second, the constructed template description is simple, and the parameters and data required to build the template are as small as possible. Photometric data describes the photometric value of the satellite at a certain time and position. For the observed value, the photometric value is affected by the distance, satellite reflectivity, solar azimuth and station detection angle. Commonly used light curves are mainly based on time domain, frequency domain, etc., but in the case of satellite attitude adjustment, the photometric data of the attitude adjustment cannot achieve position matching with the template, and time as a continuous variable is difficult to limit the range of the independent variable.

[0004] Therefore, there is an urgent need to provide a method and device for detecting satellite attitude anomalies based on photometric features. Summary of the invention

[0005] In order to solve the problem that traditional light curves are difficult to accurately identify and perceive satellite attitude anomalies, an embodiment of the present invention provides a satellite attitude anomaly detection method and device based on photometric features.

[0006] In a first aspect, an embodiment of the present invention provides a method for detecting satellite attitude anomaly based on photometric features, the method comprising:

[0007] Constructing a full-angle photometric simulation database of the satellite; wherein the full-angle photometric simulation database includes the equivalent magnitude corresponding to each set of attitude parameters;

[0008] According to the orbital elements of the satellite, the preset sampling interval and the full-angle photometric simulation database, the phase angle, attitude parameters and equivalent magnitude of the satellite at each sampling point are calculated, and based on the corresponding relationship between the phase angle and the equivalent magnitude, the phase angle photometric template of the satellite is constructed;

[0009] Adjusting the satellite's attitude according to a preset rotation angle, and calculating the satellite's phase angle, attitude parameters and equivalent magnitude after attitude adjustment based on the full-angle photometric simulation database;

[0010] The phase angle and equivalent magnitude after the satellite attitude adjustment are matched in the phase angle photometric template, and based on the matching result and the attitude adjustment abnormality threshold, the current attitude adjustment abnormality of the satellite is detected.

[0011] In a second aspect, an embodiment of the present invention further provides a device for detecting satellite attitude anomalies based on photometric features, the device comprising:

[0012] A database construction unit is used to construct a full-angle photometric simulation database of the satellite; wherein the full-angle photometric simulation database includes the equivalent magnitude corresponding to each set of attitude parameters;

[0013] A template construction unit is used to calculate the phase angle, attitude parameters and equivalent magnitude of the satellite at each sampling point according to the orbital elements of the satellite, the preset sampling interval and the full-angle photometric simulation database, and to construct a phase angle photometric template of the satellite based on the corresponding relationship between the phase angle and the equivalent magnitude;

[0014] A calculation unit, used to adjust the attitude of the satellite according to a preset rotation angle, and calculate the phase angle, attitude parameters and equivalent magnitude of the satellite after the attitude adjustment based on the full-angle photometric simulation database;

[0015] The detection unit is used to match the phase angle and equivalent magnitude of the satellite after attitude adjustment in the phase angle photometric template, and detect the abnormality of the current attitude adjustment of the satellite based on the matching result and the attitude adjustment abnormality threshold.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] An embodiment of the present invention provides a method for detecting satellite attitude anomalies based on photometric features. The method first constructs a full-angle photometric simulation database of attitude parameters, then performs sampling based on the orbital elements of the satellite according to a preset sampling interval, calculates the phase angle and attitude parameters of the satellite at each sampling point, and determines the equivalent magnitude of the satellite at each sampling point based on the attitude parameters and the full-angle photometric simulation database. The full-angle photometric simulation database is then used to match the attitude parameters at each sampling point to obtain a phase angle photometric template with the phase angle as the independent variable. The phase angle and equivalent magnitude of the satellite after attitude adjustment are obtained by adjusting the satellite attitude, and are matched with the constructed phase angle photometric template for consistency, thereby achieving accurate detection of the current abnormality of the satellite's attitude adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1 It is a flow chart of a method for detecting satellite attitude anomaly based on photometric features provided by an embodiment of the present invention;

[0022] Figure 2 is a schematic diagram of the fitting results of the phase angle photometric template provided by an embodiment of the present invention;

[0023] Figure 3 It is a schematic diagram of the matching result between the photometric value of the satellite after attitude adjustment and the phase angle photometric template provided by an embodiment of the present invention;

[0024] Figure 4 is a hardware architecture diagram of a computing device provided by an embodiment of the present invention;

[0025] Figure 5 It is a structural diagram of a satellite attitude anomaly detection device based on photometric features provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] 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.

[0027] The specific implementation of the above concept is described below.

[0028] Please refer to Figure 1 The embodiment of the present invention provides a method for detecting satellite attitude anomaly based on photometric features, the method comprising:

[0029] Step 100, constructing a full-angle photometric simulation database of the satellite; wherein the full-angle photometric simulation database includes the equivalent magnitude corresponding to each set of attitude parameters;

[0030] Step 102, calculating the phase angle, attitude parameters and equivalent magnitude of the satellite at each sampling point according to the orbital elements of the satellite, the preset sampling interval and the full-angle photometric simulation database, and constructing a phase angle photometric template of the satellite based on the corresponding relationship between the phase angle and the equivalent magnitude;

[0031] Step 104, adjusting the attitude of the satellite according to a preset rotation angle, and calculating the phase angle, attitude parameters and equivalent magnitude of the satellite after the attitude adjustment based on the full-angle photometric simulation database;

[0032] Step 106, matching the phase angle and equivalent magnitude of the satellite after attitude adjustment in the phase angle photometric template, and detecting the abnormality of the current attitude adjustment of the satellite based on the matching result and the attitude adjustment abnormality threshold.

[0033] In an embodiment of the present invention, a full-angle photometric simulation database of attitude parameters is first constructed, and then sampling is performed according to a preset sampling interval based on the orbital elements of the satellite, the phase angle and attitude parameters of the satellite at each sampling point are calculated, and the equivalent magnitude of the satellite at each sampling point is determined based on the attitude parameters and the full-angle photometric simulation database, and then the attitude parameters at each sampling point are matched using the full-angle photometric simulation database to obtain a phase angle photometric template with the phase angle as the independent variable, and the phase angle and equivalent magnitude of the satellite after attitude adjustment are obtained by adjusting the satellite attitude, and are matched with the constructed phase angle photometric template for consistency, thereby achieving accurate detection of abnormal conditions in the current attitude adjustment of the satellite.

[0034] For step 100:

[0035] In some embodiments, the attitude parameters include a station azimuth, a station pitch angle, a sun azimuth, and a sun pitch angle;

[0036] The full-angle photometric simulation database is constructed in the following way:

[0037] Taking the station azimuth, station elevation, solar azimuth and solar elevation as simulation variables, based on the constructed satellite three-dimensional model, the equivalent magnitude of the satellite luminosity corresponding to each angle in each simulation variable is traversed respectively to obtain the equivalent magnitudes corresponding to several groups of simulation variables.

[0038] The value range of the station azimuth angle and the solar azimuth angle is [0-360°], and the value range of the station pitch angle and the solar pitch angle is [-90°, 90°]. In the embodiment of the present invention, the constructed satellite three-dimensional simulation model traverses the equivalent magnitude of the satellite luminosity measured by the detector at a specific height from the ground at each angle within the angle range of each simulation variable, thereby forming satellite luminosity information under all angle combinations and obtaining a full-angle luminosity simulation database of the satellite.

[0039] Regarding step 102:

[0040] In some implementations, step 102 includes:

[0041] For each sampling point, execute:

[0042] According to the orbital elements of the satellite and the preset sampling interval, the position and speed of the satellite in the orbital coordinate system at the current sampling point are calculated;

[0043] Convert the position and velocity of the satellite in the orbital coordinate system to the J2000 coordinate system to obtain the position and velocity of the satellite in the J2000 coordinate system;

[0044] Based on the position of the satellite in the J2000 coordinate system, the angle between the vector pointing from the earth station to the satellite and the vector pointing from the sun to the satellite is calculated to obtain the phase angle of the satellite at the current sampling point;

[0045] Based on the position of the satellite in the J2000 coordinate system, the positional relationship between the earth station and the sun, the attitude parameters of the satellite at the current sampling point are obtained.

[0046] In an embodiment of the present invention, the position, velocity and phase angle corresponding to each sampling point during a period of satellite operation are calculated based on the satellite orbit elements (including semi-major axis, eccentricity, orbit inclination, right ascension of ascending node, argument of perigee and true anomaly) and a preset sampling interval (for example, the sampling interval is 1 minute).

[0047] In some specific implementations, for each sampling point, the average angular velocity n of the satellite at the current sampling point is calculated by the following formula:

[0048]

[0049] In the formula, μ is a constant, a is the semi-major axis;

[0050] The position r of the satellite at the true anomaly θ is the position of the satellite in the orbital coordinate system, which is calculated by the following formula:

[0051]

[0052] In the formula, e is the eccentricity, θ is the true anomaly;

[0053] The velocity v of the satellite at the true anomaly θ is the velocity of the satellite in the orbital coordinate system, which is calculated by the following formula:

[0054]

[0055] Since the satellite is in a changing state in the orbital coordinate system all the time and the satellite rotates around the earth, the J2000 coordinate system is more stable, so it is necessary to convert the speed and position in the orbital coordinate system to the J2000 coordinate system; convert the satellite's position and speed from the satellite orbital coordinate system to the J2000 coordinate system to obtain the satellite's actual position and speed on the earth.

[0056] In a specific implementation, the position and velocity of the satellite in the J2000 coordinate system are converted using the following formula:

[0057] A=R z (-Ω)R x (-i)R z (-ω)A0

[0058]

[0059] Where A is the position or velocity of the satellite in the J2000 coordinate system, A0 is the position or velocity of the satellite in the orbital coordinate system, Ω is the right ascension of the ascending node, i is the orbital inclination, ω is the argument of perigee, α represents -Ω or -i, and β represents -ω.

[0060] The phase angle of a satellite refers to the angle between the vector pointing from the earth station to the space target (satellite) and the vector pointing from the sun to the space target. The positions of the earth station, the sun and the satellite in the J2000 coordinate system are known. The angle between the vector r1 pointing from the earth station to the satellite and the vector r2 pointing from the sun to the satellite is the phase angle PA, which can be expressed as:

[0061]

[0062] In the embodiment of the present invention, considering that the photometric value (equivalent magnitude) of the satellite is not symmetrical under the representation of different phase angles, positive and negative phase angles are used to distinguish the asymmetric photometric value.

[0063] In some embodiments, the positive or negative phase angle is determined based on the angle between the velocity vector of the satellite in the J2000 coordinate system and the vector pointing from the sun to the satellite. Specifically, firstly, the angle δ between the instantaneous velocity vector v of the satellite in the J2000 coordinate system at the current sampling point and the vector r2 pointing from the sun to the satellite is calculated, wherein the angle δ is calculated in the same way as the phase angle PA; then, the positive or negative phase angle is determined based on the size of the angle δ, if the angle δ<90°, that is, the sun shines on the tail of the satellite, the satellite moves away from the sun, and the phase angle is a negative phase angle; if the angle δ>90°, that is, the sun shines on the head of the satellite, the satellite moves close to the sun, and the phase angle is a positive phase angle.

[0064] It should be noted that, in the embodiment of the present invention, when the position of the satellite in the J2000 coordinate system and the positional relationship between the earth station and the sun are known, calculating the solar pitch angle, solar azimuth angle, station pitch angle and detection incident angle at the current sampling point / after attitude adjustment is common knowledge for those skilled in the art, and the embodiment of the present invention will not be described in detail herein.

[0065] In some embodiments, the equivalent magnitude corresponding to the phase angle of the satellite at each sampling point and the equivalent magnitude after the satellite attitude adjustment are respectively obtained by querying the full-angle photometric simulation database using the attitude parameters of the satellite at each sampling point and the attitude parameters of the satellite after the satellite attitude adjustment.

[0066] In an embodiment of the present invention, since the full-angle photometric simulation database contains the equivalent magnitudes corresponding to all angle combinations of attitude parameters, when the attitude parameters of each sampling point are determined, the equivalent magnitude corresponding to the attitude parameters at the current sampling point can be obtained based on a query based on the full-angle photometric simulation database.

[0067] In some embodiments, the phase angle photometric template of the satellite is constructed as follows:

[0068] According to the satellite phase angle at each sampling point and the equivalent magnitude at each sampling point, a corresponding relationship between the satellite phase angle and the equivalent magnitude is established;

[0069] The distance normalization method is used to unify the correspondence between the satellite phase angle and the equivalent magnitude, and the local regression weighted method is used for fitting to obtain the photometric template constructed based on the phase angle.

[0070] In the embodiment of the present invention, a correspondence between the satellite phase angle and the photometric value is established through the phase angle calculated at each sampling point and the equivalent magnitude obtained by attitude parameter matching, and the established correspondence is unified between the measurement distances through distance normalization:

[0071]

[0072] In the formula, m2 is the equivalent magnitude after reduction, d1 is the actual distance, m1 is the equivalent magnitude at the reduced distance, and d2 is the preset reduced distance;

[0073] Afterwards, the local regression weighted method (LOESS) was used to fit the curve, in which the smoothing parameter was selected as 0.1 to obtain the phase angle luminosity template.

[0074] Regarding step 104:

[0075] In some implementations, step 104 includes:

[0076] Based on the preset rotation angle, calculate the rotation matrix of the satellite attitude adjustment;

[0077] Determining the position of the satellite in the orbital coordinate system after the attitude adjustment according to the rotation matrix of the satellite attitude adjustment;

[0078] The position of the satellite after attitude adjustment in the orbital coordinate system is converted to the J2000 coordinate system to obtain the position of the satellite after attitude adjustment in the J2000 coordinate system;

[0079] Based on the position of the satellite in the J2000 coordinate system after attitude adjustment, the angle between the vector pointing from the Earth station to the satellite and the vector pointing from the sun to the satellite is calculated to obtain the phase angle after the satellite attitude adjustment.

[0080] Based on the position of the satellite in the J2000 coordinate system after attitude adjustment, the positional relationship between the earth station and the sun, the attitude parameters of the satellite after attitude adjustment are obtained.

[0081] The satellite is simulated for attitude adjustment to obtain the position, velocity, phase angle and attitude parameters of the satellite after attitude adjustment. Based on the attitude parameters, the equivalent magnitude of the satellite after attitude adjustment is queried in the full-angle photometric simulation database to obtain the photometric data of the satellite after attitude adjustment.

[0082] In a specific embodiment, the satellite rotates around its body coordinate system (orbital coordinate system) X axis by a preset rotation angle θ', and its XYZ axis corresponds to the rotation matrix A of the X axis. ( ' xyz) , since the multiplications are all conjugate symmetric matrices, the multiplication order can be exchanged; directly multiply the J2000 coordinate system representation of the satellite in the orbital coordinate system XYZ axis by the rotation matrix to obtain the coordinate system after attitude adjustment. The rotation matrix A of the satellite attitude adjustment ( ' xyz) Calculated by the following formula:

[0083]

[0084] The coordinate conversion is performed through the following formula to obtain the position of the satellite in the J2000 coordinate system after attitude adjustment:

[0085] A'=R z (-Ω)R x (-i)R z (-ω)A ( ' xyz)

[0086]

[0087] Where A' is the position of the satellite in the J2000 coordinate system after attitude adjustment, A ( ' xyz) is the XYZ axis position of the satellite after attitude adjustment, A (xyz) is the XYZ axis position of the satellite in the orbital coordinate system before attitude adjustment, Ω is the right ascension of the ascending node, i is the orbital inclination, ω is the argument of perigee, α represents -Ω or -i, and β represents -ω.

[0088] The speed of the satellite after attitude adjustment does not change, and the speed of the satellite after attitude adjustment can be calculated based on the current time of the satellite and the orbital elements of the satellite. Afterwards, based on the position of the satellite in the J2000 coordinate system after attitude adjustment, the angle between the vector pointing from the earth station to the satellite and the vector pointing from the sun to the satellite is recalculated according to the calculation formula of the phase angle and the positive and negative judgment method in step 102 to obtain the phase angle after the satellite attitude adjustment.

[0089] Furthermore, based on the attitude parameters recalculated after the satellite attitude adjustment, a query is performed in the full-angle photometric simulation database in step 100 to obtain the equivalent magnitude of the satellite after the attitude adjustment.

[0090] Regarding step 106:

[0091] In some implementations, step 106 includes:

[0092] Based on the phase angle and equivalent magnitude after the satellite attitude adjustment, determining the position of the photometric point after the satellite attitude adjustment in the phase angle photometric template;

[0093] Calculating a photometric offset according to the photometric point after the satellite attitude adjustment and the corresponding photometric point in the phase angle photometric template;

[0094] The photometric offset is compared with the attitude adjustment abnormality threshold. If the photometric offset exceeds the attitude adjustment abnormality threshold, the current attitude adjustment of the satellite is judged to be abnormal; if the photometric offset is less than the attitude adjustment abnormality threshold, the current attitude adjustment of the satellite is judged to be normal.

[0095] In an embodiment of the present invention, the photometric data consisting of the phase angle and equivalent magnitude calculated after the satellite attitude adjustment in step 104 is input into the phase angle photometric template constructed in step 102 for matching, and the photometric offset is calculated. By comparing the photometric offset with the attitude adjustment abnormality threshold, the satellite attitude adjustment abnormality can be quickly and accurately determined.

[0096] In an embodiment of the present invention, a full-angle photometric simulation database is constructed using a three-dimensional model of a high-orbit satellite. According to the orbital elements of the high-orbit satellite, the position, velocity, phase angle and attitude parameters corresponding to each sampling point in the satellite's operation for one day are calculated at a sampling time interval of 1 minute, and the attitude parameters of each sampling point are queried in the full-angle photometric simulation database to obtain the corresponding equivalent magnitude. Among them, the orbital elements of the high-orbit satellite are: semi-major axis 42000km, eccentricity 0.00068, orbit inclination 0.75°, ascending node right ascension 35°, perigee argument 160°, true anomaly 200°.

[0097] The satellite phase angle luminosity template is constructed based on the phase angle calculated from the sampling point and the equivalent magnitude of the response obtained from the query. Figure 2 As shown, the satellite is simulated for attitude adjustment by deflecting it along the Y-axis of the satellite orbit coordinate system by 5 degrees, 10 degrees, 20 degrees, 30 degrees and 50 degrees during movement. At this time, the satellite is in an attitude adjustment state, but because the relative positions of the sun, satellite and earth station have not changed, the attitude adjustment corresponds to the same phase angle.

[0098] For different satellite targets, the threshold T for determining attitude abnormality is different. The threshold T for determining attitude abnormality in this simulation target is set to 0.15 magnitude. In order to verify the rationality of the attitude abnormality threshold, the photometric data under the attitude abnormality condition is selected in the embodiment of the present invention to match the phase angle photometric template (such as Figure 3 As shown in ), the photometric deviation is calculated and compared with the attitude adjustment abnormality threshold T. As shown in Table 1, the photometric deviation of the satellite attitude adjustment is greater than 0.15 magnitude, the average deviation is greater than 0.32 magnitude, and the overall standard deviation is 1.44. It can be seen that the attitude adjustment abnormality threshold set in the embodiment of the present invention meets the judgment standard. When judging the abnormality of the satellite attitude adjustment, if the calculated photometric deviation is greater than the attitude adjustment abnormality threshold, it is judged that the satellite attitude adjustment is abnormal.

[0099] Table 1 Matching results between attitude adjustment luminosity and template luminosity

[0100]

[0101] like Figure 4 , Figure 5As shown, an embodiment of the present invention provides a satellite attitude anomaly detection device based on photometric features. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 4 As shown in FIG. 1 , a hardware architecture diagram of a computing device in which a satellite attitude adjustment anomaly detection device based on photometric features is provided in an embodiment of the present invention is provided. 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 5 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 internal memory and runs it.

[0102] This embodiment provides a satellite attitude anomaly detection device based on photometric features, the device comprising:

[0103] The database construction unit 501 is used to construct a full-angle photometric simulation database of the satellite; wherein the full-angle photometric simulation database includes the equivalent magnitude corresponding to each set of attitude parameters;

[0104] The template construction unit 502 is used to calculate the phase angle, attitude parameters and equivalent magnitude of the satellite at each sampling point according to the orbital elements of the satellite, the preset sampling interval and the full-angle photometric simulation database, and to construct a phase angle photometric template of the satellite based on the corresponding relationship between the phase angle and the equivalent magnitude;

[0105] The calculation unit 503 is used to adjust the attitude of the satellite according to the preset rotation angle, and calculate the phase angle, attitude parameters and equivalent magnitude of the satellite after the attitude adjustment based on the full-angle photometric simulation database;

[0106] The detection unit 504 is used to match the phase angle and equivalent magnitude of the satellite after attitude adjustment in the phase angle photometric template, and detect the abnormality of the current attitude adjustment of the satellite based on the matching result and the attitude adjustment abnormality threshold.

[0107] In an embodiment of the present invention, the database construction unit 501 can be used to execute step 100 in the above method embodiment, the template construction unit 502 can be used to execute step 102 in the above method embodiment, the calculation unit 503 can be used to execute step 104 in the above method embodiment, and the detection unit 504 can be used to execute step 106 in the above method embodiment.

[0108] In one embodiment of the present invention, in the database construction unit 501, the attitude parameters include the station azimuth, the station pitch angle, the sun azimuth and the sun pitch angle;

[0109] The full-angle photometric simulation database is constructed in the following way:

[0110] Taking the station azimuth, station elevation, solar azimuth and solar elevation as simulation variables, based on the constructed satellite three-dimensional model, the equivalent magnitude of the satellite luminosity corresponding to each angle in each simulation variable is traversed respectively to obtain the equivalent magnitudes corresponding to several groups of simulation variables.

[0111] In one embodiment of the present invention, in the template construction unit 502 and the calculation unit 503, the equivalent magnitude of the satellite at each sampling point and the equivalent magnitude of the satellite after attitude adjustment are respectively obtained by querying the full-angle photometric simulation database based on the attitude parameters corresponding to the phase angle of the satellite at each sampling point and the attitude parameters after the satellite attitude adjustment.

[0112] In one embodiment of the present invention, in the template construction unit 502 and the calculation unit 503, the phase angle of the satellite includes a positive phase angle and a negative phase angle; wherein the positive and negative phase angles are determined based on the angle between the velocity vector of the satellite in the J2000 coordinate system and the vector pointing from the sun to the direction of the satellite.

[0113] In one embodiment of the present invention, when the template construction unit 502 calculates the phase angle and attitude parameters of the satellite at each sampling point according to the orbital elements of the satellite, the preset sampling interval and the full-angle photometric simulation database, the following operations are performed for each sampling point:

[0114] According to the orbital elements of the satellite and the preset sampling interval, the position and speed of the satellite in the orbital coordinate system at the current sampling point are calculated;

[0115] Convert the position and velocity of the satellite in the orbital coordinate system to the J2000 coordinate system to obtain the position and velocity of the satellite in the J2000 coordinate system;

[0116] Based on the position of the satellite in the J2000 coordinate system, the angle between the vector pointing from the earth station to the satellite and the vector pointing from the sun to the satellite is calculated to obtain the phase angle of the satellite at the current sampling point;

[0117] Based on the position of the satellite in the J2000 coordinate system, the positional relationship between the earth station and the sun, the attitude parameters of the satellite at the current sampling point are obtained.

[0118] In one embodiment of the present invention, the phase angle photometric template of the satellite in the template construction unit 502 is constructed in the following manner:

[0119] According to the satellite phase angle at each sampling point and the equivalent magnitude at each sampling point, a corresponding relationship between the satellite phase angle and the equivalent magnitude is established;

[0120] The distance normalization method is used to unify the correspondence between the satellite phase angle and the equivalent magnitude, and the local regression weighted method is used for fitting to obtain the photometric template constructed based on the phase angle.

[0121] In one embodiment of the present invention, when the calculation unit 503 adjusts the attitude of the satellite according to the preset rotation angle and calculates the phase angle and attitude parameters of the satellite after the attitude adjustment based on the full-angle photometric simulation database, it is used to perform the following operations:

[0122] Based on the preset rotation angle, calculate the rotation matrix of the satellite attitude adjustment;

[0123] Determining the position of the satellite in the orbital coordinate system after the attitude adjustment according to the rotation matrix of the satellite attitude adjustment;

[0124] The position of the satellite after attitude adjustment in the orbital coordinate system is converted to the J2000 coordinate system to obtain the position of the satellite after attitude adjustment in the J2000 coordinate system;

[0125] Based on the position of the satellite in the J2000 coordinate system after attitude adjustment, the angle between the vector pointing from the Earth station to the satellite and the vector pointing from the sun to the satellite is calculated to obtain the phase angle after the satellite attitude adjustment.

[0126] Based on the position of the satellite in the J2000 coordinate system after attitude adjustment, the positional relationship between the earth station and the sun, the attitude parameters of the satellite after attitude adjustment are obtained.

[0127] In one embodiment of the present invention, the detection unit 504 is used to perform the following operations when matching the phase angle and equivalent magnitude of the satellite after attitude adjustment in the phase angle photometric template and detecting the abnormality of the current attitude adjustment of the satellite based on the matching result and the attitude adjustment abnormality threshold:

[0128] Based on the phase angle and equivalent magnitude after the satellite attitude adjustment, determining the position of the photometric point after the satellite attitude adjustment in the phase angle photometric template;

[0129] Calculating a photometric offset according to the photometric point after the satellite attitude adjustment and the corresponding photometric point in the phase angle photometric template;

[0130] The photometric offset is compared with the attitude adjustment abnormality threshold. If the photometric offset exceeds the attitude adjustment abnormality threshold, the current attitude adjustment of the satellite is judged to be abnormal; if the photometric offset is less than the attitude adjustment abnormality threshold, the current attitude adjustment of the satellite is judged to be normal.

[0131] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a satellite attitude anomaly detection device based on photometric features. In other embodiments of the present invention, a satellite attitude anomaly detection device based on photometric features may include more or fewer components than shown in the figure, or combine certain components, or split certain 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.

[0132] 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 the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0133] 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 method for detecting satellite attitude anomalies based on photometric features in any embodiment of the present invention is implemented.

[0134] An embodiment of the present invention also 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 satellite attitude anomaly detection method based on photometric features in any embodiment of the present invention.

[0135] 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 read and execute the program code stored in the storage medium.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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 satellite attitude anomaly detection method based on photometric features provided in the above-mentioned method embodiments.

[0141] 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.

[0142] 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.

[0143] 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 satellite attitude anomaly detection method based on photometric features, characterized in that: include: Constructing a full-angle photometric simulation database of the satellite; wherein the full-angle photometric simulation database includes the equivalent magnitude corresponding to each set of attitude parameters; According to the orbital elements of the satellite, the preset sampling interval and the full-angle photometric simulation database, the phase angle, attitude parameters and equivalent magnitude of the satellite at each sampling point are calculated, and based on the corresponding relationship between the phase angle and the equivalent magnitude, the phase angle photometric template of the satellite is constructed; Adjusting the satellite's attitude according to a preset rotation angle, and calculating the satellite's phase angle, attitude parameters and equivalent magnitude after attitude adjustment based on the full-angle photometric simulation database; The phase angle and equivalent magnitude after the satellite attitude adjustment are matched in the phase angle photometric template, and based on the matching result and the attitude adjustment abnormality threshold, the current attitude adjustment abnormality of the satellite is detected.

2. The method according to claim 1, characterized in that The attitude parameters include the station azimuth, the station pitch angle, the sun azimuth and the sun pitch angle; The full-angle photometric simulation database is constructed in the following way: Taking the station azimuth, station elevation, solar azimuth and solar elevation as simulation variables, based on the constructed satellite three-dimensional model, the equivalent magnitude of the satellite luminosity corresponding to each angle in each simulation variable is traversed respectively to obtain the equivalent magnitudes corresponding to several groups of simulation variables.

3. The method according to claim 1, characterized in that The equivalent magnitude of the satellite at each sampling point phase angle and the equivalent magnitude of the satellite after attitude adjustment are respectively obtained by querying the attitude parameters of the satellite at each sampling point and the attitude parameters of the satellite after attitude adjustment through the full-angle photometric simulation database; and / or The phase angle of the satellite includes a positive phase angle and a negative phase angle; wherein the positive and negative phase angles are determined based on the angle between the velocity vector of the satellite in the J2000 coordinate system and the vector pointing from the sun to the direction of the satellite.

4. The method according to claim 1 or 3, characterized in that: The step of calculating the phase angle and attitude parameters of the satellite at each sampling point according to the orbital elements of the satellite, the preset sampling interval and the full-angle photometric simulation database includes: For each sampling point, execute: According to the orbital elements of the satellite and the preset sampling interval, the position and speed of the satellite in the orbital coordinate system at the current sampling point are calculated; Convert the position and velocity of the satellite in the orbital coordinate system to the J2000 coordinate system to obtain the position and velocity of the satellite in the J2000 coordinate system; Based on the position of the satellite in the J2000 coordinate system, the angle between the vector pointing from the earth station to the satellite and the vector pointing from the sun to the satellite is calculated to obtain the phase angle of the satellite at the current sampling point; Based on the position of the satellite in the J2000 coordinate system, the positional relationship between the earth station and the sun, the attitude parameters of the satellite at the current sampling point are obtained.

5. The method according to claim 1, characterized in that: The phase angle photometric template of the satellite is constructed in the following way: According to the satellite phase angle at each sampling point and the equivalent magnitude at each sampling point, a corresponding relationship between the satellite phase angle and the equivalent magnitude is established; The distance normalization method is used to unify the correspondence between the satellite phase angle and the equivalent magnitude, and the local regression weighted method is used for fitting to obtain the photometric template constructed based on the phase angle.

6. The method according to claim 1, characterized in that The satellite is adjusted according to the preset rotation angle, and the phase angle and attitude parameters of the satellite after the adjustment are calculated based on the full-angle photometric simulation database, including: Based on the preset rotation angle, calculate the rotation matrix of the satellite attitude adjustment; Determining the position of the satellite in the orbital coordinate system after the attitude adjustment according to the rotation matrix of the satellite attitude adjustment; The position of the satellite after attitude adjustment in the orbital coordinate system is converted to the J2000 coordinate system to obtain the position of the satellite after attitude adjustment in the J2000 coordinate system; Based on the position of the satellite in the J2000 coordinate system after attitude adjustment, the angle between the vector pointing from the Earth station to the satellite and the vector pointing from the sun to the satellite is calculated to obtain the phase angle after the satellite attitude adjustment. Based on the position of the satellite in the J2000 coordinate system after attitude adjustment, the positional relationship between the earth station and the sun, the attitude parameters of the satellite after attitude adjustment are obtained.

7. The method according to claim 1, characterized in that The phase angle and equivalent magnitude after the satellite attitude adjustment are matched in the phase angle photometric template, and based on the matching result and the attitude adjustment abnormality threshold, the abnormality of the current attitude adjustment of the satellite is detected, including: Based on the phase angle and equivalent magnitude after the satellite attitude adjustment, determining the position of the photometric point after the satellite attitude adjustment in the phase angle photometric template; Calculating a photometric offset according to the photometric point after the satellite attitude adjustment and the corresponding photometric point in the phase angle photometric template; The photometric offset is compared with the attitude adjustment abnormality threshold. If the photometric offset exceeds the attitude adjustment abnormality threshold, the current attitude adjustment of the satellite is judged to be abnormal; if the photometric offset is less than the attitude adjustment abnormality threshold, the current attitude adjustment of the satellite is judged to be normal.

8. A satellite attitude anomaly detection device based on photometric features, characterized in that: include: A database construction unit is used to construct a full-angle photometric simulation database of the satellite; wherein the full-angle photometric simulation database includes the equivalent magnitude corresponding to each set of attitude parameters; A template construction unit is used to calculate the phase angle, attitude parameters and equivalent magnitude of the satellite at each sampling point according to the orbital elements of the satellite, the preset sampling interval and the full-angle photometric simulation database, and to construct a phase angle photometric template of the satellite based on the corresponding relationship between the phase angle and the equivalent magnitude; A calculation unit, used to adjust the attitude of the satellite according to a preset rotation angle, and calculate the phase angle, attitude parameters and equivalent magnitude of the satellite after the attitude adjustment based on the full-angle photometric simulation database; The detection unit is used to match the phase angle and equivalent magnitude of the satellite after attitude adjustment in the phase angle photometric template, and detect the abnormality of the current attitude adjustment of the satellite based on the matching result and the attitude adjustment abnormality threshold.

9. 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 7 is implemented.

10. 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 7.

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