Architecture design method for satellite attitude calculation based on known ground transmitter position

Abstract

The invention relates to the technical field of satellite communication, and provides an architecture design method for performing satellite attitude calculation based on a known ground transmitter position, which is characterized in that a satellite uses a satellite tracker and a magnetic sensor to calculate the attitude (pitching, rolling and yawing) of the satellite; satellite can calculate its three-dimensional position coordinates using a radio navigation system such as global positioning system (GPS), however, position and attitude calculations are not always very accurate, and calculation of satellite positions and attitudes with additional means is beneficial for this purpose, the proposed system relies on multiple radio transmitters with known positions on the ground, such as on the ground, as well as on the basis of the multiple radio transmitters. The position of the ground transmitter can be static and can also be dynamic, and compared with a traditional satellite attitude calculation method, the satellite position and attitude calculation method based on the ground transmitter has the advantage that the satellite position and attitude calculation method is more reliable in combination with the ground transmitter.

Description

Technical Field

[0001] The present invention relates to the field of satellite communication technology, and in particular to an architecture design method for performing satellite attitude calculation based on a known ground transmitter position. Background Art

[0002] Satellites typically use star trackers and magnetic sensors to calculate the satellite's attitude (pitch, roll, and yaw). At the same time, satellites can use radio navigation systems such as the Global Positioning System (GPS) to calculate their three-dimensional position coordinates. However, these methods are not always accurate enough. To improve accuracy, this system relies on multiple radio transmitters on the ground. It is beneficial to use multiple radio transmitters on the ground to calculate satellite position and attitude. Summary of the invention

[0003] The present invention proposes an architecture design method for satellite attitude calculation based on known ground transmitter positions, and provides a more accurate and reliable satellite position and attitude calculation method by utilizing multiple radio transmitters at known positions on the ground.

[0004] The technical solution of the present invention is as follows: Usually, a satellite will use a star tracker and a magnetic sensor to calculate the satellite's attitude (pitch, roll and yaw). A satellite can use a radio navigation system such as a global positioning system (GPS) to calculate its three-dimensional position coordinates. However, the position and attitude calculations are not always very accurate. It is beneficial to calculate the satellite position and attitude using additional means. For this purpose, the proposed system relies on multiple radio transmitters with known positions on the ground. The ground transmitter positions can be static or dynamic, such as Figure 1As shown, these ground transmitter positions can be calculated in real time by using an onboard GPS receiver, or they can be recorded during the installation of the transmitter (assuming it is a static transmitter) (the transmitter is a static transmitter 69 or a mobile transmitter). The mobile transmitter can include a standard smartphone 70, which has a GPS for calculating its position and the ability to communicate with the satellite. The transmitter can also be a terminal on the ground with an integrated GPS receiver and can send its GPS position to the satellite 71. Any combination of radio transmitters with known positions can be used for satellite position and attitude calculation. These transmitters periodically send messages to the satellite containing the position of the transmitter. In order to calculate the position and attitude of the satellite, six or more transmitters are scattered on the ground far enough away and transmit their known positions to the satellite at almost the same time. If a GPS receiver such as If the satellite position is already known by radio navigation systems such as GPS 72, then only three or more transmitters are needed on the ground to calculate the three attitude variables. The ground transmitters can be synchronized using GPS time synchronization or other means such as the Network Time Protocol. In order to more accurately calculate the satellite position or attitude, the ground transmitters should be deployed in the latitude and longitude directions with a spacing of approximately the antenna array beam width or larger. The satellite antenna array receives the position information from the ground transmitters. The satellite combines the position information received from the ground transmitters with the arrival angle calculation of each transmitter. The equation can solve the unknown position and attitude variables (elevation, azimuth, range, pitch, roll and yaw). If the ground If there are more than six transmitters on the surface, and they are spaced far enough apart so that each transmitter is at least one beamwidth away from every other transmitter, then the system of equations is overdetermined and the accuracy of the satellite attitude calculation can be improved by computing a least squares calculation. If the transmissions from the ground transmitters do not occur simultaneously, a Kalman filter on the satellite combines the position data from the ground transmitters with the satellite inertial measurements to calculate the satellite position and attitude. The position and attitude calculations can also be continuously updated between transmissions through the Kalman filter, since the transmissions may not occur continuously (to reduce the required uplink bandwidth). The position and attitude calculations can be done locally on the satellite or remotely on a server.

[0005] The working principle and beneficial effects of the present invention are:

[0006] In the present invention, compared with the traditional satellite attitude calculation method, the beneficial effect of the present invention is to provide a more reliable satellite position and attitude calculation method combined with a ground transmitter. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0008] Figure 1Architecture for satellite attitude calculation using ground transmitters with known positions. DETAILED DESCRIPTION

[0009] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0010] like Figure 1 As shown, this embodiment proposes an architecture design method for satellite attitude calculation based on known ground transmitter positions. Usually, a satellite will use a star tracker and a magnetic sensor to calculate the satellite's attitude (pitch, roll, and yaw). The satellite can use a radio navigation system such as the Global Positioning System (GPS) to calculate its three-dimensional position coordinates. However, the position and attitude calculations are not always very accurate. It is beneficial to use additional means to calculate the satellite position and attitude. For this reason, the proposed system relies on multiple radio transmitters with known positions on the ground. The ground transmitter positions can be static or dynamic, such as Figure 1As shown, these ground transmitter positions can be calculated in real time by using an onboard GPS receiver, or they can be recorded during the installation of the transmitter (assuming it is a static transmitter) (the transmitter is a static transmitter 69 or a mobile transmitter). The mobile transmitter can include a standard smartphone 70, which has a GPS for calculating its position and the ability to communicate with the satellite. The transmitter can also be a terminal on the ground with an integrated GPS receiver and can send its GPS position to the satellite 71. Any combination of radio transmitters with known positions can be used for satellite position and attitude calculation. These transmitters periodically send messages to the satellite containing the position of the transmitter. In order to calculate the position and attitude of the satellite, six or more transmitters are scattered on the ground far enough away and transmit their known positions to the satellite at almost the same time. If a GPS receiver such as If the satellite position is already known by radio navigation systems such as GPS 72, then only three or more transmitters are needed on the ground to calculate the three attitude variables. The ground transmitters can be synchronized using GPS time synchronization or other means such as the Network Time Protocol. In order to more accurately calculate the satellite position or attitude, the ground transmitters should be deployed in the latitude and longitude directions with a spacing of approximately the antenna array beam width or larger. The satellite antenna array receives the position information from the ground transmitters. The satellite combines the position information received from the ground transmitters with the arrival angle calculation of each transmitter. The equation can solve the unknown position and attitude variables (elevation, azimuth, range, pitch, roll and yaw). If the ground If there are more than six transmitters on the surface, and they are spaced far enough apart so that each transmitter is at least one beamwidth away from every other transmitter, then the system of equations is overdetermined and the accuracy of the satellite attitude calculation can be improved by computing a least squares calculation. If the transmissions from the ground transmitters do not occur simultaneously, a Kalman filter on the satellite combines the position data from the ground transmitters with the satellite inertial measurements to calculate the satellite position and attitude. The position and attitude calculations can also be continuously updated between transmissions through the Kalman filter, since the transmissions may not occur continuously (to reduce the required uplink bandwidth). The position and attitude calculations can be done locally on the satellite or remotely on a server.

[0011] In this embodiment, the method of implementing the present invention includes deploying multiple transmitters on the ground, which can be static or mobile, such as smart phones or ground terminals. These transmitters send messages containing position information to the satellite, and the satellite improves the calculation accuracy of the position and attitude by combining the information of multiple transmitters and using methods such as least squares calculation.

[0012] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for designing an architecture for satellite attitude calculation based on known ground transmitter positions, characterized in that: The satellite will use star trackers and magnetic sensors to calculate the attitude (pitch, roll and yaw) of the satellite. The satellite can use radio navigation systems such as the Global Positioning System (GPS) to calculate its three-dimensional position coordinates. However, the position and attitude calculations are not always very accurate. It is beneficial to use additional means to calculate the satellite position and attitude. For this purpose, the proposed system relies on multiple radio transmitters with known positions on the ground. The ground transmitter positions can be static or dynamic. These ground transmitter positions can be calculated in real time by using an onboard GPS receiver or can be recorded during the transmitter installation (assuming it is a static transmitter) (transmitter The transmitter may be a static transmitter 69 or a mobile transmitter). The mobile transmitter may include a standard smartphone 70 with a GPS for calculating its position and the ability to communicate with the satellite. The transmitter may also be a terminal on the ground with an integrated GPS receiver and may send its GPS position to the satellite 71. Any combination of radio transmitters with known positions may be used for satellite position and attitude calculation. These transmitters periodically send messages to the satellite containing the position of the transmitter. In order to calculate the position and attitude of the satellite, six or more transmitters are spread out far enough on the ground to transmit their known positions to the satellite at almost the same time. If a GPS receiver such as If the satellite position is already known by radio navigation systems such as GPS 72, then only three or more transmitters are needed on the ground to calculate the three attitude variables. The ground transmitters can be synchronized using GPS time synchronization or other means such as the Network Time Protocol. In order to more accurately calculate the satellite position or attitude, the ground transmitters should be deployed in the latitude and longitude directions with a spacing of approximately the antenna array beam width or larger. The satellite antenna array receives the position information from the ground transmitters. The satellite combines the position information received from the ground transmitters with the arrival angle calculation of each transmitter. The equation can solve the unknown position and attitude variables (elevation, azimuth, range, pitch, roll and yaw). If the ground If there are more than six transmitters on the surface, and they are spaced far enough apart so that each transmitter is at least one beamwidth away from every other transmitter, then the system of equations is overdetermined and the accuracy of the satellite attitude calculation can be improved by computing a least squares calculation. If the transmissions from the ground transmitters do not occur simultaneously, a Kalman filter on the satellite combines the position data from the ground transmitters with the satellite inertial measurements to calculate the satellite position and attitude. The position and attitude calculations can also be continuously updated between transmissions through the Kalman filter, since the transmissions may not occur continuously (to reduce the required uplink bandwidth). The position and attitude calculations can be done locally on the satellite or remotely on a server.

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