Satellite full attitude acquisition method based on area array large field of view static infrared earth sensor

Abstract

The application provides a satellite full attitude acquisition method based on a surface array large field of view static infrared earth sensor, and the method comprises the following steps: controlling a satellite to rotate at a preset angular velocity, and acquiring a measurement value output by the surface array large field of view static infrared earth sensor in real time; performing earth acquisition according to the measurement value and a first threshold range; wherein when the measurement value is located in the first threshold range, the earth acquisition is completed; performing a plumb line acquisition according to the measurement value and a second threshold range; wherein when the measurement value is located in the second threshold range, the plumb line acquisition is completed; the first threshold range is larger than the second threshold range; determining an initial yaw angle according to a roll angular velocity, a pitch angular velocity and the measurement value of the satellite; obtaining a current yaw angle by using the initial yaw angle and a yaw angular velocity measurement value; and when the current yaw angle is located in the second threshold range, the full attitude acquisition is completed. The scheme can realize the conversion of the satellite from an arbitrary attitude to a three-axis geostationary attitude, does not need to rely on satellite orbit information, and improves the reliability and autonomy of the satellite.

Description

Technical Field

[0001] This invention relates to the field of aerospace attitude control technology, particularly to the field of satellite attitude control technology, and especially to a method for satellite full attitude acquisition based on a large field-of-view static infrared Earth sensor. Background Technology

[0002] When an Earth-orbiting satellite loses its attitude reference or experiences an anomaly, it is required to possess the ability to autonomously determine its current attitude using onboard components, recapture Earth, and restore its three-axis Earth-orientation attitude. However, existing methods for restoring a satellite's Earth-orientation attitude typically rely on satellite orbital information, making them highly susceptible to orbital influences and resulting in poor satellite reliability. Therefore, there is an urgent need to provide a satellite full-attitude acquisition method based on a large-field-of-view static infrared Earth sensor. Summary of the Invention

[0003] This invention provides a satellite full attitude acquisition method based on a large field-of-view static infrared Earth sensor. This method can enable the satellite to change from any attitude to a three-axis Earth orientation attitude without relying on satellite orbit information, thereby improving the reliability and autonomy of the satellite.

[0004] In a first aspect, the present invention provides a method for satellite full attitude acquisition based on a large field-of-view static infrared Earth sensor, comprising:

[0005] The satellite is controlled to rotate at a preset angular velocity, and the measured values ​​output by the large field-of-view static infrared Earth sensor are acquired in real time.

[0006] Earth capture is performed based on the measured value and a first threshold range; wherein, Earth capture is completed when the measured value is within the first threshold range.

[0007] Vertical line capture is performed based on the measured value and the second threshold range; wherein, vertical line capture is completed when the measured value is within the second threshold range; the first threshold range is greater than the second threshold range;

[0008] The roll axis angular velocity and pitch axis angular velocity of the satellite are integrated respectively to determine the initial value of the yaw angle according to the principle of the orbital compass;

[0009] The current yaw angle is calculated using the initial yaw angle and the measured yaw rate. When the current yaw angle is within the range of the second threshold, full attitude capture is completed.

[0010] Secondly, the present invention also provides a satellite full-attitude acquisition device based on a large field-of-view static infrared Earth sensor, comprising:

[0011] The Earth search module is used to control the satellite to rotate at a preset angular velocity and acquire the measurement values ​​output by the large field-of-view static infrared Earth sensor in real time; and to perform Earth acquisition based on the measurement values ​​and a first threshold range; wherein, Earth acquisition is completed when the measurement values ​​are within the first threshold range.

[0012] A plumb line capture module is used to capture a plumb line based on the measured value and a second threshold range; wherein, the plumb line capture is completed when the measured value is within the second threshold range; the first threshold range is greater than the second threshold range;

[0013] The yaw determination module is used to integrate the roll axis angular velocity and pitch axis angular velocity of the satellite respectively to determine the initial value of the yaw angle according to the orbital compass principle; and to calculate the current yaw angle using the initial value of the yaw angle and the measured value of the yaw angular velocity. When the current yaw angle is within the range of the second threshold, the full attitude acquisition is completed.

[0014] Thirdly, the present invention also 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, it implements the satellite full attitude acquisition method based on a large field-of-view static infrared Earth sensor as described in any of the above claims.

[0015] Fourthly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the satellite full attitude acquisition method based on a large field-of-view static infrared Earth sensor described in any of the above claims.

[0016] Fifthly, embodiments of the present invention also provide a computer program product, including computer instructions, which, when executed by a processor, implement the steps of the method described in any of the first aspects of this specification.

[0017] This invention provides a satellite full-attitude acquisition method based on a large-field-of-view static infrared Earth sensor. Applied to satellites containing such sensors, the method controls the satellite's angular velocity to a preset angular velocity and then searches for Earth at that velocity until the measured value output by the large-field-of-view static infrared Earth sensor meets a first threshold range, at which point Earth acquisition is confirmed. Then, when the measured value meets a second threshold range, vertical alignment acquisition is confirmed. Finally, using the orbital compass principle, the initial yaw angle of the satellite is determined through integral attitude determination. Based on this initial yaw angle and the yaw angular velocity measured by the gyroscope, the current yaw angle is estimated until it falls within the second threshold range, completing full-attitude acquisition and establishing a three-axis Earth-oriented attitude. Thus, this invention, relying solely on a large-field-of-view static infrared Earth sensor and a gyroscope, can convert a satellite from any attitude to a three-axis Earth-oriented attitude, not only eliminating the need for satellite orbital information but also improving the satellite's reliability and autonomy. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of a satellite full attitude acquisition method based on a large field-of-view static infrared Earth sensor according to an embodiment of the present invention;

[0020] Figure 2 This is a hardware architecture diagram of a computing device provided in an embodiment of the present invention;

[0021] Figure 3 This is a structural diagram of a satellite full attitude acquisition device based on a large field-of-view static infrared Earth sensor provided in an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0023] Please refer to Figure 1This invention provides a satellite full-attitude acquisition method based on a large field-of-view static infrared Earth sensor, applicable to satellites containing a large field-of-view static infrared Earth sensor, including:

[0024] Step 100: Control the satellite to rotate at a preset angular velocity and acquire the measurement values ​​output by the large field-of-view static infrared Earth sensor in real time.

[0025] Step 102: Earth capture is performed based on the measured value and the first threshold range; wherein, Earth capture is completed when the measured value is within the first threshold range.

[0026] Step 104: Perform vertical line capture based on the measured value and the second threshold range; wherein, vertical line capture is completed when the measured value is within the second threshold range; the first threshold range is greater than the second threshold range;

[0027] Step 106: Integrate the angular velocity of the satellite's roll axis and pitch axis respectively to determine the initial value of the yaw angle based on the principle of the orbital compass;

[0028] Step 108: Calculate the current yaw angle using the initial yaw angle and the measured yaw rate. When the current yaw angle is within the range of the second threshold, complete the full attitude capture.

[0029] In this invention, after controlling the satellite's angular velocity to a preset angular velocity, Earth search is performed at this preset angular velocity until the measured value output by the large field-of-view static infrared Earth sensor meets a first threshold range, at which point Earth acquisition is confirmed as successful. Then, when the measured value meets a second threshold range, vertical alignment acquisition is confirmed as successful. Finally, using the orbital compass principle, the initial value of the satellite's yaw angle is determined through integral attitude determination. Based on the initial yaw angle value and the yaw angular velocity measured by the gyroscope, the current yaw angle is estimated until it is controlled within the second threshold range, completing full attitude acquisition and establishing a three-axis Earth-oriented attitude. Thus, this invention can convert a satellite from an arbitrary attitude to a three-axis Earth-oriented attitude using only a large field-of-view static infrared Earth sensor and a gyroscope, not only without relying on satellite orbital information but also improving the satellite's reliability and autonomy.

[0030] It should be noted that the satellites of this invention are medium and low Earth orbit satellites.

[0031] The following description Figure 1 The execution method for each step is shown.

[0032] First, before step 100, the method further includes: adjusting the satellite's angular velocity to a preset angular velocity based on rate damping.

[0033] In this embodiment of the invention, the initial attitude of the satellite is an unknown quantity, and the initial attitude angular velocity can be obtained by measuring the gyroscope. Based on the measurement value of the gyroscope, the onboard control reduces the angular velocity of the satellite to a preset angular velocity range.

[0034] In a preferred embodiment, the preset angular velocity is -0.15° / s to 0.15° / s.

[0035] In this embodiment of the invention, by limiting the satellite to a preset angular velocity range, it is possible to ensure that the static infrared Earth sensor works normally and captures the Earth better and more accurately.

[0036] In step 100, the field of view of the large field-of-view static infrared Earth sensor is greater than 65°.

[0037] In this embodiment of the invention, the large field-of-view static infrared Earth sensor adopts a photographic mode, and its field of view is greater than 65°. It provides more comprehensive and higher accuracy measurements than the infrared Earth sensor in scanning mode, and can more accurately capture the Earth.

[0038] In step 102, Earth capture is performed based on the measured value and the first threshold range, including:

[0039] Control the satellite to rotate around the X-axis and determine whether the measured value meets the first threshold range;

[0040] If the satellite rotates no more than 360° around the X-axis and the measured value meets the first threshold range, then Earth capture is complete.

[0041] If the satellite rotates more than 360° around the X-axis and the measured value does not meet the first threshold range, then the satellite is controlled to rotate around the Y-axis until the measured value meets the first threshold range, thus completing Earth capture.

[0042] In a preferred embodiment, the first threshold range is -50° to 50°.

[0043] Specifically, the satellite first rotates 360° around the X-axis. During the rotation, the large field-of-view static infrared Earth sensor outputs valid data (recorded as the measured value). If the measured value satisfies -50° to 50°, then Earth capture is successful, and the satellite then enters the vertical capture phase.

[0044] If the satellite fails to capture Earth after rotating 360° around the X-axis, it will then rotate 360° around the Y-axis. During the rotation, the large field-of-view static infrared Earth sensor will output valid data (recorded as the measured value). If the measured value satisfies -50° to 50°, then Earth capture is successful, and the satellite will switch to vertical capture.

[0045] If the satellite fails to capture Earth in two orbital rotations, Earth capture fails, satellite control is suspended, and the satellite awaits ground intervention.

[0046] It should be noted that a large field-of-view static infrared Earth sensor is generally installed on the satellite's +Z plane. Assuming that the X-axis and Y-axis of the large field-of-view static infrared Earth sensor are aligned with the satellite's X-axis and Y-axis, respectively, the measurements taken by the large field-of-view static infrared Earth sensor are the satellite's roll angle and pitch angle relative to the Earth. Here, the satellite's X-axis and Y-axis are the X-axis and Y-axis in the satellite's body coordinate system, respectively.

[0047] In step 104, vertical line capture is performed based on the measured value and the second threshold range, including:

[0048] The satellite is controlled to rotate around the X-axis and Y-axis respectively, so that the measured value meets the second threshold range.

[0049] In a preferred embodiment, the second threshold range is -4° to 4°.

[0050] Specifically, based on the measured values ​​output by the large field-of-view static infrared Earth sensor, and by controlling it to -4° to 4°, the satellite's Z-axis is aligned with the Earth's vertical line, thus completing the Earth's vertical line acquisition.

[0051] In this embodiment of the invention, the satellite first rotates 360° around the X-axis, then rotates 360° around the Y-axis, completing a full-sky search for Earth. Theoretically, Earth will definitely enter the field of view of the large-field-of-view static infrared Earth sensor. Based on the measurements from the large-field-of-view static infrared Earth sensor, roll acquisition and pitch acquisition are performed, controlling the satellite's roll and pitch angles within a second threshold range, so that the satellite's Z-axis coincides with the vertical line of the Earth.

[0052] For step 106, the roll axis angular velocity and pitch axis angular velocity of the satellite are integrated respectively to determine the initial value of the yaw angle according to the principle of the orbital compass, including:

[0053] Acquire the roll axis angular velocity and pitch axis angular velocity of the satellite when it completes vertical alignment capture;

[0054] Using the principle of the orbital compass, the initial value of the yaw angle is determined by the integral values ​​of the rolling axis angular velocity and the pitch axis angular velocity; the initial value of the yaw angle is determined by the following formula:

[0055] (1)

[0056] in, ψ This is the initial value of the yaw angle; I ωx This is the integral value of the rolling shaft angular velocity; I ωy This is the integral value of the pitch axis angular velocity.

[0057] Specifically, after achieving vertical alignment acquisition, the satellite maintains its current roll and pitch angles, and uses the orbital compass principle to determine the yaw attitude based on the attitude integrals of the roll and pitch angles. Under the condition that both the roll and pitch angles are small (-4° to 4°), neglecting second-order minor quantities, the approximate formula for angular velocity is obtained:

[0058] (2)

[0059] (3)

[0060] in, The rolling angular velocity, The pitch angular velocity, ω 0 represents the orbital angular velocity. ψ This is the initial value of the yaw angle;

[0061] Due to the attitude angular velocity during stable operation ( and The integral value is approximately zero. Calculate the inertial angular velocity of the rolling shaft (X-axis) during a period of steady operation. ω x The integral value (obtained by gyroscope measurement) and pitch axis (Y-axis) inertial angular velocity ω y The integral value (obtained by gyroscope measurement) Therefore, by integrating formulas (2) and (3), and using these two integral values, the initial value of formula (1) for calculating the yaw angle can be obtained. ω 0 represents the orbital angular velocity, which is measured by a gyroscope.

[0062] In this embodiment of the invention, only the angular velocity measured by a gyroscope is required, without relying on satellite orbit information, thus reducing system cost and power consumption. Furthermore, when the satellite attitude is stable, this method can effectively suppress error accumulation.

[0063] In step 108, the current yaw angle is calculated using the initial yaw angle and the measured yaw rate, including:

[0064] Obtain the yaw rate measurement of the satellite;

[0065] The current yaw angle is calculated in real time based on the measured yaw rate; where the current yaw angle is the sum of the initial yaw angle value and the product of the measured yaw rate value and the running time.

[0066] Specifically, after achieving vertical alignment acquisition, the satellite maintains its current roll and pitch angles and acquires its yaw rate measurement. This allows for real-time calculation of the current yaw angle at any given moment. Once this current yaw angle is controlled within a second threshold range, full attitude acquisition is completed, establishing the satellite's three-axis Earth-orientation attitude. At time t2 corresponding to the initial yaw angle value, the satellite's current yaw angle after time t, starting from this initial yaw angle, is calculated as: initial yaw angle + yaw rate measurement × t.

[0067] In this embodiment of the invention, the satellite is rotated to search for the Earth, enabling the large field-of-view static infrared Earth sensor to observe the target. Based on the measurement values ​​of the static infrared Earth sensor, the satellite's Z-axis is aligned with the vertical line of the Earth. Then, using the principle of the orbital compass, the attitude integral of the roll and pitch directions is used to determine the yaw attitude. The yaw angle is controlled within a set threshold, ultimately achieving three-axis Earth orientation of the satellite.

[0068] like Figure 2 , Figure 3 As shown, this embodiment of the invention provides a satellite full-attitude acquisition device based on a large field-of-view static infrared Earth sensor. The device embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, as... Figure 2 The diagram shown is a hardware architecture diagram of a computing device for a satellite full-attitude acquisition device based on a large field-of-view static infrared Earth sensor provided in an embodiment of the present invention. Except for... Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the computing device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing packets. Taking software implementation as an example, such as... Figure 3 As shown, a logical device is formed by the CPU of its computing device reading the corresponding computer program from non-volatile memory into memory and running it. This embodiment provides a satellite attitude acquisition device based on a large field-of-view static infrared Earth sensor, comprising:

[0069] Earth search module 300 is used to control the satellite to rotate at a preset angular velocity and acquire the measurement values ​​output by the large field-of-view static infrared Earth sensor in real time; and to perform Earth acquisition based on the measurement values ​​and a first threshold range; wherein, Earth acquisition is completed when the measurement values ​​are within the first threshold range.

[0070] The plumb line capture module 302 is used to capture the plumb line based on the measured value and a second threshold range; wherein, the plumb line capture is completed when the measured value is within the second threshold range; the first threshold range is greater than the second threshold range;

[0071] The yaw determination module 304 is used to integrate the roll axis angular velocity and pitch axis angular velocity of the satellite respectively to determine the initial value of the yaw angle according to the principle of the orbital compass; and to calculate the current yaw angle using the initial value of the yaw angle and the measured value of the yaw angular velocity. When the current yaw angle is within the range of the second threshold, the full attitude acquisition is completed.

[0072] In some specific implementations, the Earth search module 300 can be used to perform steps 100 and 102 above, the vertical line capture module 302 can be used to perform step 104 above, and the yaw determination module 304 can be used to perform steps 106 and 108 above.

[0073] In some specific embodiments, the device further includes a speed control module, which performs the following operations:

[0074] The satellite's angular velocity is adjusted to a preset angular velocity based on rate damping.

[0075] In some specific implementations, the preset angular velocity is -0.15° / s to 0.15° / s.

[0076] In some specific implementations, the field of view of the large field-of-view static infrared Earth sensor is greater than 65°.

[0077] In some specific implementations, the Earth search module 300 is also used to perform the following operations:

[0078] Control the satellite to rotate around the X-axis and determine whether the measured value meets the first threshold range;

[0079] If the satellite rotates no more than 360° around the X-axis and the measured value meets the first threshold range, then Earth capture is complete.

[0080] If the satellite rotates more than 360° around the X-axis and the measured value does not meet the first threshold range, then the satellite is controlled to rotate around the Y-axis until the measured value meets the first threshold range, thus completing Earth capture.

[0081] In some specific embodiments, the plumb line capture module 302 is also used to perform the following operations:

[0082] The satellite is controlled to rotate around the X-axis and Y-axis respectively, so that the measured value meets the second threshold range.

[0083] In some specific implementations, the first threshold range is -50° to 50°.

[0084] In some specific implementations, the second threshold range is -4° to 4°.

[0085] In some specific implementations, the yaw determination module 304 is also used to perform the following operations:

[0086] Acquire the roll axis angular velocity and pitch axis angular velocity of the satellite when it completes vertical alignment capture;

[0087] Using the principle of the orbital compass, the initial value of the yaw angle is determined by the integral values ​​of the rolling axis angular velocity and the pitch axis angular velocity; the initial value of the yaw angle is determined by the following formula:

[0088]

[0089] in, ψ This is the initial value of the yaw angle; I ωx This is the integral value of the rolling shaft angular velocity; I ωy This is the integral value of the pitch axis angular velocity.

[0090] In some specific implementations, the yaw determination module 304 is also used to perform the following operations:

[0091] Obtain the yaw rate measurement of the satellite;

[0092] The current yaw angle is calculated in real time based on the measured yaw rate; where the current yaw angle is the sum of the initial yaw angle value and the product of the measured yaw rate value and the running time.

[0093] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on a satellite all-attitude acquisition device based on a large field-of-view static infrared Earth sensor. In other embodiments of the present invention, a satellite all-attitude acquisition device based on a large field-of-view static infrared Earth sensor may include more or fewer components than illustrated, or combine some components, or split some components, or arrange different components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0094] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.

[0095] This invention also provides a computing device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a satellite full attitude acquisition method based on a large field-of-view static infrared Earth sensor according to any embodiment of this invention.

[0096] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program causes the processor to perform a satellite full attitude acquisition method based on a large field-of-view static infrared Earth sensor according to any embodiment of this invention.

[0097] Embodiments of this application also provide 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 executes the computer program, causing the computer device to perform a satellite full attitude acquisition method based on a large field-of-view static infrared Earth sensor as described in any of the above embodiments.

[0098] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0099] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0100] Storage media embodiments for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0101] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0102] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0103] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0104] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for satellite full attitude acquisition based on a large field-of-view static infrared Earth sensor, characterized in that, include: The satellite is controlled to rotate at a preset angular velocity, and the measured values ​​output by the large field-of-view static infrared Earth sensor are acquired in real time. Earth capture is performed based on the measured value and a first threshold range; wherein, Earth capture is completed when the measured value is within the first threshold range. Vertical line capture is performed based on the measured value and the second threshold range; wherein, vertical line capture is completed when the measured value is within the second threshold range; the first threshold range is greater than the second threshold range; The roll axis angular velocity and pitch axis angular velocity of the satellite are integrated respectively to determine the initial value of the yaw angle according to the principle of the orbital compass; The current yaw angle is calculated using the initial yaw angle and the measured yaw rate. When the current yaw angle is within the range of the second threshold, full attitude capture is completed.

2. The method according to claim 1, characterized in that, The field of view of the large field-of-view static infrared Earth sensor is greater than 65°.

3. The method according to claim 1, characterized in that, Before the satellite is controlled to rotate at a preset angular velocity, the method further includes: adjusting the angular velocity of the satellite to the preset angular velocity based on rate damping; And / or, The preset angular velocity is -0.15° / s to 0.15° / s.

4. The method according to claim 1, characterized in that, The Earth capture based on the measured value and the first threshold range includes: Control the satellite to rotate around the X-axis and determine whether the measured value meets the first threshold range; If the angle of the satellite's rotation around the X-axis does not exceed 360°, and the measured value meets the first threshold range, then Earth capture is completed. If the angle of the satellite's rotation around the X-axis exceeds 360° and the measured value does not meet the first threshold range, then the satellite is controlled to rotate around the Y-axis until the measured value meets the first threshold range, thus completing Earth capture. And / or, The step of capturing the vertical line based on the measured value and the second threshold range includes: The satellite is controlled to rotate around the X-axis and Y-axis respectively, so that the measured value meets the second threshold range.

5. The method according to claim 1, characterized in that, The first threshold range is -50° to 50°; And / or, The second threshold range is -4° to 4°.

6. The method according to any one of claims 1 to 5, characterized in that, The process of integrating the roll axis angular velocity and pitch axis angular velocity of the satellite to determine the initial value of the yaw angle based on the orbital compass principle includes: Obtain the roll axis angular velocity and pitch axis angular velocity of the satellite when it completes vertical capture; The initial value of the yaw angle is determined by integrating the rolling axis angular velocity and the pitch axis angular velocity using the principle of the orbital compass. And / or, The calculation of the current yaw angle using the initial yaw angle and the measured yaw rate includes: Obtain the yaw rate measurement value of the satellite; The current yaw angle is calculated in real time based on the measured yaw rate; wherein the current yaw angle is the sum of the initial yaw angle and the product of the measured yaw rate and the running time.

7. The method according to claim 6, characterized in that, The initial value of the yaw angle is determined by the following formula: in, ψ The initial value of the yaw angle; I ωx This is the integral value of the rolling shaft angular velocity; I ωy This is the integral value of the pitch axis angular velocity.

8. A satellite full-attitude acquisition device based on a large field-of-view static infrared Earth sensor, used to implement the method described in any one of claims 1 to 7, characterized in that, include: The Earth Search Module is used to control the satellite to rotate at a preset angular velocity and acquire the measurement values ​​output by the large field-of-view static infrared Earth sensor in real time. Earth capture is performed based on the measured value and a first threshold range; wherein, Earth capture is completed when the measured value is within the first threshold range. A plumb line capture module is used to capture a plumb line based on the measured value and a second threshold range; wherein, the plumb line capture is completed when the measured value is within the second threshold range; the first threshold range is greater than the second threshold range; The yaw determination module is used to integrate the roll axis angular velocity and pitch axis angular velocity of the satellite respectively to determine the initial value of the yaw angle according to the orbital compass principle; and to calculate the current yaw angle using the initial value of the yaw angle and the measured value of the yaw angular velocity. When the current yaw angle is within the range of the second threshold, the full attitude acquisition is completed.

9. A computing device comprising a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program, implements the method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method of any one of claims 1-7.

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