Spacecraft magnetic moment measurement method and system based on four-point method

Abstract

The invention provides a spacecraft magnetic moment measurement method and system based on a four-point method, and the method comprises the steps: controlling a spacecraft to rotate a circle after a plurality of magnetometers are radially arranged at the geometric center height of the spacecraft, and measuring the magnetic intensity values corresponding to four preset measurement points through the plurality of magnetometers; calculating a plurality of key magnetic moment values according to the magnetic intensity values and the measurement spacing values corresponding to the four measurement points; based on the multiple key magnetic moment values, the magnetic core height of the spacecraft is obtained through calculation; adjusting the arrangement height of the plurality of magnetometers to the magnetic core height of the spacecraft; and controlling the spacecraft to rotate for a circle, and obtaining a magnetic moment measurement value of the spacecraft according to the magnetic intensity readings corresponding to the magnetic core heights of the plurality of magnetometers. According to the scheme provided by the invention, the equatorial plane positioning basis of the near-field method can be adjusted from the geometric center of the spacecraft to the magnetic core, the magnetic moment is accurately measured under the condition that the magnetism in the spacecraft is relatively dispersed, and the measurement precision and reliability of the magnetic moment of the spacecraft are improved.

Description

Technical Field

[0001] This invention relates to the field of magnetic moment technology, and in particular to a spacecraft magnetic moment measurement method and system based on the four-point method. Background Technology

[0002] When a spacecraft is in orbit, it is subjected to the forces of the Earth's magnetic field, which can severely affect the operation of some critical components and the control of its attitude. It can also have a significant impact on related magnetic experiments in orbit. Therefore, accurately describing and assessing the magnetic moment of a spacecraft is crucial.

[0003] In related technologies, the near-field method is commonly used to test the magnetic moment of spacecraft. The measurement principle of the near-field method is mainly to measure the magnetic field distribution around the equatorial plane of the spacecraft, and then use the magnetic field to infer the magnitude of the spacecraft's magnetic moment. Since the near-field method only collects the magnetic field distribution around the equatorial plane of the spacecraft, the magnetic distribution characteristics inside the spacecraft (dispersion or eccentricity) become the main factor affecting the measurement accuracy. If the magnetic field inside the spacecraft is relatively dispersed, the magnetic moment of the spacecraft measured by the near-field method will have a large error.

[0004] It is easy to see that the traditional near-field method for measuring the magnetic moment of spacecraft suffers from low measurement accuracy and insufficient reliability. Summary of the Invention

[0005] This invention provides a spacecraft magnetic moment measurement method and system based on the four-point method, which solves the defects of low measurement accuracy and insufficient reliability of traditional near-field method for measuring spacecraft magnetic moment.

[0006] On one hand, this invention provides a spacecraft magnetic moment measurement method based on the four-point method, comprising:

[0007] After arranging multiple magnetometers radially at the geometric center height of the spacecraft, the spacecraft is controlled to rotate one revolution, and the magnetic intensity values ​​corresponding to four pre-set measurement points around the spacecraft are measured by the multiple magnetometers; wherein, the measurement spacing between the four measurement points and the geometric center of the spacecraft is equal;

[0008] Based on the magnetic intensity values ​​corresponding to the four measurement points and the measurement spacing values, multiple key magnetic moment values ​​are calculated.

[0009] Based on the aforementioned key magnetic moment values, the magnetic core height of the spacecraft was calculated.

[0010] The arrangement height of the plurality of magnetometers is adjusted to the height of the spacecraft's magnetic core;

[0011] The spacecraft is controlled to rotate one revolution, and the magnetic moment measurement value of the spacecraft is obtained based on the magnetic intensity readings of the multiple magnetometers at the respective heights of the magnetic core.

[0012] According to the spacecraft magnetic moment measurement method based on the four-point method provided by the present invention, the four measurement points are determined through the following process:

[0013] A three-dimensional coordinate system is established using the geometric center of the spacecraft as the origin.

[0014] The symmetrical points on the vertical axis of the three-dimensional coordinate system located on both sides of the origin are designated as the first and third measurement points.

[0015] The symmetrical points on the horizontal axis of the three-dimensional coordinate system located on both sides of the origin are designated as the second and fourth measurement points.

[0016] According to the spacecraft magnetic moment measurement method based on the four-point method provided by the present invention, the magnetic intensity value of each measurement point includes the magnetic intensity value in the x-direction, the magnetic intensity value in the y-direction, and the magnetic intensity value in the z-direction.

[0017] Based on the magnetic intensity values ​​corresponding to the four measurement points and the measurement interval value, multiple key magnetic moment values ​​are calculated, including:

[0018] Based on the x-direction magnetic intensity value, y-direction magnetic intensity value, z-direction magnetic intensity value, and measurement spacing value corresponding to the four measurement points, the first set of key magnetic moment values ​​are calculated.

[0019] The second set of key magnetic moment values ​​are calculated based on the x-direction magnetic intensity values ​​and measurement spacing values ​​of two sets of symmetrically distributed measurement points among the four measurement points.

[0020] The third set of key magnetic moment values ​​are calculated based on the y-direction magnetic intensity value, z-direction magnetic intensity value, and measurement spacing value corresponding to the four measurement points.

[0021] According to the spacecraft magnetic moment measurement method based on the four-point method provided by the present invention, the calculation of a first set of key magnetic moment values ​​based on the x-direction magnetic intensity value, y-direction magnetic intensity value, z-direction magnetic intensity value, and measurement spacing value corresponding to the four measurement points includes:

[0022] The first critical magnetic moment value is calculated based on the magnetic intensity value in the x-direction corresponding to each of the four measurement points and the measurement spacing value.

[0023] The second critical magnetic moment value is calculated based on the y-direction magnetic intensity value and the measurement spacing value corresponding to the four measuring points.

[0024] The third critical magnetic moment value is calculated based on the z-direction magnetic moment value and the measurement spacing value corresponding to the four measuring points.

[0025] The first critical magnetic moment value, the second critical magnetic moment value, and the third critical magnetic moment value are taken as the first set of critical magnetic moment values.

[0026] According to the spacecraft magnetic moment measurement method based on the four-point method provided by the present invention, the calculation of the second set of key magnetic moment values ​​based on the x-direction magnetic intensity values ​​and measurement spacing values ​​of two sets of symmetrically distributed measurement points among the four measurement points includes:

[0027] The fourth key magnetic moment value is calculated based on the x-direction magnetic intensity value and measurement spacing value corresponding to the first measurement point and the third measurement point, respectively.

[0028] The fifth key magnetic moment value is calculated based on the x-direction magnetic intensity value and measurement spacing value corresponding to the second and fourth measurement points, respectively.

[0029] The fourth and fifth key magnetic moment values ​​are used as the second set of key magnetic moment values.

[0030] According to the spacecraft magnetic moment measurement method based on the four-point method provided by the present invention, the calculation of a third set of key magnetic moment values ​​based on the y-direction magnetic intensity value, z-direction magnetic intensity value, and measurement spacing value corresponding to each of the four measurement points includes:

[0031] The sixth and seventh key magnetic moment values ​​are calculated based on the y-direction magnetic moment value of the first measurement point, the z-direction magnetic moment value of the second measurement point, the y-direction magnetic moment value of the third measurement point, the z-direction magnetic moment value of the fourth measurement point, and the measurement interval value.

[0032] The eighth key magnetic moment value is calculated based on the z-direction magnetic moment value of the first measurement point, the y-direction magnetic moment value of the second measurement point, the z-direction magnetic moment value of the third measurement point, the y-direction magnetic moment value of the fourth measurement point, and the measurement interval value.

[0033] The sixth, seventh, and eighth key magnetic moment values ​​are taken as the third set of key magnetic moment values.

[0034] According to the spacecraft magnetic moment measurement method based on the four-point method provided by the present invention, the calculation of the magnetic core height of the spacecraft based on the plurality of key magnetic moment values ​​includes:

[0035] Based on the aforementioned multiple key magnetic moment values, a set of process parameters is calculated;

[0036] Calculate the sum of squares of some key magnetic moment values ​​to obtain the squared magnetic moment parameter;

[0037] Based on the process parameter set, the squared magnetic moment parameter, and some key magnetic moment values, intermediate parameters are calculated.

[0038] Based on some process parameters, intermediate parameters, squared magnetic moment parameters, and some key magnetic moment values ​​in the process parameter group, the magnetic core height of the spacecraft is calculated.

[0039] According to the spacecraft magnetic moment measurement method based on the four-point method provided by the present invention, the plurality of key magnetic moment values ​​include a first key magnetic moment value, a second key magnetic moment value, a third key magnetic moment value, a fourth key magnetic moment value, a fifth key magnetic moment value, a sixth key parameter value, a seventh key parameter value, and an eighth key parameter value.

[0040] The process parameter group includes a first process parameter, a second process parameter, and a third process parameter;

[0041] The calculation formulas for the first process parameter, the second process parameter, and the third process parameter are as follows:

[0042] L0 = 2M1M4 + 3(M2M5 + M3M6)

[0043] L1=-M2M4+3(M1M5+2M2M7+2M3M8)

[0044] L2=-M3M4+3(M1M6-2M3M7+2M2M8)

[0045] Wherein, L0 is the first process parameter, L1 is the second process parameter, L2 is the third process parameter, M1 is the first critical magnetic moment value, M2 is the second critical magnetic moment value, M3 is the third critical magnetic moment value, M4 is the sixth critical magnetic moment value, M5 is the fourth critical magnetic moment value, M6 is the fifth critical magnetic moment value, M7 is the seventh critical magnetic moment value, and M8 is the eighth critical magnetic moment value.

[0046] According to the spacecraft magnetic moment measurement method based on the four-point method provided by the present invention, the calculation of the spacecraft's magnetic core height based on some process parameters, intermediate parameters, magnetic moment square parameters, and some key magnetic moment values ​​in the process parameter set includes:

[0047] The intermediate difference is obtained by subtracting the product of the second process parameter and the third key magnetic moment value and the intermediate parameter;

[0048] The magnetic core height of the spacecraft is obtained by dividing the intermediate difference by 3 times the square of the magnetic moment parameter.

[0049] On the other hand, the present invention also provides a spacecraft magnetic moment measurement system based on the four-point method, including: a control device and multiple magnetometers;

[0050] The control device includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the program, it implements any of the above-described spacecraft magnetic moment measurement methods based on the four-point method.

[0051] This invention provides a spacecraft magnetic moment measurement method and system based on the four-point method. After radially arranging multiple magnetometers at the geometric center height of the spacecraft, the spacecraft is rotated one revolution. The magnetometers measure the magnetic intensity at four pre-defined measurement points around the spacecraft. Based on the magnetic intensity values ​​at each of the four measurement points and the measurement spacing, multiple key magnetic moment values ​​are calculated. The spacecraft's magnetic core height is then calculated based on these key magnetic moment values. The arrangement height of the magnetometers is adjusted to match the spacecraft's magnetic core height. Finally, the spacecraft is rotated one revolution, and the magnetic moment measurement is obtained from the magnetic intensity readings of the magnetometers at the magnetic core height. This invention, by first calculating the spacecraft's magnetic core height and then adjusting the magnetometer arrangement height to match the magnetic core height, shifts the equatorial plane positioning reference of the near-field method from the spacecraft's geometric center to the magnetic core. This allows for accurate measurement of the magnetic moment even when the magnetic field is relatively dispersed inside the spacecraft, effectively improving the measurement accuracy and reliability of the spacecraft's magnetic moment. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in this 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 this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0053] Figure 1 This is a flowchart illustrating the spacecraft magnetic moment measurement method based on the four-point method provided in an embodiment of the present invention.

[0054] Figure 2 This is a schematic diagram showing the setting positions of the four measuring points in an embodiment of the present invention;

[0055] Figure 3 This is a schematic diagram showing the arrangement of multiple magnetometers before and after adjustment in an embodiment of the present invention;

[0056] Figure 4 This is a schematic diagram of the structure of a spacecraft magnetic moment measurement system based on the four-point method provided in an embodiment of the present invention;

[0057] Figure 5 This is a schematic diagram of the control device in an embodiment of the present invention. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0059] The following is combined Figures 1 to 5 This invention describes the detailed scheme of the spacecraft magnetic moment measurement method and system based on the four-point method provided in the embodiments of the present invention.

[0060] Figure 1 This is a schematic flowchart of the spacecraft magnetic moment measurement method based on the four-point method provided in an embodiment of the present invention.

[0061] like Figure 1 As shown in the embodiment of the present invention, the spacecraft magnetic moment measurement method based on the four-point method can be executed by a control device with data transmission and reception and data processing functions. The method mainly includes the following steps:

[0062] Step 110: After arranging multiple magnetometers radially at the geometric center height of the spacecraft, control the spacecraft to rotate one revolution and measure the magnetic intensity values ​​corresponding to four pre-set measurement points around the spacecraft using the multiple magnetometers; wherein the measurement spacing between the four measurement points and the geometric center of the spacecraft is equal.

[0063] In practical applications, the number of magnetometers can be reasonably set according to measurement requirements. In this embodiment, three magnetometers are arranged at equal intervals along the radial direction of the geometric center height of the spacecraft.

[0064] Step 120: Calculate multiple key magnetic moment values ​​based on the magnetic intensity values ​​and measurement spacing values ​​corresponding to the four measurement points.

[0065] Understandably, the key magnetic moment values ​​calculated in this step are some process parameters in the calculation of the core height.

[0066] Step 130: Calculate the height of the spacecraft's magnetic core based on multiple key magnetic moment values.

[0067] In this embodiment, some process parameters can be calculated first using the key magnetic moment value, and then the magnetic core height can be calculated using the process parameters and some key magnetic moment values.

[0068] Step 140: Adjust the arrangement height of the multiple magnetometers to the height of the spacecraft's magnetic core.

[0069] It is understandable that after obtaining the magnetic core height, the magnetometer's placement height is adjusted from the spacecraft's geometric center height to the magnetic core height, thereby adjusting the near-field method's equatorial plane positioning basis from the spacecraft's geometric center to the magnetic core.

[0070] Step 150: Control the spacecraft to rotate one revolution, and obtain the magnetic moment measurement value of the spacecraft based on the magnetic intensity readings corresponding to the magnetic core height of multiple magnetometers.

[0071] After adjusting the magnetometer's placement height to the height of the magnetic core, the magnetic moment measurement value obtained by using the magnetic core as the positioning reference for the equatorial plane can be obtained through the traditional near-field method. Compared with the magnetic moment obtained by directly using the geometric center of the spacecraft as the positioning reference for the equatorial plane, the solution provided in this embodiment is less affected by the magnetic distribution characteristics inside the spacecraft, and the measurement accuracy and reliability are effectively improved.

[0072] In one embodiment, the four measurement points can be determined through the following process:

[0073] First, a three-dimensional coordinate system is established with the geometric center of the spacecraft as the origin.

[0074] On the one hand, the symmetrical points on the vertical axis of the three-dimensional coordinate system located on both sides of the origin are taken as the first measurement point and the third measurement point.

[0075] On the other hand, the symmetrical points on the horizontal axis of the three-dimensional coordinate system located on both sides of the origin are used as the second and fourth measurement points.

[0076] Figure 2 An example is shown showing the placement of four measurement points, such as... Figure 2 As shown, in the three-dimensional coordinate system XYZ, the first measurement point P1 and the third measurement point P3 are a pair of symmetrical points, and the second measurement point P2 and the fourth measurement point P4 are another pair of symmetrical points. The distances of the first measurement point P1, the third measurement point P3, the second measurement point P2, and the fourth measurement point P4 from the origin, i.e., the measurement interval value R, are all equal.

[0077] In one embodiment, the magnetic intensity value at each measurement point includes the magnetic intensity value in the x-direction, the magnetic intensity value in the y-direction, and the magnetic intensity value in the z-direction.

[0078] In this embodiment, multiple key magnetic moment values ​​are calculated based on the magnetic intensity values ​​corresponding to the four measurement points and the measurement spacing values, specifically including:

[0079] The first step is to calculate the first set of key magnetic moment values ​​based on the magnetic intensity values ​​in the x, y, and z directions corresponding to the four measurement points, as well as the measurement spacing.

[0080] The second step involves calculating the second set of critical magnetic moment values ​​based on the x-direction magnetic intensity values ​​and measurement spacing values ​​of two sets of symmetrically distributed measurement points among the four measurement points.

[0081] The third step involves calculating the third set of critical magnetic moment values ​​based on the y-direction magnetic intensity value, z-direction magnetic intensity value, and measurement spacing value corresponding to the four measurement points.

[0082] In one embodiment, the first set of key magnetic moment values ​​is calculated based on the x-direction magnetic intensity values, y-direction magnetic intensity values, z-direction magnetic intensity values, and measurement spacing values ​​corresponding to the four measurement points, specifically including:

[0083] The first step is to calculate the first critical magnetic moment value based on the magnetic intensity value in the x-direction corresponding to each of the four measurement points and the measurement spacing value.

[0084] The second step is to calculate the second critical magnetic moment value based on the y-direction magnetic intensity value and the measurement spacing value corresponding to each of the four measuring points.

[0085] The third step is to calculate the third critical magnetic moment value based on the z-direction magnetic moment value and the measurement spacing value corresponding to each of the four measuring points.

[0086] The fourth step is to use the first critical magnetic moment value, the second critical magnetic moment value, and the third critical magnetic moment value as the first set of critical magnetic moment values.

[0087] In one embodiment, a second set of critical magnetic moment values ​​is calculated based on the x-direction magnetic intensity values ​​and measurement spacing values ​​of two sets of symmetrically distributed measurement points among the four measurement points, specifically including:

[0088] The first step is to calculate the fourth critical magnetic moment value based on the x-direction magnetic intensity value and measurement spacing value corresponding to the first and third measurement points.

[0089] The second step involves calculating the fifth critical magnetic moment value based on the x-direction magnetic intensity values ​​and measurement spacing values ​​corresponding to the second and fourth measurement points.

[0090] The third step is to use the fourth and fifth critical magnetic moment values ​​as the second set of critical magnetic moment values.

[0091] In one embodiment, a third set of key magnetic moment values ​​is calculated based on the y-direction magnetic intensity value, z-direction magnetic intensity value, and measurement spacing value corresponding to each of the four measurement points. Specifically, this includes:

[0092] The first step involves calculating the sixth and seventh critical magnetic moment values ​​based on the y-direction magnetic moment values ​​of the first measurement point, the z-direction magnetic moment values ​​of the second measurement point, the y-direction magnetic moment values ​​of the third measurement point, the z-direction magnetic moment values ​​of the fourth measurement point, and the measurement spacing.

[0093] The second step involves calculating the eighth critical magnetic moment value based on the z-direction magnetic moment value of the first measurement point, the y-direction magnetic moment value of the second measurement point, the z-direction magnetic moment value of the third measurement point, the y-direction magnetic moment value of the fourth measurement point, and the measurement spacing value.

[0094] The third step is to use the sixth, seventh, and eighth key magnetic moment values ​​as the third set of key magnetic moment values.

[0095] In this embodiment, the calculation formulas for the above eight key magnetic moment values ​​are as follows:

[0096]

[0097] Where M1 is the first critical magnetic moment value, M2 is the second critical magnetic moment value, M3 is the third critical magnetic moment value, M4 is the sixth critical magnetic moment value, M5 is the fourth critical magnetic moment value, M6 is the fifth critical magnetic moment value, M7 is the seventh critical magnetic moment value, M8 is the eighth critical magnetic moment value, R is the distance from the measurement point to the geometric center of the spacecraft, i.e., the measurement spacing value; μ0 is the vacuum permeability, B... 1x B is the magnetic moment value in the x-direction at the first measurement point. 1y B is the magnetic moment value in the y-direction at the first measurement point. 1z B is the magnetic moment value in the z-direction at the first measurement point. 2x B is the magnetic moment value in the x-direction at the second measurement point. 2y B is the magnetic moment value in the y-direction at the second measurement point. 2z B is the magnetic moment value in the z-direction at the second measurement point. 3x It is the magnetic moment value in the x-direction of the third measurement point, B. 3y It is the magnetic moment value in the y-direction at the third measurement point, B. 3z It is the magnetic moment value in the z-direction at the third measurement point, B. 4x It is the magnetic moment value in the x-direction of the fourth measurement point, B. 4y It is the magnetic moment value in the y-direction at the fourth measurement point, B. 4z It is the magnetic moment value in the z-direction of the fourth measurement point.

[0098] In one embodiment, the magnetic core height of the spacecraft is calculated based on multiple key magnetic moment values, specifically including:

[0099] The first step is to calculate the process parameter set based on multiple key magnetic moment values.

[0100] The second step is to calculate the sum of squares of some key magnetic moment values ​​to obtain the squared magnetic moment parameter.

[0101] The third step involves calculating intermediate parameters based on the process parameter set, the squared magnetic moment parameter, and some key magnetic moment values.

[0102] The fourth step involves calculating the spacecraft's magnetic core height based on some process parameters, intermediate parameters, squared magnetic moment parameters, and some key magnetic moment values ​​from the process parameter group.

[0103] In one embodiment, the multiple key magnetic moment values ​​include a first key magnetic moment value, a second key magnetic moment value, a third key magnetic moment value, a fourth key magnetic moment value, a fifth key magnetic moment value, a sixth key parameter value, a seventh key parameter value, and an eighth key parameter value;

[0104] The process parameter group includes the first process parameter, the second process parameter, and the third process parameter;

[0105] Specifically, the calculation formulas for the first process parameter, the second process parameter, and the third process parameter are as follows:

[0106] L0=2M1M4+3(M2M5+M3M6) (2)

[0107] L1=-M2M4+3(M1M5+2M2M7+2M3M8) (3)

[0108] L2=-M3M4+33((M1M56-22M3M77+22M32M88)) (4)

[0109] Wherein, L0 is the first process parameter, L1 is the second process parameter, L2 is the third process parameter, M1 is the first critical magnetic moment value, M2 is the second critical magnetic moment value, M3 is the third critical magnetic moment value, M4 is the sixth critical magnetic moment value, M5 is the fourth critical magnetic moment value, M6 is the fifth critical magnetic moment value, M7 is the seventh critical magnetic moment value, and M8 is the eighth critical magnetic moment value.

[0110] The formula for calculating the square parameter of magnetic moment is as follows:

[0111]

[0112] Among them, M 2 These are the squared magnetic moment parameters, where M1 is the first critical magnetic moment value, M2 is the second critical magnetic moment value, and M3 is the third critical magnetic moment value.

[0113] The formula for calculating intermediate parameters is as follows:

[0114] D=(L0M1+L1M2+L2M3) / (4M 2 (6)

[0115] Where D is an intermediate parameter, L0 is the first process parameter, L1 is the second process parameter, L2 is the third process parameter, M1 is the first critical magnetic moment value, M2 is the second critical magnetic moment value, M3 is the third critical magnetic moment value, and M... 2 is the square parameter of the magnetic moment.

[0116] In one embodiment, the magnetic core height of the spacecraft is calculated based on some process parameters, intermediate parameters, squared magnetic moment parameters, and some key magnetic moment values ​​in the process parameter group, specifically including:

[0117] First, the intermediate difference is obtained by subtracting the product of the second process parameter and the third critical magnetic moment value and the intermediate parameter.

[0118] Then, the spacecraft's magnetic core height is obtained by dividing the intermediate difference by 3 times the square of the magnetic moment parameter.

[0119] In this embodiment, the formula for calculating the height of the spacecraft's magnetic core is as follows:

[0120]

[0121] Where Z is the magnetic core altitude of the spacecraft, L2 is the third process parameter, M3 is the third critical magnetic moment value, D is the intermediate parameter, and M... 2 is the square parameter of the magnetic moment.

[0122] After calculating the spacecraft's magnetic core height, the arrangement height of multiple magnetometers needs to be adjusted to match the magnetic core height. The arrangement of the magnetometers before and after adjustment can be found in [reference needed]. Figure 3 ,like Figure 3 As shown, P J P represents the geometric center of spacecraft S. C h1 represents the height of the geometric center of the spacecraft S, and h2 represents the height of the magnetic core. In this embodiment, the three magnetometers need to be adjusted from the height of the geometric center of the spacecraft h1 to the height of the magnetic core of the spacecraft h2.

[0123] It should be noted that, after obtaining the magnetic core height, the spacecraft can be rotated one revolution. Using the near-field method, the magnetic moment of the spacecraft can be measured based on the magnetic intensity readings of multiple magnetometers at the respective magnetic core heights. The process of obtaining the magnetic moment of the spacecraft using the near-field method can be performed according to the measurement procedure specified in the national standard ISO 21494-2019, and will not be elaborated upon here.

[0124] The spacecraft magnetic moment measurement method based on the four-point method provided in this invention can adjust the equatorial plane positioning reference of the near-field method from the geometric center of the spacecraft to the magnetic center by accurately determining the height of the spacecraft's magnetic core. Verification has shown that the measurement method provided by this invention can effectively improve the accuracy of spacecraft magnetic moment measurement, especially for spacecraft with an aspect ratio greater than 0.5, where the magnetic moment measurement error is significantly reduced. It should be noted that the solution provided in this invention mainly targets spacecraft with an aspect ratio of approximately 1. However, for cylindrical spacecraft with an aspect ratio ≥ 1, in the absence of multi-layer near-field measurement capabilities, the measurement method provided in this invention can also significantly reduce measurement errors.

[0125] Based on the same general inventive concept, this invention also protects a spacecraft magnetic moment measurement system based on the four-point method. The spacecraft magnetic moment measurement system based on the four-point method provided by this invention will be described below. The spacecraft magnetic moment measurement system based on the four-point method described below can be referred to in correspondence with the spacecraft magnetic moment measurement method based on the four-point method described above.

[0126] Figure 4 This is a schematic diagram of the structure of a spacecraft magnetic moment measurement system based on the four-point method provided in an embodiment of the present invention.

[0127] like Figure 4 As shown, the spacecraft magnetic moment measurement system based on the four-point method provided in this embodiment of the invention specifically includes: a control device 220 and multiple magnetometers 210.

[0128] The control device 220 includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the program, it implements the spacecraft magnetic moment measurement method based on the four-point method provided in the above embodiments.

[0129] Regarding the system in the above embodiments, the specific manner in which the control device performs operations has been described in detail in the embodiments related to the method, and will not be elaborated further here.

[0130] like Figure 5 As shown, the control device may include a processor 310, a communication interface 320, a memory 330, and a communication bus 340. The processor 310, communication interface 320, and memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions from the memory 330 to execute the spacecraft magnetic moment measurement method based on the four-point method provided in the above embodiments.

[0131] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0132] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the spacecraft magnetic moment measurement method based on the four-point method provided in the above embodiments.

[0133] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the spacecraft magnetic moment measurement method based on the four-point method provided in the above embodiments.

[0134] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0135] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0136] 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 four-point method based spacecraft magnetic moment measurement method, characterized in that, include: After arranging multiple magnetometers radially at the geometric center height of the spacecraft, the spacecraft is controlled to rotate one revolution, and the magnetic intensity values ​​corresponding to four pre-set measurement points around the spacecraft are measured by the multiple magnetometers; wherein, the measurement spacing between the four measurement points and the geometric center of the spacecraft is equal; Based on the magnetic intensity values ​​corresponding to the four measurement points and the measurement spacing values, multiple key magnetic moment values ​​are calculated. Based on the aforementioned key magnetic moment values, the magnetic core height of the spacecraft was calculated. The arrangement height of the plurality of magnetometers is adjusted to the height of the spacecraft's magnetic core; The spacecraft is controlled to rotate one revolution, and the magnetic moment measurement value of the spacecraft is obtained based on the magnetic intensity readings of the multiple magnetometers at the respective heights of the magnetic core.

2. The four-point method based spacecraft magnetic moment measurement method of claim 1, wherein, The four measurement points were determined through the following process: A three-dimensional coordinate system is established using the geometric center of the spacecraft as the origin. The symmetrical points on the vertical axis of the three-dimensional coordinate system located on both sides of the origin are designated as the first and third measurement points. The symmetrical points on the horizontal axis of the three-dimensional coordinate system located on both sides of the origin are designated as the second and fourth measurement points.

3. The four-point method based spacecraft magnetic moment measurement method of claim 2, wherein, The magnetic intensity value at each measurement point includes the magnetic intensity value in the x-direction, the magnetic intensity value in the y-direction, and the magnetic intensity value in the z-direction; Based on the magnetic intensity values ​​corresponding to the four measurement points and the measurement interval value, multiple key magnetic moment values ​​are calculated, including: Based on the x-direction magnetic intensity value, y-direction magnetic intensity value, z-direction magnetic intensity value, and measurement spacing value corresponding to the four measurement points, the first set of key magnetic moment values ​​are calculated. The second set of key magnetic moment values ​​are calculated based on the x-direction magnetic intensity values ​​and measurement spacing values ​​of two sets of symmetrically distributed measurement points among the four measurement points. The third set of key magnetic moment values ​​are calculated based on the y-direction magnetic intensity value, z-direction magnetic intensity value, and measurement spacing value corresponding to the four measurement points.

4. The four-point method based spacecraft magnetic moment measurement method of claim 3, wherein, The first set of key magnetic moment values ​​is calculated based on the x-direction magnetic intensity value, y-direction magnetic intensity value, z-direction magnetic intensity value, and measurement spacing value corresponding to the four measurement points, including: The first critical magnetic moment value is calculated based on the magnetic intensity value in the x-direction corresponding to each of the four measurement points and the measurement spacing value. The second critical magnetic moment value is calculated based on the y-direction magnetic intensity value and the measurement spacing value corresponding to the four measuring points. The third critical magnetic moment value is calculated based on the z-direction magnetic moment value and the measurement spacing value corresponding to the four measuring points. The first critical magnetic moment value, the second critical magnetic moment value, and the third critical magnetic moment value are taken as the first set of critical magnetic moment values.

5. The four-point method based spacecraft magnetic moment measurement method of claim 3, wherein, The second set of key magnetic moment values ​​is calculated based on the x-direction magnetic intensity values ​​and measurement spacing values ​​of two sets of symmetrically distributed measurement points among the four measurement points, including: The fourth key magnetic moment value is calculated based on the x-direction magnetic intensity value and measurement spacing value corresponding to the first measurement point and the third measurement point, respectively. The fifth key magnetic moment value is calculated based on the x-direction magnetic intensity value and measurement spacing value corresponding to the second and fourth measurement points, respectively. The fourth and fifth key magnetic moment values ​​are used as the second set of key magnetic moment values.

6. The four-point method based spacecraft magnetic moment measurement method of claim 3, wherein, The third set of key magnetic moment values ​​is calculated based on the y-direction magnetic intensity value, z-direction magnetic intensity value, and measurement spacing value corresponding to the four measurement points, including: The sixth and seventh key magnetic moment values ​​are calculated based on the y-direction magnetic moment value of the first measurement point, the z-direction magnetic moment value of the second measurement point, the y-direction magnetic moment value of the third measurement point, the z-direction magnetic moment value of the fourth measurement point, and the measurement interval value. The eighth key magnetic moment value is calculated based on the z-direction magnetic moment value of the first measurement point, the y-direction magnetic moment value of the second measurement point, the z-direction magnetic moment value of the third measurement point, the y-direction magnetic moment value of the fourth measurement point, and the measurement interval value. The sixth, seventh, and eighth key magnetic moment values ​​are taken as the third set of key magnetic moment values.

7. The spacecraft magnetic moment measurement method based on the four-point method according to claim 1, characterized in that, The calculation of the spacecraft's magnetic core height based on the multiple key magnetic moment values ​​includes: Based on the aforementioned multiple key magnetic moment values, a set of process parameters is calculated; Calculate the sum of squares of some key magnetic moment values ​​to obtain the squared magnetic moment parameter; Based on the process parameter set, the squared magnetic moment parameter, and some key magnetic moment values, intermediate parameters are calculated. Based on some process parameters, intermediate parameters, squared magnetic moment parameters, and some key magnetic moment values ​​in the process parameter group, the magnetic core height of the spacecraft is calculated.

8. The spacecraft magnetic moment measurement method based on the four-point method according to claim 7, characterized in that, The multiple key magnetic moment values ​​include a first key magnetic moment value, a second key magnetic moment value, a third key magnetic moment value, a fourth key magnetic moment value, a fifth key magnetic moment value, a sixth key parameter value, a seventh key parameter value, and an eighth key parameter value; The process parameter group includes a first process parameter, a second process parameter, and a third process parameter; The calculation formulas for the first process parameter, the second process parameter, and the third process parameter are as follows: L0 = 2M1M4 + 3(M2M5 + M3M6) L1=-M2M4+3(M1M5+2M2M7+2M3M8) L2=-M3M4+3(M1M6-2M3M7+2M2M8) Wherein, L0 is the first process parameter, L1 is the second process parameter, L2 is the third process parameter, M1 is the first critical magnetic moment value, M2 is the second critical magnetic moment value, M3 is the third critical magnetic moment value, M4 is the sixth critical magnetic moment value, M5 is the fourth critical magnetic moment value, M6 is the fifth critical magnetic moment value, M7 is the seventh critical magnetic moment value, and M8 is the eighth critical magnetic moment value.

9. The spacecraft magnetic moment measurement method based on the four-point method according to claim 8, characterized in that, The calculation of the spacecraft's magnetic core height based on some process parameters, intermediate parameters, squared magnetic moment parameters, and some key magnetic moment values ​​in the process parameter group includes: The intermediate difference is obtained by subtracting the product of the second process parameter and the third critical magnetic moment value and the intermediate parameter; The magnetic core height of the spacecraft is obtained by dividing the intermediate difference by 3 times the square of the magnetic moment parameter.

10. A spacecraft magnetic moment measurement system based on the four-point method, characterized in that, include: Control equipment and multiple magnetometers; The control device includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the program, it implements the spacecraft magnetic moment measurement method based on the four-point method as described in any one of claims 1 to 9.

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