A target fast determination method based on only angle measurement information

Abstract

A target fast determination method based on only angle measurement information, which realizes the effect of determining the relative target direction only by using low-cost angle measurement information, belongs to the technical field of satellite navigation, guidance and control. The target fast determination method comprises the following steps: step one: obtaining the angle measurement information of the relative navigation output on the satellite, and calculating the relative direction angle; step two: using the relative direction angle to calculate the conversion relationship between the offset direction coordinate system and the orbit coordinate system; step three: using the conversion relationship between the offset direction coordinate system and the orbit coordinate system to calculate the control angle used in the relative direction control. According to the relative direction angle calculated by the only angle measurement information of the navigation output on the satellite, the computer on the satellite avoids processing the distance measurement information, and the algorithm is simple.

Description

Technical Field

[0001] This invention relates to a method for rapid target determination based on angle-only information, belonging to the field of satellite navigation, guidance and control technology. Background Technology

[0002] The problem of rapidly determining target motion refers to determining the control angle based on limited navigation angle measurement information to guide the satellite to point at the target in the desired coordinate system. A typical approach in existing technologies is for the observation satellite to carry a radar that actively transmits pulses, simultaneously measuring the relative range, relative azimuth, and elevation angles. Acquiring range information in addition to optical angle measurement by the observation satellite, or relying on external node coordination, results in a complex and power-consuming system. Furthermore, the radar requires echo accumulation, leading to a lag in response to target maneuvers, making it difficult to meet the rapid pointing requirements of highly dynamic target satellites. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a method for rapid target determination based on only angle measurement information, so as to achieve the effect of determining the relative target orientation using only low-cost angle measurement information.

[0004] The objective of this invention is achieved through the following technical solutions: A method for rapid target determination based solely on angle measurement information includes: Step 1: Obtain the angle measurement information output by the satellite relative navigation system and calculate the relative pointing angle; Step 2: Calculate the transformation relationship between the offset pointing coordinate system and the orbital coordinate system using the relative pointing angle; Step 3: Calculate the control angle used for relative pointing control by utilizing the transformation relationship between the offset pointing coordinate system and the orbital coordinate system.

[0005] In one embodiment of the present invention, in step one, the vector of the target in the current relative navigation output under the observation satellite system is: Specifically, it is expressed as [ , , ],in accordance with Calculate the pointing angle of the target star in the orbital system, where the elevation angle is:

[0006] The yaw angle is: .

[0007] In one embodiment of the present invention, step two includes: Calculate the transformation quaternion from the orbital frame to the nominal target-pointing frame; Calculate the transformation quaternion from the nominal pointing coordinate system to the desired pointing coordinate system; Calculate the transformation quaternion from the satellite orbital system to the offset pointing coordinate system.

[0008] In one embodiment of the present invention, the transformation quaternion from the orbital system to the nominally pointing target system is:

[0009] in

[0010] Will Converting to 312 Euler angles yields the attitude offset angles under the relative pointing condition. , , .

[0011] In one embodiment of the present invention, the angle between the desired pointing vector of the system and the +X axis of the star is calculated;

[0012] Calculate the transformation quaternion from the nominal pointing coordinate system to the desired pointing coordinate system: if ,but

[0013] Otherwise, the calculation is as follows:

[0014] .

[0015] In one embodiment of the present invention, the transformation quaternion from the satellite orbital system to the offset pointing coordinate system is: .

[0016] In one embodiment of the present invention, in step two, if the visibility of the ground telemetry and control antenna is considered, it is necessary to add a restriction on the quaternion offset angle.

[0017] In one embodiment of the present invention, in step three, the attitude quaternion of the observed star relative to the orbital system is calculated in conjunction with the attitude determination. The quaternion representing the relative offset of the satellite's own system relative to the pointing coordinate system; .

[0018] Compared with the prior art, the present invention has the following advantages: (1) The present invention calculates the relative pointing angle based on the angle measurement information obtained from the on-board navigation output, avoiding the need for the on-board computer to process the ranging information, and the algorithm is simple.

[0019] (2) The present invention realizes an autonomous calculation method for any vector pointing to a target on the satellite. Moreover, the algorithm logic is clear. Therefore, the method has the characteristics of high reliability and strong engineering applicability. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below.

[0021] A rapid target determination method based solely on angle measurement information uses angle measurement information from satellite relative navigation as input to calculate the transformation relationship between the pointing coordinate system and the orbital coordinate system, and finally provides the relative pointing control angle and angular velocity. Specifically, it includes: Step 1: Obtain the angle measurement information output by the satellite relative navigation system and calculate the relative pointing angle.

[0022] The target vector in the current relative navigation output under the observation satellite system is: Specifically, it is expressed as [ , , ], can be based on Calculate the pointing angle of the target star in the orbital system (pointing to the target star along the +X axis), in rad, where the elevation angle is...

[0023] Yaw angle is

[0024] Step 2: Calculate the transformation relationship between the offset pointing coordinate system and the orbital coordinate system.

[0025] The algorithm input is the vector of the desired target star within the observed star body. The default value is [1 0 0]. T In practice, the default value can be modified in the onboard software according to the actual satellite layout; the target satellite pointing elevation angle in the orbital system is... The target is pointing to a yaw angle of . .

[0026] Calculated using the following algorithm: 1) Quaternion for the transformation from the orbital frame to the nominal target-pointing frame

[0027] in

[0028] Will Converting to 312 Euler angles yields the attitude offset angles under the relative pointing condition. , , .

[0029] 2) Quaternions for transforming from the nominal pointing coordinate system to the desired pointing coordinate system, specifically including: Calculate the angle between the expected pointing vector of this system and the +X axis of the star, in rad.

[0030] Calculate the transformation quaternion from the nominal pointing coordinate system to the desired pointing coordinate system: if ,but

[0031] Otherwise, the calculation is as follows:

[0032]

[0033] 3) Quaternions for the transformation from the satellite orbital system to the offset pointing coordinate system

[0034] If the visibility of the ground-based telemetry and control antenna is taken into account, a limitation on the quaternion offset angle is added here.

[0035] The pitch offset angle limit range is [-125°, 25°], which can be modified.

[0036] Step 3: Calculate the control angle used for relative pointing control.

[0037] The attitude quaternions of the observed star relative to the orbital system are determined by the attitude determination calculation. The quaternion representing the relative offset of the satellite's own system relative to the pointing coordinate system;

[0038] The contents not described in detail in this specification are common knowledge to those skilled in the art.

[0039] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for rapid target determination based solely on angle measurement information, characterized in that, include: Step 1: Obtain the angle measurement information output by the satellite relative navigation system and calculate the relative pointing angle; Step 2: Calculate the transformation relationship between the offset pointing coordinate system and the orbital coordinate system using the relative pointing angle; Step 3: Calculate the control angle used for relative pointing control by utilizing the transformation relationship between the offset pointing coordinate system and the orbital coordinate system.

2. The target rapid determination method according to claim 1, characterized in that, In step one, the target vector in the current relative navigation output under the observed satellite system is: Specifically, it is expressed as [ , , ],in accordance with Calculate the pointing angle of the target star in the orbital system, where the elevation angle is: The yaw angle is: 。 3. The target rapid determination method according to claim 2, characterized in that, Step two includes: Calculate the transformation quaternion from the orbital frame to the nominal target-pointing frame; Calculate the transformation quaternion from the nominal pointing coordinate system to the desired pointing coordinate system; Calculate the transformation quaternion from the satellite orbital system to the offset pointing coordinate system.

4. The target rapid determination method according to claim 3, characterized in that, The transformation quaternion from the orbital frame to the nominally target-pointing frame is: in Will Converting to 312 Euler angles yields the attitude offset angles under the relative pointing condition. , , .

5. The target rapid determination method according to claim 4, characterized in that, Calculate the angle between the expected pointing vector of this system and the +X axis of the star; Calculate the transformation quaternion from the nominal pointing coordinate system to the desired pointing coordinate system: if ,but Otherwise, the calculation is as follows: 。 6. The target rapid determination method according to claim 5, characterized in that, The transformation quaternion from the satellite orbital system to the offset pointing coordinate system is: 。 7. The method for rapid target determination according to claim 3, characterized in that, In step two, if the visibility of the ground-based telemetry and control antenna is considered, it is necessary to add restrictions on the quaternion offset angle.

8. The method for rapid target determination according to claim 1, characterized in that, In step three, the attitude quaternions of the observed star relative to the orbital system are calculated based on the attitude determination. The quaternion representing the relative offset of the satellite's own system relative to the pointing coordinate system; 。

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