CN107246875B - Method for determining inter-satellite relative attitude under precise formation task - Google Patents
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Abstract
The invention discloses a method for determining inter-satellite relative attitude under a precise formation task, which comprises the following steps: s1, completing the layout design of the transmitting/receiving antenna based on the measurement dimension constraint; s2, establishing an inter-satellite relative attitude relationship and an inter-satellite relative attitude relationship independent of a satellite centroid according to inter-satellite measurement information; and S3, calculating the real-time information of the relative state between the satellites through a filtering algorithm. The method can realize the on-orbit real-time inter-satellite relative attitude determination under complex conditions.
Description
Technical Field
The invention particularly relates to a method for determining the relative attitude between stars under a precise formation task.
Background
With the continuous development of satellite technology, more and more countries and organizations tend to utilize a plurality of satellites to form a formation satellite system to achieve a space task goal. Therefore, the control task of the formation satellite system is more and more complex, and meanwhile, the formation satellite system also faces the pressure of high control precision, autonomy and the like.
The inter-satellite relative attitude determination technology is a support technology which meets the inter-satellite attitude cooperative control requirement of precise formation and ensures the formation control precision. At present, the relative attitude determination method between stars proposed at home and abroad mainly has 3 kinds:
the 1 st differential method is that a single-star high-precision attitude determination is realized by an attitude sensor carried by a satellite, information interaction is carried out by utilizing an inter-star communication link, and the inter-star relative attitude is obtained through simple mathematical differential calculation; the 2 nd type GPS method, namely adopting a type GPS sensor to carry out inter-planet measurement, and realizing the determination of relative attitude through a filtering algorithm; in the 3 rd direct method, when the relative distance between the formation satellites is relatively close to a hundred-meter magnitude, a visual sensor is adopted to directly measure and determine the relative attitude between the satellites.
In the 3 methods, the difference method is limited by the attitude determination precision of the single star sensor, and meanwhile, the measurement error can be amplified by the data difference processing mode, so that the inter-star attitude determination precision is limited; the existing GPS-like method is coupled with a satellite centroid, the measurement precision of the inter-satellite relative attitude is limited by the on-orbit estimation precision of the satellite centroid, and the on-orbit estimation non-real-time property of the satellite centroid particularly influences the real-time property requirement of the inter-satellite attitude determination. The direct method is limited by the inter-satellite distance and the view field requirement of a visual sensor, and the inter-satellite attitude determination precision and the engineering practice are limited.
Disclosure of Invention
The invention aims to provide a method for determining inter-satellite relative attitude under a precise formation task, which realizes the determination of the in-orbit real-time inter-satellite relative attitude under a complex condition.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a method for determining the relative attitude between stars under a precise formation task is characterized by comprising the following steps:
s1, completing the layout design of the transmitting/receiving antenna based on the measurement dimension constraint;
s2, establishing an inter-satellite relative attitude relationship and an inter-satellite relative attitude relationship independent of a satellite centroid according to inter-satellite measurement information;
and S3, calculating the real-time information of the relative state between the satellites through a filtering algorithm.
In step S1, the number of the transmitting antennas and the receiving antennas is 2.
The step S2 specifically includes:
s2.1, establishing an inter-satellite relative attitude state relational expression independent of the satellite centroid:
ρij＝R+Mr2j-r1i(1)
where i is 1,2, j is 1,2, R is the position vector of the satellite known reference point relative to the main satellite known reference point, ρijIs the distance from the ith transmitting antenna of the primary satellite to the jth receiving antenna of the secondary satellite, r1iPosition vector r of ith transmitting antenna of main satellite relative to known reference point of main satellite in main satellite body coordinate system2jThe position vector of the jth receiving antenna of the auxiliary satellite relative to the known datum point of the auxiliary satellite in the auxiliary satellite body coordinate system, and M is an attitude matrix of the auxiliary satellite body coordinate system relative to the main satellite body coordinate system;
s2.2, setting psi, theta,
if the relative attitude angle between the secondary star and the primary star is defined, the relative attitude state relation can be expressed as:
wherein, ω is1，ω2The attitude angular velocities of the main satellite and the auxiliary satellite respectively, and M is a coordinate transformation matrix from an auxiliary satellite coordinate system to the main satellite coordinate system:
wherein c represents cos and s represents sin.
In the step S3, an EKF filter or a UKF filter is used to calculate the real-time information of the inter-satellite relative state.
Compared with the prior art, the invention has the following advantages:
1. the existing inter-satellite attitude determination method has strong engineering realizability and high precision, noise is enlarged by adopting a direct difference mode, the centroid estimation precision is depended on, the distance between a view field and a satellite is depended on, the relative attitude determination precision and the application range are limited, a measurement equation independent of the centroid estimation is established by optimizing the layout of transmitting/receiving antennas, the constraint is less, extra errors are not introduced, and the inter-satellite attitude determination precision is high.
2. The method has strong applicability and reliability, the whole process of determining the inter-satellite relative attitude of the formation satellite is clear, a real-time filtering algorithm is determined from the layout and optimization of the relevant transmitting and receiving antenna and the reference point to the relative attitude, the significance is clear, the constraints such as a field of view, the mass center on-orbit estimation, the inter-satellite distance and the like are avoided, the on-orbit automatic realization can be realized, the quality of the running of a precise formation task can be ensured, and the input and the basis are provided for the inter-satellite attitude cooperative control.
3. Compared with the existing GPS-like method, the method has the advantages that the quantity of the transmitting antenna and the receiving antenna is optimal, meanwhile, an inter-star attitude measurement sensor such as an optical camera is not needed, and the economic cost is low.
Drawings
FIG. 1 is a flow chart of a method for determining relative attitude between satellites in a precise formation task according to the present invention;
fig. 2 is a schematic diagram of the antenna layout according to the present invention.
Detailed Description
The present invention will now be further described by way of the following detailed description of a preferred embodiment thereof, taken in conjunction with the accompanying drawings.
The inter-satellite attitude difference in the precise formation task directly influences the working precision of the effective load, and meanwhile, the inter-satellite attitude has coupling influence on the formation control precision, so that the precision formation must be subjected to inter-satellite attitude determination. Aiming at the engineering application problem, the invention provides a method for determining the inter-satellite high-precision relative attitude under the precise formation task condition, and the in-orbit real-time inter-satellite relative attitude determination under the complex condition is realized.
As shown in fig. 1, a method for determining the relative attitude between satellites in a precise formation task includes the following steps:
s1, completing the layout configuration design of the transmitting/receiving antenna based on the measurement dimension constraint, wherein the design requirement is that the number of the transmitting antenna and the receiving antenna is minimum;
s2, establishing an inter-satellite relative attitude relationship and an inter-satellite relative attitude relationship independent of a satellite centroid according to inter-satellite measurement information;
and S3, calculating the real-time information of the relative state between the satellites through a filtering algorithm.
The number of the transmitting antennas and the receiving antennas in the above step S1 is 2.
The step S2 specifically includes:
fig. 2 is a schematic diagram of the antenna layout according to the present invention, wherein the triangle is the transmitting antenna, the circle is the receiving antenna, and the pentagram is the known reference point (usually the phase center of the GNSS receiver antenna) selected by the satellite body.
S2.1, establishing an inter-satellite relative attitude state relational expression independent of the satellite centroid:
ρij＝R+Mr2j-r1i(1)
where i is 1,2, j is 1,2, R is the position vector of the satellite known reference point relative to the main satellite known reference point, ρijIs the distance from the ith transmitting antenna of the primary satellite to the jth receiving antenna of the secondary satellite, r1iPosition vector r of ith transmitting antenna of main satellite relative to known reference point of main satellite in main satellite body coordinate system2jThe position vector of the jth receiving antenna of the auxiliary satellite relative to the known datum point of the auxiliary satellite in the auxiliary satellite body coordinate system, and M is an attitude matrix of the auxiliary satellite body coordinate system relative to the main satellite body coordinate system;
s2.2, setting psi, theta,
if the relative attitude angle between the secondary star and the primary star is defined, the relative attitude state relation can be expressed as:
wherein, ω is1，ω2The attitude angular velocities of the main satellite and the auxiliary satellite respectively, and M is a coordinate transformation matrix from an auxiliary satellite coordinate system to the main satellite coordinate system:
wherein c represents cos and s represents sin.
In the step S3, EKF filtering (extended kalman filtering) or UKF filtering (unscented kalman filtering) is used to calculate the real-time information of the inter-satellite relative state.
In conclusion, the inter-satellite relative attitude determination method under the precise formation task realizes the in-orbit real-time inter-satellite relative attitude determination under the complex condition.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (3)
1. A method for determining the relative attitude between stars under a precise formation task is characterized by comprising the following steps:
s1, completing the layout configuration design of the transmitting antenna and the receiving antenna based on the measurement dimension constraint;
s2, establishing an inter-satellite relative attitude relationship and an inter-satellite relative attitude relationship independent of a satellite centroid according to inter-satellite measurement information;
the step S2 specifically includes:
s2.1, establishing an inter-satellite relative attitude state relational expression independent of the satellite centroid:
ρij＝R+Mr2j-r1i(1)
where i is 1,2, j is 1,2, R is the position vector of the satellite known reference point relative to the main satellite known reference point, ρijIs the distance from the ith transmitting antenna of the primary satellite to the jth receiving antenna of the secondary satellite, r1iPosition vector r of ith transmitting antenna of main satellite relative to known reference point of main satellite in main satellite body coordinate system2jThe position vector of the jth receiving antenna of the auxiliary satellite relative to the known datum point of the auxiliary satellite in the auxiliary satellite body coordinate system, and M is an attitude matrix of the auxiliary satellite body coordinate system relative to the main satellite body coordinate system;
s2.2, setting psi, theta,
if the relative attitude angle between the secondary star and the primary star is defined, the relative attitude state relation can be expressed as:
wherein, ω is1，ω2The attitude angular velocities of the main satellite and the auxiliary satellite respectively, and M is an attitude matrix of the auxiliary satellite body coordinate system relative to the main satellite body coordinate system:
wherein c represents cos and s represents sin;
and S3, calculating the real-time information of the relative state between the satellites through a filtering algorithm.
2. The method for determining the relative inter-satellite attitude under the precise formation task of claim 1, wherein the number of the transmitting antennas and the receiving antennas in the step S1 is 2.
3. The method for determining the relative inter-satellite attitude during the precise formation task of claim 1, wherein in step S3, EKF filter or UKF filter is used to calculate the real-time information of the relative inter-satellite states.
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