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根据小卫星星载相机存在后视角或安装相机摆镜导致相机实际光轴无法与星体主轴平行的状况,为避免用欧拉角时的姿态解算与转序问题,提出了一种基于四元数的卫星偏流角跟踪与条带拼接成像姿态控制方法。用四元数描述卫星姿态,根据相对轨道系目标四元数,绕相机光轴转动偏流角,以此作为成像模式目标四元数,实现绕空间轴的偏流角跟踪控制。给出了姿态规划算法:固定偏置姿态确定偏流角跟踪后的目标姿态和目标角速度,用迭代法提高偏流角控制精度,并在姿态机动过程开始即进行偏流角跟踪,保证姿态机动到位和高精度偏流角跟踪的同时实现。基于内干扰力矩前馈方法设计了姿态机动控制律。以同轨双条带拼接成像为例,给出了成像控制方法:在对日或对地定向基础上,计算偏置目标姿态和目标角速度,并调用姿态机动控制算法;姿态机动到位后,若需当轨完成多目标姿态机动,则用姿态机动控制算法保持姿态偏置飞行和偏流角跟踪控制。数学仿真结果验证了该算法的有效性和高精度。
According to the existence of a small satellite spaceborne camera rear view or the installation of the camera led to the actual optical axis camera can not be parallel with the principal axis of the state of the stars, in order to avoid the Euler angle gesture solution and sequence problems, Satellite Attitude Angle Tracking and Strip Stitching Imaging Attitude Control Methods. The quaternion is used to describe the attitude of the satellite. According to the target quaternion of the relative orbit, the drift angle is rotated around the optical axis of the camera as the target quaternion of the imaging mode, and the drift angle control around the spatial axis is achieved. The attitude planning algorithm is given. The target attitude and the target angular velocity are determined after the bias drift is tracked. The iterative method is used to improve the control accuracy of the drift angle. At the beginning of the attitude maneuver, the drift angle is tracked to ensure the maneuvering position and height Accuracy drift angle tracking at the same time. The attitude maneuver control law is designed based on the internal disturbance torque feedforward method. Taking the stitching imaging of the same track and two strips as an example, the imaging control method is given: on the basis of the orientation of day or on the ground, the bias target attitude and target angular velocity are calculated and the attitude maneuver control algorithm is invoked; When the orbit is to complete the multi-objective attitude maneuver, the attitude maneuver control algorithm is used to keep the attitude bias flight and the drift angle tracking control. Mathematical simulation results verify the effectiveness and accuracy of the proposed algorithm.