太阳同步天回归轨道的高分相机像移补偿研究
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摘要
随着国际环境的瞬息变化,火灾、地震、海啸等自然灾害的频频发生,国内外对具备高分辨率可见光对地观测小卫星的需求越来越迫切。高精度的像移补偿模型的分析和设计是确保高分辨率卫星成像质量的关键技术之一。目前,像移补偿模型设计理论还不成熟,对卫星姿态、轨道参数以及执行机构高速旋转对高分辨率TDI CCD相机成像产生的影响的研究还不多见,而卫星的轨道设计、姿态控制和TDI CCD成像又是一个有机的整体融合在一起,起到至关重要的作用,值得做出针对性的深入研究。
本论文研究了太阳同步天回归轨道的高分相机像移补偿技术。着重研究了卫星姿态、轨道控制引起的像移误差对TDI CCD相机成像的影响。首先,设计了适于高分辨率侦察卫星的561km的太阳同步天回归轨道;其次以卫星轨道参数和轨道分析为输入条件,设计了高精度像移补偿系统,并根据TDI CCD工作原理,利用蒙特卡洛方法,分析了偏流角误差对TDI CCD相机成像的影响;然后分析了卫星轨道衰减导致的高分相机读出频率升高对成像的影响,并提出了后摆补偿地速的方案;最后,对卫星姿态控制的执行机构——金字塔构型的单框架控制力矩陀螺(Single Gimbal Control Moment Gyro,以下简称SGCMG)在高速旋转过程中对高分相机成像的影响进行了仿真分析。
卫星的轨道设计是卫星研制的首要条件,是像移补偿模型设计分析的输入条件。本文根据载荷对地面目标成像要求有比较稳定的地面太阳光照条件,同时可为电源系统提供有利的光照角度等需要,选取轨道类型为太阳同步圆轨道。为了满足对一些大规模的突发事件快速响应,轨道设计需要融合高的时间分辨率,因此,选取561km的太阳同步天回归轨道。最后,对轨道的轨迹特性、光照特性、衰减特性、跟踪弧段和测控数传弧段等进行了分析。
在轨道特性分析的基础上,本文首先设计了像移速度矢补偿模型,将轨道根数的变化、卫星姿态参数的变化、地球自转等引入像移速度矢量中,进而利用蒙特卡洛方法分析了姿态轨道参数的大小对像移速度失配的影响。其次,针对偏流机构调整引起的TDI CCD拼接的漏缝问题,偏流机构旋转中心的选择进行了设计,研究了利用卫星平台调整偏流角从而校正像移速度的方法,最后根据像移速度失配对高分相机成像的影响分析,建立了推扫相机像点与物点一一对应的数学模型,计算了偏流角误差对TDI CCD相机成像的影响。
在轨卫星由于受到空间环境的影响,卫星轨道一直处于不断衰减的状态,高分相机的数据读出频率会随轨道的降低明显升高,产生高频干扰,从而严重影响成像,为了保证读出频率不变,需要卫星轨道维持,而轨道维持又受到携带燃料多少的限制。针对这两难困境,提出拍照过程的同时后摆补偿地速方案,即轨道降低后,在保证相机数据的读出频率一定的条件下,利用卫星的俯仰角速度,补偿引起过高读出频率的地速。最后利用TDI CCD相机像点与物点一一对应模型的仿真系统对后摆过程引起的像移速度失配及误差进行了分析,算例表明在拍照时间要求不太长,俯仰角为小角度时,仿真成像能较好地满足要求。
高分辨率卫星要求具备高的时间分辨率,由于天回归轨道星下点轨迹间距大,需要在轨卫星具备快速的机动能力,从而实现对敏感区域大范围的拍照,与此同时空间高分辨率的任务需求对卫星的指向精度和姿态稳定度也提出了很高的要求。本文针对国内航天领域即将应用的满足上述需求的既具有力矩放大能力,又能够提供大控制力矩的SGCMG,分析了金字塔构型的SGCMGs工作原理及相应的带零运动违逆操纵率,最后利用齐次坐标变换方法和卫星动力学方程,将转子动不平衡力矩变换至卫星本体坐标系下的星体颤振角位移和颤振角速度,仿真分析了颤振角位移和角速度对遥感卫星成像的影响,为SGCMGs在高分卫星上的应用做有力论证和补充方法。
本文的研究工作出于工程实践的需求,设计了太阳同步天回归轨道和高精度像移补偿系统,并针对具体工程要求,分析了偏流角误差对成像的影响、轨道衰减卫星后摆补偿地速成像及姿控执行机构SGCMGs颤振对高分相机成像的影响,通过实验仿真证明了本文的方法是实用、有效的,具有理论与工程参考价值。
The demand for high resolution and visible earth observation satellite has increased greatly in and out of board, which is due to frequent occurences of disasters such as fire, earthquake and tsunami, resulting from rapid changes in international environment. The analysis and design of high resolution image motion compensation model is the most critical technology among the factors that influence high resolution satellite imaging quality. But until now image motion compensation model design theory was immature. And there was not enough research on the influence on high resolution TDI CCD imaging generated by spacecraft attitude, orbital parameters and actuator’s high-speed rotation. Since spacecraft orbit design and attitude control is essential to TDI CCD image, it is necessary to investigate the image motion compensation deeply.
This paper deals with image motion compensation technology based upon day- regressive sun-synchronous orbit design. The effect of image motion error which induced by spacecraft attitude and orbit control on TDI CCD camera imaging is evaluated. First, a 561km Day-regressive Sun-synchronous orbit which suited for high resolution reconnaissance satellite is designed. Then based on the satellite orbital parameters act as inputs, a high precision image motion compensation system is designed. And simultaneously based on TDI CCD image principle, Monte Carlo method is used to analyze the influence of deviant angle error on TDI CCD camera imaging. Next, the technique of back-sway to compensate ground velocity is proposed under the analysis of the effect of satellite orbit attenuation on high resolution camera readout frequency increase and on the influence of TDI CCD imaging. Finally, the analysis and simulation results of the affection on high resolution camera image introduced by satellite’s actuator Single Gimbal Control Moment Gyro (SGCMG in short) of pyramid configuration in high rotating speed are performed.
As a prerequisite condition for satellite design, satellite orbit design is also input for image motion mode design and analysis. In this paper, Sun-synchronous circular orbit is initially determined, for the reasons that enough sunlight illumination is needed to obtain better resolution when payload scouting ground target and beneficial illumination angle is necessary for power system. Simultaneously, in order to satisfy rapid response to large scale sudden events, satellite orbit design should mix up high time resolution. Therefore a 561km Day-regressive Sun-synchronous orbit is adopted. Finally, the characteristics of orbit trajectory, illumination, attenuation, track and measurement and control data transmission arc segment are analyzed to this orbit model.
Based on previous analysis of orbit characteristics, how to find a reasonable and high efficiency method to carry out image motion compensation model design and analysis become the most important task of this paper. First, image motion velocity vector compensation model is designed and orbital parameters variation, satellite attitude parameters transformation and earth rotation are introduced to the vector. Then the effect of attitude and orbital parameters on image motion velocity mismatching is analyzed by means of Monte Carlo method. Next, the problem of TDI CCD splice leakage produced by deviant structure adjustment and deviant structure rotating center are designed and analyzed. After that, a method of adjusting deviant angle through satellite platform is raised to regulate image velocity. According to the influence of image motion velocity mismatching on camera image, the TDI CCD camera one-to-one model of image points and object points is established. Finally, the effect and simulation of deviant angle error on TDI CCD camera image is calculated.
Satellite orbit is always attenuating because of spatical environment. And high resolution camera data readout frequency would increase obviously with orbit reducing. Sequently, high frequency disturbance arises, which would affect image quality. So satellite orbit is very necessary to be maintenaned to guarantee constant readout frequency. But one question is that orbit maintenance is limited by quatities of fuels on satellite. To conquer the two problems, a proposal that back-sway compensates ground velocity while imaging is introduced. That means, after lowing orbit, utilizing satellite pitch angular velocity to compensate ground velocity, which caused high readout frequency. Of course, the prerequisite is to guarantee camera data readout frequency under certain limitation. Finally, the result of analyzing image motion velocity mismatch and error produced by back-sway through the simulation system, formulated by means of TDI CCD camera image points and object points, is performed. It demonstrates that the program satisfies image demand well if imaging time is not longer and pitch angle is smaller.
High resolution satellite needs high time resolution. But the distance between two adjacent tracks is large. So on-orbit satellite is requested to have ability of quick maneuvering to take picture sensitive areas in large region. Meanwhile, high spatial resolution mission raises high requirements for satellite orientation precision and attitude stability. Here a kind of actuator named SGCMG which is to be used in spacecraft field in China is presented. The major advantage is its torque amplification ability. It can provide greater control torque. First, SGCMG’s working principle is given. Then SGCMGs of pyramid configuration and its pseudo-inverse steering law with null-motion are to be listed. Finally, through homogeneous coordinate transformation, rotator dynamic disequilibrium torque is tranformed into satellite body coordinate. Then how does SGCMGs’rotator dynamic inequilibrium affect remote sensing image is simulated and analyzed, which would be valuable proof and method for SGCMGs to be used on high resolution satellite.
This paper copes with projects needs and presents design methods and simulation procedures of day-regressive sun-synchronous orbit and high precision image motion compensation system. Meanwhile, deviant angle error, and satellite back-sway compensating ground velocity to improve image resolution while orbit attenuating, the effect of attitude actuator SGCMGs vibration on high resolution camera imaging are included in this paper with respect to projects practical needs. By experiment simulating, the method proposed here is proved to be practical and effective and still of great value in theory and project. Key words: sun-synchronous; high resolution camera; image motion compensation;
本论文研究了太阳同步天回归轨道的高分相机像移补偿技术。着重研究了卫星姿态、轨道控制引起的像移误差对TDI CCD相机成像的影响。首先,设计了适于高分辨率侦察卫星的561km的太阳同步天回归轨道;其次以卫星轨道参数和轨道分析为输入条件,设计了高精度像移补偿系统,并根据TDI CCD工作原理,利用蒙特卡洛方法,分析了偏流角误差对TDI CCD相机成像的影响;然后分析了卫星轨道衰减导致的高分相机读出频率升高对成像的影响,并提出了后摆补偿地速的方案;最后,对卫星姿态控制的执行机构——金字塔构型的单框架控制力矩陀螺(Single Gimbal Control Moment Gyro,以下简称SGCMG)在高速旋转过程中对高分相机成像的影响进行了仿真分析。
卫星的轨道设计是卫星研制的首要条件,是像移补偿模型设计分析的输入条件。本文根据载荷对地面目标成像要求有比较稳定的地面太阳光照条件,同时可为电源系统提供有利的光照角度等需要,选取轨道类型为太阳同步圆轨道。为了满足对一些大规模的突发事件快速响应,轨道设计需要融合高的时间分辨率,因此,选取561km的太阳同步天回归轨道。最后,对轨道的轨迹特性、光照特性、衰减特性、跟踪弧段和测控数传弧段等进行了分析。
在轨道特性分析的基础上,本文首先设计了像移速度矢补偿模型,将轨道根数的变化、卫星姿态参数的变化、地球自转等引入像移速度矢量中,进而利用蒙特卡洛方法分析了姿态轨道参数的大小对像移速度失配的影响。其次,针对偏流机构调整引起的TDI CCD拼接的漏缝问题,偏流机构旋转中心的选择进行了设计,研究了利用卫星平台调整偏流角从而校正像移速度的方法,最后根据像移速度失配对高分相机成像的影响分析,建立了推扫相机像点与物点一一对应的数学模型,计算了偏流角误差对TDI CCD相机成像的影响。
在轨卫星由于受到空间环境的影响,卫星轨道一直处于不断衰减的状态,高分相机的数据读出频率会随轨道的降低明显升高,产生高频干扰,从而严重影响成像,为了保证读出频率不变,需要卫星轨道维持,而轨道维持又受到携带燃料多少的限制。针对这两难困境,提出拍照过程的同时后摆补偿地速方案,即轨道降低后,在保证相机数据的读出频率一定的条件下,利用卫星的俯仰角速度,补偿引起过高读出频率的地速。最后利用TDI CCD相机像点与物点一一对应模型的仿真系统对后摆过程引起的像移速度失配及误差进行了分析,算例表明在拍照时间要求不太长,俯仰角为小角度时,仿真成像能较好地满足要求。
高分辨率卫星要求具备高的时间分辨率,由于天回归轨道星下点轨迹间距大,需要在轨卫星具备快速的机动能力,从而实现对敏感区域大范围的拍照,与此同时空间高分辨率的任务需求对卫星的指向精度和姿态稳定度也提出了很高的要求。本文针对国内航天领域即将应用的满足上述需求的既具有力矩放大能力,又能够提供大控制力矩的SGCMG,分析了金字塔构型的SGCMGs工作原理及相应的带零运动违逆操纵率,最后利用齐次坐标变换方法和卫星动力学方程,将转子动不平衡力矩变换至卫星本体坐标系下的星体颤振角位移和颤振角速度,仿真分析了颤振角位移和角速度对遥感卫星成像的影响,为SGCMGs在高分卫星上的应用做有力论证和补充方法。
本文的研究工作出于工程实践的需求,设计了太阳同步天回归轨道和高精度像移补偿系统,并针对具体工程要求,分析了偏流角误差对成像的影响、轨道衰减卫星后摆补偿地速成像及姿控执行机构SGCMGs颤振对高分相机成像的影响,通过实验仿真证明了本文的方法是实用、有效的,具有理论与工程参考价值。
The demand for high resolution and visible earth observation satellite has increased greatly in and out of board, which is due to frequent occurences of disasters such as fire, earthquake and tsunami, resulting from rapid changes in international environment. The analysis and design of high resolution image motion compensation model is the most critical technology among the factors that influence high resolution satellite imaging quality. But until now image motion compensation model design theory was immature. And there was not enough research on the influence on high resolution TDI CCD imaging generated by spacecraft attitude, orbital parameters and actuator’s high-speed rotation. Since spacecraft orbit design and attitude control is essential to TDI CCD image, it is necessary to investigate the image motion compensation deeply.
This paper deals with image motion compensation technology based upon day- regressive sun-synchronous orbit design. The effect of image motion error which induced by spacecraft attitude and orbit control on TDI CCD camera imaging is evaluated. First, a 561km Day-regressive Sun-synchronous orbit which suited for high resolution reconnaissance satellite is designed. Then based on the satellite orbital parameters act as inputs, a high precision image motion compensation system is designed. And simultaneously based on TDI CCD image principle, Monte Carlo method is used to analyze the influence of deviant angle error on TDI CCD camera imaging. Next, the technique of back-sway to compensate ground velocity is proposed under the analysis of the effect of satellite orbit attenuation on high resolution camera readout frequency increase and on the influence of TDI CCD imaging. Finally, the analysis and simulation results of the affection on high resolution camera image introduced by satellite’s actuator Single Gimbal Control Moment Gyro (SGCMG in short) of pyramid configuration in high rotating speed are performed.
As a prerequisite condition for satellite design, satellite orbit design is also input for image motion mode design and analysis. In this paper, Sun-synchronous circular orbit is initially determined, for the reasons that enough sunlight illumination is needed to obtain better resolution when payload scouting ground target and beneficial illumination angle is necessary for power system. Simultaneously, in order to satisfy rapid response to large scale sudden events, satellite orbit design should mix up high time resolution. Therefore a 561km Day-regressive Sun-synchronous orbit is adopted. Finally, the characteristics of orbit trajectory, illumination, attenuation, track and measurement and control data transmission arc segment are analyzed to this orbit model.
Based on previous analysis of orbit characteristics, how to find a reasonable and high efficiency method to carry out image motion compensation model design and analysis become the most important task of this paper. First, image motion velocity vector compensation model is designed and orbital parameters variation, satellite attitude parameters transformation and earth rotation are introduced to the vector. Then the effect of attitude and orbital parameters on image motion velocity mismatching is analyzed by means of Monte Carlo method. Next, the problem of TDI CCD splice leakage produced by deviant structure adjustment and deviant structure rotating center are designed and analyzed. After that, a method of adjusting deviant angle through satellite platform is raised to regulate image velocity. According to the influence of image motion velocity mismatching on camera image, the TDI CCD camera one-to-one model of image points and object points is established. Finally, the effect and simulation of deviant angle error on TDI CCD camera image is calculated.
Satellite orbit is always attenuating because of spatical environment. And high resolution camera data readout frequency would increase obviously with orbit reducing. Sequently, high frequency disturbance arises, which would affect image quality. So satellite orbit is very necessary to be maintenaned to guarantee constant readout frequency. But one question is that orbit maintenance is limited by quatities of fuels on satellite. To conquer the two problems, a proposal that back-sway compensates ground velocity while imaging is introduced. That means, after lowing orbit, utilizing satellite pitch angular velocity to compensate ground velocity, which caused high readout frequency. Of course, the prerequisite is to guarantee camera data readout frequency under certain limitation. Finally, the result of analyzing image motion velocity mismatch and error produced by back-sway through the simulation system, formulated by means of TDI CCD camera image points and object points, is performed. It demonstrates that the program satisfies image demand well if imaging time is not longer and pitch angle is smaller.
High resolution satellite needs high time resolution. But the distance between two adjacent tracks is large. So on-orbit satellite is requested to have ability of quick maneuvering to take picture sensitive areas in large region. Meanwhile, high spatial resolution mission raises high requirements for satellite orientation precision and attitude stability. Here a kind of actuator named SGCMG which is to be used in spacecraft field in China is presented. The major advantage is its torque amplification ability. It can provide greater control torque. First, SGCMG’s working principle is given. Then SGCMGs of pyramid configuration and its pseudo-inverse steering law with null-motion are to be listed. Finally, through homogeneous coordinate transformation, rotator dynamic disequilibrium torque is tranformed into satellite body coordinate. Then how does SGCMGs’rotator dynamic inequilibrium affect remote sensing image is simulated and analyzed, which would be valuable proof and method for SGCMGs to be used on high resolution satellite.
This paper copes with projects needs and presents design methods and simulation procedures of day-regressive sun-synchronous orbit and high precision image motion compensation system. Meanwhile, deviant angle error, and satellite back-sway compensating ground velocity to improve image resolution while orbit attenuating, the effect of attitude actuator SGCMGs vibration on high resolution camera imaging are included in this paper with respect to projects practical needs. By experiment simulating, the method proposed here is proved to be practical and effective and still of great value in theory and project. Key words: sun-synchronous; high resolution camera; image motion compensation;
引文
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