CN108195403B - Method and device for constructing star sensor on-orbit attitude measurement data comprehensive error model - Google Patents
Method and device for constructing star sensor on-orbit attitude measurement data comprehensive error model Download PDFInfo
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Abstract
The invention relates to the field of satellite analysis, in particular to a method and a device for constructing a star sensor in-orbit attitude measurement data comprehensive error model, wherein the method comprises the following steps: excavating error factors of the star sensor on-orbit attitude measurement according to the whole process of the star sensor on-orbit attitude measurement; analyzing the influence of each error factor on the attitude measurement data of the star sensor, and constructing each error factor model; designing a parameter space of each error factor model according to the precision influence mechanism of each error factor; and establishing a star sensor on-orbit attitude measurement data comprehensive error model by combining the error factors and the error factor models with the parameter space. The method fully considers the conditions of multiple influence factors, complex relation and mutual coupling of the star sensor on-orbit attitude measurement precision, and realizes the construction of the star sensor on-orbit attitude measurement data comprehensive error model.
Description
Technical Field
The invention relates to the field of satellite analysis, in particular to a method and a device for constructing a star sensor on-orbit attitude measurement data comprehensive error model.
Background
The earth observation satellite is a general term of an artificial earth satellite for observing earth lands, atmosphere and oceans through a space remote sensor, comprises a surveying and mapping satellite, a resource satellite, a marine satellite, a meteorological satellite and the like, and relates to the application fields of map surveying and mapping, homeland general survey, city planning, geological exploration, ocean management, meteorological forecast, disaster monitoring, military reconnaissance, missile early warning, battlefield assessment and the like. The information obtained by earth observation is a basic strategic resource of the country, and plays an important role in guaranteeing economic development and maintaining national security.
In recent years, the demand of users for high-resolution remote sensing information is increasingly urgent, and the trend of future development of earth observation systems is to improve the resolution of a space remote sensor. China has established an aerospace development target for realizing high-resolution earth observation, and is developing earth observation satellites for researching high-resolution imaging and high-precision stereo mapping. The realization of design indexes such as high-resolution imaging and high-precision three-dimensional mapping requires high-precision satellite attitude measurement precision. The high-precision attitude measurement is the basis for realizing the high-precision attitude determination and control, the high-precision attitude determination and control of the satellite is the basis for realizing the ultra-stable operation and high-precision pointing of the satellite, and the method has important significance for ensuring the high-resolution imaging, high-precision three-dimensional surveying and mapping and other earth observation performances of the satellite.
The star sensor is a satellite attitude measurement sensor with highest measurement precision in the current aerospace application. The improvement of the satellite attitude determination and control precision requirements has higher requirements on an attitude measurement sensor, particularly a star sensor. The higher performance indexes of the star sensor such as precision, stability and the like are, the more the requirements of satellite attitude control such as high-resolution imaging, high-precision three-dimensional mapping and the like can be met. But China is still in the order of 10 or tens of angular seconds (3 sigma). The requirement of the star sensor on-orbit attitude measurement is better than 1 arc second, which means that the error of each link influencing the accuracy of the star sensor on-orbit attitude measurement system is close to zero.
Aiming at the research of 'soft processing' for improving the accuracy of the star sensor on-orbit attitude measurement system, the current work mainly focuses on refining an on-orbit attitude measurement error model of the star sensor, designing an improved or novel error calibration or on-orbit test, calibration and compensation algorithm to adapt to different working environments, and further achieving the requirement of high-accuracy attitude measurement, namely the research work at home and abroad focuses on the research of 'positive problems'. For the 'inverse problem', namely the set star sensor on-orbit attitude measurement accuracy index (such as the accuracy index of 1 arc second), the analysis and research work on the limitation and boundary conditions of each influencing factor or system is not seen. The research on the inverse problem is the analysis and evaluation of the attribution factor of the measurement precision index of the on-orbit attitude of the star sensor, which is beneficial to guiding the design of the on-orbit attitude measurement system of the star sensor and the selection of an error processing method and can play a feedback role in the attitude measurement technology.
The acquisition of the star sensor on-orbit attitude measurement data comprehensive error model is a key link of precision analysis and evaluation and is also the basis of the star sensor on-orbit attitude measurement precision evaluation test. Therefore, the construction of the star sensor on-orbit attitude measurement data comprehensive error model is a premise and a key link for solving the inverse problem, but the star sensor on-orbit attitude measurement accuracy has a plurality of influence factors, and the relation is complex and mutually coupled, so that the construction of the accuracy comprehensive analysis model is very difficult.
Disclosure of Invention
The method and the device for constructing the star sensor on-orbit attitude measurement data comprehensive error model fully consider the conditions of multiple influence factors, complex relation and mutual coupling of the star sensor on-orbit attitude measurement precision, and realize the construction of the star sensor on-orbit attitude measurement data comprehensive error model.
On one hand, the construction method of the star sensor on-orbit attitude measurement data comprehensive error model provided by the invention comprises the following steps:
excavating error factors of the star sensor on-orbit attitude measurement according to the whole process of the star sensor on-orbit attitude measurement;
analyzing the influence of each error factor on the attitude measurement data of the star sensor, and constructing each error factor model;
designing a parameter space of each error factor model according to the precision influence mechanism of each error factor;
and establishing a star sensor on-orbit attitude measurement data comprehensive error model by combining each error factor and each error factor model with the parameter space.
On the other hand, the construction device of the star sensor on-orbit attitude measurement data comprehensive error model provided by the invention comprises the following steps:
the factor mining unit is used for mining each error factor of the star sensor on-orbit attitude measurement according to the whole process of the star sensor on-orbit attitude measurement;
the model building unit is used for analyzing the influence of each error factor on the attitude measurement data of the star sensor and building each error factor model;
the parameter space acquisition unit is used for designing the parameter space of each error factor model according to the precision influence mechanism of each error factor;
and the comprehensive model establishing unit is used for establishing a comprehensive error model of the star sensor on-orbit attitude measurement data by combining each error factor and each error factor model with the parameter space.
In the invention, the on-orbit attitude measurement of the star sensor and the engineering background and the mathematical technology of the on-orbit environment are combined, and the influence mechanism of each error on the measurement precision of the star sensor in the whole process of the on-orbit attitude measurement of the star sensor is deeply and comprehensively analyzed, so that a comprehensive error model of the on-orbit attitude measurement data of the star sensor is established. The method provides a basis for the precision analysis and evaluation of the star sensor on-orbit attitude measurement data and provides a basis for solving the inverse problem.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a model building unit according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a parameter space obtaining unit according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a unit structure for building a comprehensive model according to an embodiment of the present invention;
FIG. 6 is a diagram of a hierarchical analysis of the influence factors of the star sensor in-orbit attitude measurement process.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the method for constructing the star sensor on-orbit attitude measurement data comprehensive error model provided by the invention comprises the following steps:
101. excavating error factors of the star sensor on-orbit attitude measurement according to the whole process of the star sensor on-orbit attitude measurement;
102. analyzing the influence of each error factor on the attitude measurement data of the star sensor, and constructing each error factor model;
103. designing a parameter space of each error factor model according to the precision influence mechanism of each error factor;
104. and establishing a star sensor on-orbit attitude measurement data comprehensive error model by combining each error factor and each error factor model with the parameter space.
Further, error factors of the star sensor on-orbit attitude measurement comprise internal error influence factors and external error influence factors;
the internal error influencing factors include, but are not limited to: aberration influence, heat influence, star point extraction influence and photoelectric sampling noise influence;
the external error influencing factors include, but are not limited to: vibration of star body, reference deformation, relative installation error, temperature scene change and noise filtering influence.
Furthermore, the analyzing the influence of each error factor on the attitude measurement data of the star sensor and constructing each error factor model specifically comprises:
analyzing the influence of each error factor on the attitude measurement data of the star sensor to obtain the progressive and fusion relationship among the error factors;
establishing error factor models according to progressive and fusion relations among the error factors by combining a physical modeling and multivariate statistical method; wherein:
if the function form is known for the current error factor, obtaining a current error factor model by a parameter modeling method;
if the function form is unknown aiming at the current error factor, obtaining a current error factor model by a nonparametric or semiparametric modeling method;
the parameter modeling method comprises the following steps: combining a modeling method with historical data; the modeling methods include, but are not limited to: maximum entropy method, marginal distribution method, no prior information distribution method;
the nonparametric or semiparametric modeling method comprises the following steps: obtaining constraint information from historical data to obtain a nonparametric or semiparametric regression model; the constraint information includes, but is not limited to: monotonicity, smoothness and convexity constraint information, and order derivative and moment constraint information.
Still further, the designing a parameter space of each error factor model according to the accuracy influence mechanism of each error factor specifically includes:
obtaining a constraint relation between the attitude measurement precision of the star sensor and design parameters according to the precision influence mechanism of each error factor, and obtaining the range of the design parameters;
analyzing the constraint relation and the range of the design parameters through an optimization model to obtain a design parameter space;
the design parameters include, but are not limited to: satellite orbit period, jitter vibration frequency, amplitude, temperature variation gradient.
In the above technical solution, the establishing of the star sensor on-orbit attitude measurement data comprehensive error model by combining each error factor and each error factor model with the parameter space specifically includes:
obtaining joint distribution by a nonparametric method according to the measurement historical data of the on-orbit attitude of the star sensor, thereby obtaining the coupling relation of each error factor;
obtaining the coupling relation of each error factor model through an analysis method; such analytical methods include, but are not limited to: variable screening, correlation analysis and sparse component analysis;
and establishing a star sensor on-orbit attitude measurement data comprehensive error model according to the coupling relation of each error factor, the coupling relation of each error factor model and the design parameter space.
As shown in fig. 2, the device for constructing the star sensor on-orbit attitude measurement data comprehensive error model provided by the invention comprises:
the factor mining unit 11 is used for mining each error factor of the star sensor on-orbit attitude measurement according to the whole process of the star sensor on-orbit attitude measurement;
the model building unit 12 is used for analyzing the influence of each error factor on the attitude measurement data of the star sensor and building each error factor model;
a parameter space obtaining unit 13, configured to design a parameter space of each error factor model according to a precision influence mechanism of each error factor;
and the comprehensive model establishing unit 14 is used for establishing a comprehensive error model of the star sensor on-orbit attitude measurement data by combining the error factors and the error factor models with the parameter space.
The error factors of the star sensor on-orbit attitude measurement comprise internal error influence factors and external error influence factors;
the internal error influencing factors include, but are not limited to: aberration influence, heat influence, star point extraction influence and photoelectric sampling noise influence;
the external error influencing factors include, but are not limited to: vibration of star body, reference deformation, relative installation error, temperature scene change and noise filtering influence.
As shown in fig. 3, as a possible structure, the model building unit 12 includes:
the analysis module 121 is used for analyzing the influence of each error factor on the attitude measurement data of the star sensor to obtain the progressive and fusion relationship among the error factors;
the establishing module 122 is used for establishing each error factor model according to the progressive and fusion relationship among the error factors by combining a physical modeling and a multivariate statistical method; wherein:
if the function form is known for the current error factor, obtaining a current error factor model by a parameter modeling method;
if the function form is unknown aiming at the current error factor, obtaining a current error factor model by a nonparametric or semiparametric modeling method;
the parameter modeling method comprises the following steps: combining a modeling method with historical data; the modeling methods include, but are not limited to: maximum entropy method, marginal distribution method, no prior information distribution method;
the nonparametric or semiparametric modeling method comprises the following steps: obtaining constraint information from historical data to obtain a nonparametric or semiparametric regression model; the constraint information includes, but is not limited to: monotonicity, smoothness and convexity constraint information, and order derivative and moment constraint information.
As shown in fig. 4, as a possible structure, the parameter space obtaining unit 13 includes:
the relationship obtaining module 131 is configured to obtain a constraint relationship between the attitude measurement accuracy of the star sensor and the design parameter according to the accuracy influence mechanism of each error factor, and obtain a range of the design parameter;
a space obtaining module 132, configured to analyze the constraint relationship and the range of the design parameter through an optimization model to obtain a design parameter space;
the design parameters include, but are not limited to: satellite orbit period, jitter vibration frequency, amplitude, temperature variation gradient.
As shown in fig. 5, as a possible structure, the integrated model building unit 14 includes:
the first coupling relation obtaining module 141 is configured to obtain joint distribution by using a nonparametric method according to the measurement history data of the on-orbit attitude of the star sensor, so as to obtain the coupling relation of each error factor;
a second coupling relationship obtaining module 142, configured to obtain the coupling relationship of each error factor model through an analysis method; such analytical methods include, but are not limited to: variable screening, correlation analysis and sparse component analysis;
and the comprehensive model establishing module 143 is configured to establish a comprehensive error model of the star sensor on-orbit attitude measurement data according to the coupling relationship of each error factor, the coupling relationship of each error factor model, and the design parameter space.
The technical solution of the present invention is described in detail by examples below:
101. excavating error factors of the star sensor on-orbit attitude measurement according to the whole process of the star sensor on-orbit attitude measurement;
the error factors of the star sensor on-orbit attitude measurement comprise internal error influence factors and external error influence factors;
the internal error influencing factors include, but are not limited to: aberration influence, heat influence, star point extraction influence and photoelectric sampling noise influence;
the external error influencing factors include, but are not limited to: vibration of star body, reference deformation, relative installation error, temperature scene change and noise filtering influence.
As shown in fig. 6, the accuracy of the on-orbit attitude measurement of the star sensor is better than 1 arc second, which means that the influence of each error in the attitude measurement process is close to the physical error limit. The star sensor on-orbit attitude measurement error factors are divided into two levels, namely internal errors related to the design of the star sensor and external errors related to on-orbit environment, conditions and the like.
And establishing a star sensor on-orbit attitude measurement accuracy analysis space and a hierarchy and a system of accuracy influence factors from two aspects of internal errors and external errors. And analyzing and calculating the error amount of each link to form a parameter design range of the star sensor comprehensive error model, and laying a foundation for constructing a star sensor on-orbit attitude measurement precision comprehensive analysis model.
102. Analyzing the influence of each error factor on the attitude measurement data of the star sensor, and constructing each error factor model;
the method is characterized by researching the influence of various factors on the attitude measurement data of the star sensor, deeply analyzing the progressive and fusion relationship among various error factors in the whole attitude measurement process, and establishing a mathematical model of each error factor by combining modeling methods such as physical modeling and multivariate statistical analysis. For a certain error, if its functional form is known based on physical mechanisms or empirical accumulation, it can be constructed as a parameterized model. For a certain error, if the functional form is not clear or not completely clear, the method is described by establishing a proper nonparametric or semiparametric model, and extracting shape information such as smoothness and monotonicity of the error model and information such as derivatives and moments of each order.
1021. Analyzing the influence of each error factor on the attitude measurement data of the star sensor to obtain the progressive and fusion relationship among the error factors;
on the basis of comprehensively analyzing error factors in the whole attitude measurement process in a layering way, the influence of various factors on the on-orbit attitude measurement data (including performance index systems such as data precision, data stability and output frequency) of the star sensor is researched, and the progressive and fusion relation among the error factors in the whole attitude measurement process is deeply analyzed.
For example, for the thermal influence in the internal error influence factors, the influence of heat on the attitude measurement of the star sensor is mainly shown in the influence of the star sensor on the imaging position deviation of the star point when different temperature fields are distributed, so that the precision of the star sensor is influenced. Analyzing the temperature distribution rule of an optical system of the star sensor under the space radiation condition, establishing a temperature distribution model, and researching the influence of different temperature distributions on the star point extraction precision;
for the star body shaking/vibration in the external error influence, the star sensor attitude measurement data processing technology under the shaking/vibration condition is researched, the influence of shaking on the star sensor attitude measurement precision is analyzed by finding an amplitude-frequency demarcation point for processing the error caused by shaking in combination with the shaking amplitude-frequency characteristic, and the processing method of the star sensor attitude measurement data under the shaking condition is provided in combination with the satellite attitude measurement estimation process.
1022. Establishing error factor models according to progressive and fusion relations among the error factors by combining a physical modeling and multivariate statistical method; wherein:
if the function form is known for the current error factor, obtaining a current error factor model by a parameter modeling method;
if the function form is unknown aiming at the current error factor, obtaining a current error factor model by a nonparametric or semiparametric modeling method;
the parameter modeling method comprises the following steps: combining a modeling method with historical data; the modeling methods include, but are not limited to: maximum entropy method, marginal distribution method, no prior information distribution method;
the nonparametric or semiparametric modeling method comprises the following steps: obtaining constraint information from historical data to obtain a nonparametric or semiparametric regression model; the constraint information includes, but is not limited to: monotonicity, smoothness and convexity constraint information, and order derivative and moment constraint information.
Some error factors can be directly given according to inherent physical rules, the physical rules are not obvious and are mainly obtained by a data analysis method, and at the moment, various types of test data or historical test data of similar types in the process of measuring the on-orbit attitude of the star sensor are respectively obtained by adopting a parametric modeling method and a non-parametric modeling method. The prior distribution of the parameters needs to be constructed by combining methods such as a maximum entropy method, a marginal distribution method, no prior information distribution and the like with historical data; the constraint information about nonparametric and semiparametric regression models obtained from historical data includes shape constraint information such as monotonicity, smoothness and convexity, and includes constraint information about derivatives and moments of the models.
103. Designing a parameter space of each error factor model according to the precision influence mechanism of each error factor;
and combining the precision influence mechanism analysis of each error factor with the design parameter analysis, and obtaining a reasonable design parameter space through model optimization analysis.
1031. Obtaining a constraint relation between the attitude measurement precision of the star sensor and design parameters according to the precision influence mechanism of each error factor, and obtaining the range of the design parameters;
1032. analyzing the constraint relation and the range of the design parameters through an optimization model to obtain a design parameter space;
the design parameters include, but are not limited to: satellite orbit period, jitter vibration frequency, amplitude, temperature variation gradient.
When the star sensor on-orbit attitude measurement precision comprehensive analysis model is established, the design of system parameters is a key place, and the accuracy and the precision of the precision comprehensive analysis model are determined. Therefore, in the aspect of precision design of the star sensor, the precision influence mechanism analysis of each error factor is combined with the design parameter analysis to explain the relation between the attitude measurement comprehensive error of the star sensor and the design parameters such as the satellite orbit period, the jitter vibration frequency, the amplitude, the temperature change gradient and the like, the range of the design parameters is given, and a reasonable design parameter space is obtained through model optimization analysis.
104. Establishing a star sensor on-orbit attitude measurement data comprehensive error model by combining each error factor and each error factor model with the parameter space;
and establishing an on-orbit attitude measurement data comprehensive error model of the star sensor by combining the coupling relation among the error influences and utilizing methods such as variable screening in regression analysis and the like from the classification of each error factor and the precision estimation relation.
In the process of measuring the on-orbit attitude of the star sensor, various error factors exist, a coupling relation exists, and the analysis of the coupling relation of the error factors comprises the following two parts: firstly, coupling analysis of errors is carried out, namely joint probability distribution of the errors is obtained; the second is the coupling analysis of the error model.
Aiming at the former method, large sample data is obtained by combining a large amount of star sensor on-orbit attitude measurement historical data with means such as simulation, and then joint distribution is obtained by a nonparametric method; the latter method is mainly realized by methods such as variable screening, correlation analysis, sparse component analysis and the like.
1041. Obtaining joint distribution by a nonparametric method according to the measurement historical data of the on-orbit attitude of the star sensor, thereby obtaining the coupling relation of each error factor;
1042. obtaining the coupling relation of each error factor model through an analysis method; such analytical methods include, but are not limited to: variable screening, correlation analysis and sparse component analysis;
1043. and establishing a star sensor on-orbit attitude measurement data comprehensive error model according to the coupling relation of each error factor, the coupling relation of each error factor model and the design parameter space.
The star sensor on-orbit attitude measurement data comprehensive error model is required to be continuously adjusted and improved in aspects of model structure, variable selection and the like according to the dynamic change of an on-orbit environment. Therefore, the construction of the star sensor on-orbit attitude measurement data comprehensive error model is a continuous iterative updating process, and the star sensor on-orbit attitude measurement data comprehensive error model is a closed loop research mode in the research process of 'inverse problems'.
The acquisition of the star sensor on-orbit attitude measurement data comprehensive error model is a key link of precision analysis and evaluation and is also the basis of the star sensor on-orbit attitude measurement precision evaluation test. The star sensor on-orbit attitude measurement accuracy influence factors are many, the relationship is complex and the mutual coupling causes the construction of an accuracy comprehensive analysis model to be very difficult, and the star sensor attitude measurement and the engineering background and the mathematical technology of the on-orbit environment are combined and realized through the approaches of hierarchical analysis, error coupling analysis, parametric modeling, nonparametric/semiparametric modeling and the like.
The embodiment of the invention provides a device for constructing an on-orbit attitude measurement data comprehensive error model of a star sensor, which can realize the method embodiment provided above.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. To those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A method for constructing a star sensor on-orbit attitude measurement data comprehensive error model is characterized by comprising the following steps:
excavating error factors of the star sensor on-orbit attitude measurement according to the whole process of the star sensor on-orbit attitude measurement;
analyzing the influence of each error factor on the attitude measurement data of the star sensor, and constructing each error factor model;
designing a parameter space of each error factor model according to the precision influence mechanism of each error factor;
establishing a star sensor on-orbit attitude measurement data comprehensive error model by combining the error factors and the error factor models with the parameter space;
the method for analyzing the influence of each error factor on the attitude measurement data of the star sensor and constructing each error factor model specifically comprises the following steps:
analyzing the influence of each error factor on the attitude measurement data of the star sensor to obtain the progressive and fusion relationship among the error factors;
establishing error factor models according to progressive and fusion relations among the error factors by combining a physical modeling and multivariate statistical method; wherein:
if the function form is known for the current error factor, obtaining a current error factor model by a parameter modeling method;
if the function form is unknown aiming at the current error factor, obtaining a current error factor model by a nonparametric or semiparametric modeling method;
the parameter modeling method comprises the following steps: combining a modeling method with historical data; the modeling method comprises one of the following steps: maximum entropy method, marginal distribution method, no prior information distribution method;
the nonparametric or semiparametric modeling method comprises the following steps: obtaining constraint information from historical data to obtain a nonparametric or semiparametric regression model; the constraint information includes at least one of: monotonicity, smoothness and convexity constraint information, and order derivative and moment constraint information.
2. The method for constructing the star sensor on-orbit attitude measurement data comprehensive error model of claim 1, wherein the error factors of the star sensor on-orbit attitude measurement comprise internal error influence factors and external error influence factors;
the internal error influencing factors include: aberration influence, heat influence, star point extraction influence and photoelectric sampling noise influence;
the external error influencing factors include: vibration of star body, reference deformation, relative installation error, temperature scene change and noise filtering influence.
3. The method for constructing the star sensor on-orbit attitude measurement data comprehensive error model according to claim 1, wherein the designing of the parameter space of each error factor model according to the accuracy influence mechanism of each error factor specifically comprises:
obtaining a constraint relation between the attitude measurement precision and the parameters of the star sensor according to the precision influence mechanism of each error factor, and obtaining the range of the parameters;
analyzing the constraint relation and the range of the parameters through an optimization model to obtain a parameter space;
the parameters include at least one of: satellite orbit period, jitter vibration frequency, amplitude, temperature variation gradient.
4. The method for constructing the star sensor on-orbit attitude measurement data comprehensive error model according to claim 1, wherein the establishing of the star sensor on-orbit attitude measurement data comprehensive error model by combining each error factor, each error factor model and the parameter space specifically comprises:
obtaining joint distribution by a nonparametric method according to the measurement historical data of the on-orbit attitude of the star sensor, thereby obtaining the coupling relation of each error factor;
obtaining the coupling relation of each error factor model through an analysis method; the analysis method comprises one of the following steps: variable screening, correlation analysis and sparse component analysis;
and establishing a star sensor on-orbit attitude measurement data comprehensive error model according to the coupling relation of each error factor, the coupling relation of each error factor model and the parameter space.
5. A star sensor on-orbit attitude measurement data comprehensive error model construction device is characterized by comprising the following steps:
the factor mining unit is used for mining each error factor of the star sensor on-orbit attitude measurement according to the whole process of the star sensor on-orbit attitude measurement;
the model building unit is used for analyzing the influence of each error factor on the attitude measurement data of the star sensor and building each error factor model;
a parameter space obtaining unit, configured to design a parameter space of each error factor model according to the accuracy influence mechanism of each error factor;
the comprehensive model establishing unit is used for establishing a comprehensive error model of the star sensor on-orbit attitude measurement data by combining the error factors and the error factor models with the parameter space;
the model building unit includes:
the analysis module is used for analyzing the influence of each error factor on the attitude measurement data of the star sensor to obtain the progressive and fusion relationship among the error factors;
the establishing module is used for establishing each error factor model according to the progressive and fusion relation among each error factor by combining a physical modeling and a multivariate statistical method; wherein:
if the function form is known for the current error factor, obtaining a current error factor model by a parameter modeling method;
if the function form is unknown aiming at the current error factor, obtaining a current error factor model by a nonparametric or semiparametric modeling method;
the parameter modeling method comprises the following steps: combining a modeling method with historical data; the modeling method comprises one of the following steps: maximum entropy method, marginal distribution method, no prior information distribution method;
the nonparametric or semiparametric modeling method comprises the following steps: obtaining constraint information from historical data to obtain a nonparametric or semiparametric regression model; the constraint information includes at least one of: monotonicity, smoothness and convexity constraint information, and order derivative and moment constraint information.
6. The device for constructing the star sensor on-orbit attitude measurement data comprehensive error model of claim 5, wherein the error factors of the star sensor on-orbit attitude measurement comprise internal error influence factors and external error influence factors;
the internal error influencing factors include: aberration influence, heat influence, star point extraction influence and photoelectric sampling noise influence;
the external error influencing factors include: vibration of star body, reference deformation, relative installation error, temperature scene change and noise filtering influence.
7. The device for constructing the star sensor on-orbit attitude measurement data comprehensive error model according to claim 5, wherein the parameter space obtaining unit comprises:
the relation acquisition module is used for acquiring the constraint relation between the attitude measurement precision and the parameters of the star sensor according to the precision influence mechanism of each error factor and acquiring the range of the parameters;
the space acquisition module is used for analyzing the constraint relation and the range of the parameters through an optimization model to obtain a parameter space;
the parameters include: satellite orbit period, jitter vibration frequency, amplitude, temperature variation gradient.
8. The device for constructing the star sensor on-orbit attitude measurement data comprehensive error model according to claim 5, wherein the comprehensive model establishing unit comprises:
the first coupling relation obtaining module is used for obtaining the joint distribution by a nonparametric method according to the on-orbit attitude measurement historical data of the star sensor so as to obtain the coupling relation of each error factor;
the second coupling relation obtaining module is used for obtaining the coupling relation of each error factor model through an analysis method; the analysis method comprises the following steps: variable screening, correlation analysis and sparse component analysis;
and the comprehensive model establishing module is used for establishing a comprehensive error model of the star sensor on-orbit attitude measurement data according to the coupling relation of each error factor, the coupling relation of each error factor model and the parameter space.
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