JPH0333611A - Detecting method of attitude angle of artificial satellite - Google Patents

Abstract

PURPOSE:To detect the angle of yaw of an artificial satellite by obtaining the rolling angle, pitching angle and angle of yaw from the centroid and a south-north axis and the center of an image of the image data. CONSTITUTION:A second-dimensional image sensor 11 detects an image of the earth 5 in two-dimension. An output from the sensor 11 is obtained as output data 12 of the image sensor. When the output data 12 is processed from the flatness of the earth 5, a centroid 13 and, a south-north axis and an east-west axis of the image of the earth 5 are obtained. The rolling data 17, pitching data 18 and yaw data 19 are obtained from the relation of the centroid 13 and south-north axis 14 with the center 15 of the image and a south-north axis 16 of the image. In other words, the yaw data 19 is obtained from the relation between the south-north axis 14 and the south-north axis 16 of the image, while the data 17 is obtained from the relation between the center 15 of the image and the centroid 13. Moreover, the data 17 is obtained from the relation between the center 15 of the image and the centroid 13. As a result, not only the direction of the earth but the angle of yaw of a satellite rotating around the earth can be detected.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to the attitude angle of an artificial satellite, which is mounted on an artificial satellite and used to detect the attitude angle of the artificial satellite around three axes from its azimuth with the earth. Regarding detection method.

[Prior Art] As shown in FIG. 3, the conventional attitude angle detection method of this type of artificial satellite scans the earth 5 with two detectors 1 and 2, and outputs the data to each detector 1 or 2. It is known that the direction of the earth 5 as seen from the detectors 1 and 2 is detected as a roll angle and a pitch angle by comparing the pulses.

In addition, as shown in Fig. 4, the brightness of the earth 5 as seen from the detectors 1 to 4 is detected by detecting the brightness of the earth 5 using four detectors 1 to 4, and comparing the levels output to each detector 1 to 4. It is also known to detect direction as a roll angle and a pitch angle.

In either case, detectors 1 to 4 are used that have only the function of simply detecting the intensity of incident light.

[Problems to be Solved by the Invention] The conventional method for detecting the attitude angle of an artificial satellite described above simply detects the direction of the earth, and cannot detect the attitude (yaw angle) of the artificial satellite around the earth direction. There is a problem.

That is, the attitude angle of an artificial satellite is generally set by a roll angle, a pitch angle, and a yaw angle, as shown in FIG. The conventional method for detecting the attitude angle of an artificial satellite is to detect the following three angles:
There is a problem in that only the roll angle and pitch angle are detected, and the yaw angle cannot be detected.

[Means for Solving the Problems] The present invention has been made in view of the above-mentioned problems.It is an object of the present invention to detect the yaw angle. In the attitude angle detection method of an artificial satellite, which detects the attitude angle of the satellite around three axes from its orientation with the earth, it uses the flatness of the earth to create an image of the earth from image data obtained from a two-dimensional image sensor. Find the centroid and the north-south axis of the earth image,
It is configured to obtain the roll angle, pitch angle, and yaw angle from the centroid, the north-south axis, and the image center of the image data.

[Example] Embodiments of the present invention will be described below based on the drawings.

FIG. 1 is a conceptual diagram showing an embodiment of a method for detecting the attitude angle of an artificial satellite according to the present invention.

In FIG. 1, a two-dimensional image sensor 11 is an image sensor that detects an image of the earth 5 two-dimensionally, and its output is obtained as image sensor output data 12.

Due to the flatness of the Earth 5, by processing this image sensor output data 12, the centroid 13 of the image of the Earth 5 is
Then, the north-south design 4 (and east-west axis) of the image of Earth 5 is obtained. From the relationship between the centroid 13 and the north-south work 4 and the image center 15 and work 6, the roll data 17
, pitch data 18, and yaw data engineering 9 are obtained.

That is, from the relationship between the north-south axes 14 and 16, the yaw data 19
is obtained, roll data F is obtained from the relationship between the image center 15 and the centroid 13, and roll data 17 is obtained from the relationship between the image center 15 and the centroid 13.

In this way, the centroid 13 and north-south axis 14 of the image of the earth 5 are obtained by utilizing the flatness of the earth 5, and from the relationship between the centroid 13 and the north-south axis 14, the image center 15, and the axis 6, the roll is calculated. Data 17, pitch data 18
, and yaw data 19, it is possible to not only simply detect the direction of the earth, but also detect the attitude (yaw angle) of the satellite around the earth direction.

[Effects of the Invention] As explained above, the present invention provides a two-dimensional attitude angle detection method for an artificial satellite, which is mounted on an artificial satellite and detects the attitude angle around three axes of the artificial satellite from its orientation with the earth. From the image data obtained from the image sensor, the centroid of the earth image and the north-south axis of the earth image are determined using the flatness of the earth, and the roll angle and pitch angle are determined from the centroid and north-south axis and the image center of the image data. Since the configuration is configured to obtain the yaw angle, it becomes possible to detect the yaw angle, which has not been possible in the past.

[Brief explanation of drawings]

FIG. 1 is a conceptual diagram showing an embodiment of the method for detecting the attitude angle of an artificial satellite according to the present invention. FIG. 2 is a perspective view illustrating the attitude angle of an artificial satellite. A perspective view showing an example of an attitude angle detection method. FIG. 4 is a perspective view showing another example of a conventional attitude angle detection method of an artificial satellite. Engineering 1 2 3 4 5 6 7 8 9 Earth two-dimensional image sensor image sensor output data centroid north-south axis image center image north-south axis roll data pitch data yaw data

Claims (1)

[Claims] In the attitude angle detection method of an artificial satellite, which detects the attitude angle of the artificial satellite around three axes from the orientation with the earth when mounted on the artificial satellite, from image data obtained from a two-dimensional image sensor,
The centroid of the earth image and the north-south axis of the earth image are obtained by utilizing the flatness of the earth, and the roll angle, pitch angle, and yaw angle are obtained from the centroid, the north-south axis, and the image center of the image data. A method for detecting the attitude angle of an artificial satellite.