2021-03-04低轨卫星定轨流程整理学习04

最新推荐文章于 2024-08-06 17:42:20 发布

七宝大人

最新推荐文章于 2024-08-06 17:42:20 发布

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本文链接：https://blog.csdn.net/qq_35519270/article/details/114369344

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各类坐标系及坐标系之间的转换
为了减少牵连运动所引起的附加速度，使卫星的运动方程相对简化，一般在惯性坐标系中建立和求解卫星的运动方程。
而地球对卫星的引力（地球重力场模型）是在地固坐标系中定义的。因此要建立卫星卫星运动方程和参数估计的观测方程，必须掌握这些坐标系统的定义及其相互转换关系。
①2000.0惯性坐标系
原点位于地球质心，基准面为2000.0地球平赤道面，X轴在基准面内由地球质心指向2000.0的平春分点。Z轴为基准面的法向。Y轴与X、Z轴成右手系。
②地固坐标系
地固坐标系的坐标原点为地球质心，X 轴指向赤道面与格林尼治子午圈的交点，Z 轴指向国际协议原点（CIO），Y 轴与 X 轴和 Z 轴成右手系。
③卫星轨道坐标系（RTN）
为了便于对特定摄动力（如大气阻力主要集中在横向）进行分析，卫星精密定轨中常将作用于卫星的力分解到卫星轨道坐标系统下进行分析。坐标系的原点位于卫星质心，T轴沿卫星轨道运动方向。R 轴与地心到卫星质心的向径方向一致，且与 T 轴垂直。N 轴与R 轴和 T 轴成右手系。
地固坐标系与惯性坐标系之间转换（见《GPS测量和数据处理》）
从J2000到平天球坐标系：

           YearErrorZ = 2.650545 / 3600 + 2306.083227 / 3600 * T + 0.2988499 / 3600 * T * T + 0.01801828 / 3600 * T * T * T - 0.000005971 / 3600 * T * T * T * T - 0.0000003173 * T * T * T * T * T;
            YearErroro = 2004.191903 / 3600 * T - 0.4294934 / 3600 * T * T - 0.04182264 / 3600 * T * T * T - 0.000007089 / 3600 * T * T * T * T - 0.0000001274 / 3600 * T * T * T * T * T;
            YearErrorf = 2306.07718 / 3600 * T + 1.092748 / 3600 * T * T + 0.01826837 / 3600 * T * T * T + 0.000028596 / 3600 * T * T * T * T - 0.0000002904 / 3600 * T * T * T * T * T - 2.650545 / 3600;
            RP[0, 0] = Math.Cos(YearErrorZ * PI / 180) * Math.Cos(YearErroro * PI / 180) * Math.Cos(YearErrorf * PI / 180) - Math.Sin(YearErrorZ * PI / 180) * Math.Sin(YearErrorf * PI / 180);
            RP[0, 1] = -Math.Sin(YearErrorZ * PI / 180) * Math.Cos(YearErroro * PI / 180) * Math.Cos(YearErrorf * PI / 180) - Math.Cos(YearErrorZ * PI / 180) * Math.Sin(YearErrorf * PI / 180);
            RP[0, 2] = -Math.Sin(YearErroro * PI / 180) * Math.Cos(YearErrorf * PI / 180);
            RP[1, 0] = Math.Cos(YearErrorZ * PI / 180) * Math.Cos(YearErroro * PI / 180) * Math.Sin(YearErrorf * PI / 180) + Math.Sin(YearErrorZ * PI / 180) * Math.Cos(YearErrorf * PI / 180);
            RP[1, 1] = -Math.Sin(YearErrorZ * PI / 180) * Math.Cos(YearErroro * PI / 180) * Math.Sin(YearErrorf * PI / 180) + Math.Cos(YearErrorZ * PI / 180) * Math.Cos(YearErrorf * PI / 180);
            RP[1, 2] = -Math.Sin(YearErroro * PI / 180) * Math.Sin(YearErrorf * PI / 180);
            RP[2, 0] = Math.Cos(YearErrorZ * PI / 180) * Math.Sin(YearErroro * PI / 180);
            RP[2, 1] = -Math.Sin(YearErrorZ * PI / 180) * Math.Sin(YearErroro * PI / 180);
            RP[2, 2] = Math.Cos(YearErroro * PI / 180);

            Ping_X = J2000_X * RP[0, 0] + J2000_Y * RP[0, 1] + J2000_Z * RP[0, 2];
            Ping_Y = J2000_X * RP[1, 0] + J2000_Y * RP[1, 1] + J2000_Z * RP[1, 2];
            Ping_Z = J2000_X * RP[2, 0] + J2000_Y * RP[2, 1] + J2000_Z * RP[2, 2];
从平天球坐标系到真天球坐标系
```csharp
 A1 = 134.9634025 + 1717915923.2178 / 3600 * T + 31.8792 / 3600 * T * T + 0.051635 / 3600 * T * T * T - 0.000244704 / 3600 * T * T * T * T;
            A2 = 357.0529109 + 129596581.0481 / 3600 * T - 0.5532 / 3600 * T * T + 0.000136 / 3600 * T * T * T + 0.00001149 / 3600 * T * T * T * T;
            A3 = 93.2720906 + 1739527262.8474 / 3600 * T - 12.7512 / 3600 * T * T - 0.001037 / 3600 * T * T * T + 0.00000417 / 3600 * T * T * T * T;
            A4 = 297.850195 + 1602961601.2090 / 3600 * T - 6.3706 / 3600 * T * T + 0.006593 / 3600 * T * T * T - 0.00003169 / 3600 * T * T * T * T;
            A5 = 125.044555 - 6962890.2665 / 3600 * T + 7.4722 / 3600 * T * T - 0.007702 / 3600 * T * T * T - 0.00005969 / 3600 * T * T * T * T;

            PingHuangChiJiaoJiao = 23.4333333 + 21.448 / 3600 - 46.815 / 3600 * T - 0.00059 / 3600 * T * T + 0.001813 / 3600 * T * T * T;
            for (int i = 0; i < 106; i++)
            {
                HuangJingZhangDong += (ZhangDongTable[i, 5] * 0.0001 + ZhangDongTable[i, 6] * T * 0.0001) * Math.Sin((A1 * ZhangDongTable[i, 0] + A2 * ZhangDongTable[i, 1] + A3 * ZhangDongTable[i, 2] + A4 * ZhangDongTable[i, 3] + A5 * ZhangDongTable[i, 4]) * PI / 180);
                JiaoJiaoZhangDong += (ZhangDongTable[i, 7] * 0.0001 + ZhangDongTable[i, 8] * T * 0.0001) * Math.Cos((A1 * ZhangDongTable[i, 0] + A2 * ZhangDongTable[i, 1] + A3 * ZhangDongTable[i, 2] + A4 * ZhangDongTable[i, 3] + A5 * ZhangDongTable[i, 4]) * PI / 180);
            }
            //HuangJingZhangDong=HuangJingZhangDong/180*PI;
            //JiaoJiaoZhangDong = JiaoJiaoZhangDong / 180 * PI;

            N[0, 0] = Math.Cos(HuangJingZhangDong / 3600 * PI / 180);
            N[0, 1] = -Math.Sin(HuangJingZhangDong / 3600 * PI / 180) * Math.Cos(PingHuangChiJiaoJiao * PI / 180);
            N[0, 2] = -Math.Sin(HuangJingZhangDong / 3600 * PI / 180) * Math.Sin(PingHuangChiJiaoJiao * PI / 180);
            N[1, 0] = Math.Sin(HuangJingZhangDong / 3600 * PI / 180) * Math.Cos((PingHuangChiJiaoJiao + JiaoJiaoZhangDong / 3600) * PI / 180);
            N[1, 1] = Math.Cos(HuangJingZhangDong / 3600 * PI / 180) * Math.Cos(PingHuangChiJiaoJiao * PI / 180) * Math.Cos((PingHuangChiJiaoJiao + JiaoJiaoZhangDong / 3600) * PI / 180) + Math.Sin(PingHuangChiJiaoJiao * PI / 180) * Math.Sin((PingHuangChiJiaoJiao + JiaoJiaoZhangDong / 3600) * PI / 180);
            N[1, 2] = Math.Cos(HuangJingZhangDong / 3600 * PI / 180) * Math.Sin(PingHuangChiJiaoJiao * PI / 180) * Math.Cos((PingHuangChiJiaoJiao + JiaoJiaoZhangDong / 3600) * PI / 180) - Math.Cos(PingHuangChiJiaoJiao * PI / 180) * Math.Sin((PingHuangChiJiaoJiao + JiaoJiaoZhangDong / 3600) * PI / 180);
            N[2, 0] = Math.Sin(HuangJingZhangDong / 3600 * PI / 180) * Math.Sin((PingHuangChiJiaoJiao + JiaoJiaoZhangDong / 3600) * PI / 180);
            N[2, 1] = Math.Cos(HuangJingZhangDong / 3600 * PI / 180) * Math.Cos(PingHuangChiJiaoJiao * PI / 180) * Math.Sin((PingHuangChiJiaoJiao + JiaoJiaoZhangDong / 3600) * PI / 180) - Math.Sin(PingHuangChiJiaoJiao * PI / 180) * Math.Cos((PingHuangChiJiaoJiao + JiaoJiaoZhangDong / 3600) * PI / 180);
            N[2, 2] = Math.Cos(HuangJingZhangDong / 3600 * PI / 180) * Math.Sin(PingHuangChiJiaoJiao * PI / 180) * Math.Sin((PingHuangChiJiaoJiao + JiaoJiaoZhangDong / 3600) * PI / 180) + Math.Cos(PingHuangChiJiaoJiao * PI / 180) * Math.Cos((PingHuangChiJiaoJiao + JiaoJiaoZhangDong / 3600) * PI / 180);

            Zhen_X = Ping_X * N[0, 0] + Ping_Y * N[0, 1] + Ping_Z * N[0, 2];
            Zhen_Y = Ping_X * N[1, 0] + Ping_Y * N[1, 1] + Ping_Z * N[1, 2];
            Zhen_Z = Ping_X * N[2, 0] + Ping_Y * N[2, 1] + Ping_Z * N[2, 2];

从真天球坐标系到WGS84坐标系

 Period_X = Math.Cos(GeLinNiZhiHengXingTime ) * Zhen_X + Math.Sin(GeLinNiZhiHengXingTime) * Zhen_Y;
            Period_Y = -Math.Sin(GeLinNiZhiHengXingTime ) * Zhen_X + Math.Cos(GeLinNiZhiHengXingTime) * Zhen_Y;
            Period_Z = Zhen_Z;
             X_pole = X_pole / 3600000000 / 180 * PI;
            Y_pole = Y_pole / 3600000000 / 180 * PI;

            WGS84_X = Period_X * Math.Cos(X_pole) + Period_Y * Math.Sin(X_pole) * Math.Sin(Y_pole) + Math.Sin(X_pole) *Math.Cos(Y_pole) * Period_Z;
            WGS84_Y = Period_Y * Math.Cos(Y_pole) - Math.Sin(Y_pole) * Period_Z;
            WGS84_Z = -Period_X * Math.Sin(X_pole) + Period_Y * Math.Cos(X_pole) * Math.Sin(Y_pole) + Math.Cos(X_pole) * Math.Cos(Y_pole) * Period_Z;

星固系和地固系转换
Sun_WGS84和GNSSPosition分别表示太阳和GNSS卫星在地心地固坐标系下的坐标。
代码为PCV由星固系下转换到地固系下。

            //天线相位中心偏差由星固系转为地固系

            Ezx = -GNSSPosition.XX / Math.Sqrt(GNSSPosition.XX * GNSSPosition.XX + GNSSPosition.YY * GNSSPosition.YY + GNSSPosition.ZZ * GNSSPosition.ZZ);
            Ezy = -GNSSPosition.YY / Math.Sqrt(GNSSPosition.XX * GNSSPosition.XX + GNSSPosition.YY * GNSSPosition.YY + GNSSPosition.ZZ * GNSSPosition.ZZ);
            Ezz = -GNSSPosition.ZZ / Math.Sqrt(GNSSPosition.XX * GNSSPosition.XX + GNSSPosition.YY * GNSSPosition.YY + GNSSPosition.ZZ * GNSSPosition.ZZ);

            Eyx = (Ezy * (SunZ_WGS84 - GNSSPosition.ZZ) - Ezz * (SunY_WGS84 - GNSSPosition.YY)) / Math.Sqrt(Math.Pow(Ezy * (SunZ_WGS84 - GNSSPosition.ZZ) - Ezz * (SunY_WGS84 - GNSSPosition.YY), 2) + Math.Pow(Ezz * (SunX_WGS84 - GNSSPosition.XX) - Ezx * (SunZ_WGS84 - GNSSPosition.ZZ), 2) + Math.Pow(Ezx * (SunY_WGS84 - GNSSPosition.YY) - Ezy * (SunX_WGS84 - GNSSPosition.XX), 2));
            Eyy = (Ezz * (SunX_WGS84 - GNSSPosition.XX) - Ezx * (SunZ_WGS84 - GNSSPosition.ZZ)) / Math.Sqrt(Math.Pow(Ezy * (SunZ_WGS84 - GNSSPosition.ZZ) - Ezz * (SunY_WGS84 - GNSSPosition.YY), 2) + Math.Pow(Ezz * (SunX_WGS84 - GNSSPosition.XX) - Ezx * (SunZ_WGS84 - GNSSPosition.ZZ), 2) + Math.Pow(Ezx * (SunY_WGS84 - GNSSPosition.YY) - Ezy * (SunX_WGS84 - GNSSPosition.XX), 2));
            Eyz = (Ezx * (SunY_WGS84 - GNSSPosition.YY) - Ezy * (SunX_WGS84 - GNSSPosition.XX)) / Math.Sqrt(Math.Pow(Ezy * (SunZ_WGS84 - GNSSPosition.ZZ) - Ezz * (SunY_WGS84 - GNSSPosition.YY), 2) + Math.Pow(Ezz * (SunX_WGS84 - GNSSPosition.XX) - Ezx * (SunZ_WGS84 - GNSSPosition.ZZ), 2) + Math.Pow(Ezx * (SunY_WGS84 - GNSSPosition.YY) - Ezy * (SunX_WGS84 - GNSSPosition.XX), 2));

            Exx = Eyy * Ezz - Eyz * Ezy;
            Exy = Eyz * Ezx - Eyx * Ezz;
            Exz = Eyx * Ezy - Eyy * Ezx;


            dant[0] = pcvX * Exx + pcvY * Eyx + pcvZ * Ezx;
            dant[1] = pcvX * Exy + pcvY * Eyy + pcvZ * Ezy;
            dant[2] = pcvX * Exz + pcvY * Eyz + pcvZ * Ezz;

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2021-03-04低轨卫星定轨流程整理学习04

各类坐标系及坐标系之间的转换为了减少牵连运动所引起的附加速度，使卫星的运动方程相对简化，一般在惯性坐标系中建立和求解卫星的运动方程。而地球对卫星的引力（地球重力场模型）是在地固坐标系中定义的。因此要建立卫星卫星运动方程和参数估计的观测方程，必须掌握这些坐标系统的定义及其相互转换关系。①2000.0惯性坐标系原点位于地球质心，基准面为2000.0地球平赤道面，X轴在基准面内由地球质心指向2000.0的平春分点。Z轴为基准面的法向。Y轴与X、Z轴成右手系。②地固坐标系...
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