李萌萌, 王潜心, 李怀展,等.轨道坐标系到星固坐标系的四元数转换方法[J].河南理工大学学报（自然科学版）,2021,40(3):59-65.

LI M M, WANG Q X, LI H Z,et al.Quaternion transformation method from orbital coordinate system to astral fixed coordinate system[J].Journal of Henan Polytechnic University(Natural Science) ,2021,40(3):59-65.

轨道坐标系到星固坐标系的四元数转换方法

李萌萌1,2, 王潜心1,2, 李怀展1,2, 饶鹏文1

1.中国矿业大学 国土环境与灾害监测国家测绘地理信息局重点实验室，江苏 徐州  221116;2.中国矿业大学 太空采矿国际研究中心， 江苏 徐州 221116

摘要:绘制星体表面资源分布图，需要将深空探测器直接获取的遥感影像从轨道坐标系转换到星固坐标系。为解决通过矢量的几何关系进行转换的两步转换法和一步转换法精度受探测器轨道数据精度影响较大的问题，提出基于四元数的三维坐标转换解析法，利用航天任务模拟工具（STK）软件仿真月面反射器和月球探测器的数据完成坐标转换，比较了两步转换法、一步转换法、四元数解析法的精度和适用范围。结果显示：对于星固坐标系和星体天球坐标系下探测器轨道数据精度较高的情况，一步转换法优于两步转换法和四元数解析法；对于星固坐标系下探测器轨道数据精度不高的情况，四元数解析法优于一步转换法和两步转换法；对于无法获取星固坐标系下探测器轨道数据的情况，只能采用两步转换法。

关键词:深空探测;坐标转换;探测器轨道坐标系;星固坐标系;四元数

doi:10.16186/j.cnki.1673-9787.2020040042

基金项目:国家自然科学基金面上项目（41874039）；江苏省自然科学基金资助项目（BK20191342 ）；中国矿业大学“双一流”建设自 主创新专项项目（2018ZZCX08 ）；中国矿业大学军民融合重大项目培育项目（2019ZDPY-RH03 ）

收稿日期:2020/04/10

修回日期:2020/07/10

出版日期:2021/05/15

Quaternion transformation method from orbital coordinate system to astral fixed coordinate system

LI Mengmeng1,2, WANG Qianxin1,2, LI Huaizhan1,2, RAO Pengwen1

1.Key Laboratory of Land Environment and Disaster Monitoring of The State Bureau of Surveying and Mapping ，China University of Mining and Technology ，Xuzhou  221116 ，Jiangsu， China;2.International Research Center for Space Mining， China University of  Mining and Technology， Xuzhou  221116 ， Jiangsu， China

Abstract:In order to draw topographic map of astral body， remote sensing image directly obtained by deep space probe is needed to be converted from the orbit coordinate system to the astral fixed coordinate system. To solve the problem that the accuracy of one-step transformation method and two-step transformation method converted by the geometric relationship of vectors was greatly affected by the accuracy of the orbit data of deep space probe， the quaternion-based three-dimensional coordinate transformation analytical method was proposed in the paper. AGI Systems Tool Kit （ STK ） software was used to simulate the data of the lunar reflector and the lunar probe to complete the coordinate conversion. The accuracy of one-step transformation method， two-step transformation method and quaternion analysis method was compared， and the application scope of the three methods was given. The results showed that for the case where the accuracy of the detector's orbit data was higher in the astral fixed system and the celestial sphere coordinate system， the one-step transformation method was better than the two-step transformation method and the quaternion analysis method ； the quaternion analysis method was better than the one-step transformation method and the two-step transformation method for the case where the accuracy of the detector，s orbit data in the astral fixed system was not high ； for the case where the orbit data of the detector could not be obtained in the satellite fixed coordinate system， only two-step transformation method could be used.

Key words:deep space exploration;coordinate transformation;detector orbit coordinate system;astral fixed coordinate system;quaternion

 轨道坐标系到星固坐标系的四元数转换方法_李萌萌.pdf