CN113097720B - Antenna control method for ensuring reliable data transmission of unmanned automatic lunar surface sampling task - Google Patents
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- CN113097720B CN113097720B CN202110217984.9A CN202110217984A CN113097720B CN 113097720 B CN113097720 B CN 113097720B CN 202110217984 A CN202110217984 A CN 202110217984A CN 113097720 B CN113097720 B CN 113097720B
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Abstract
The invention provides an antenna control method for ensuring reliable data transmission of unmanned automatic lunar sampling tasks, which can ensure fast pointing to rough pointing with timeliness, can ensure accurate pointing of high code rate in the sampling working process, and meets the control requirements of compact time sequence of lunar sampling working and high accuracy of antennas. The invention implements the target pointing control method of 'coarse pointing' + 'fine adjustment', thereby solving the problem that the pointing to the antenna can be completed in the shortest time and the optimal path in the process of unmanned automatic sampling of the lunar surface, reliably ensuring the implementation of the lunar surface sampling task, and having very important significance for the engineering implementation of tasks with compact time sequence and high data transmission requirements, such as unmanned automatic sampling of the lunar surface/extraterrestrial surface.
Description
Technical Field
The invention relates to the technical field of antenna pointing target control, in particular to an antenna control method for ensuring reliable data transmission of an unmanned automatic lunar sampling task.
Background
The lunar unmanned autonomous sampling task comprises drilling sampling and packaging and surface sampling and packaging, and before sampling action is carried out each time, the determination of the landform and the landform of a sampling target area and the lunar soil environment is the basis for carrying out sampling work; in the process of sampling operation, the sampling state needs to be monitored in the whole process, so that visible images are ensured in the whole processes of sampling point selection, target point sampling, sample transfer, sample lofting and the like; after the sampling action is completed, the state of the sample in the sample chamber and the encapsulation state of the sample need to be confirmed, and meanwhile, the sampling mechanism needs to be ensured to be transferred to an avoidance position, so that the subsequent actions such as lunar takeoff and the like are ensured not to be influenced by interference. Therefore, reliable data transmission can be guaranteed all the time in the lunar sampling task, namely, the reliable communication of the spacecraft data transmission antenna to the ground measurement and control station at high code rate is guaranteed, and the method is a key link for guaranteeing the success of the whole task. The high-gain data transmission antenna can ensure that the data transmission to the ground can be quickly and accurately pointed to a target observation station, thereby ensuring that a data transmission link between the whole device and the ground before sampling, during sampling, after sampling and before takeoff is reliable and uninterrupted and the working state of the lunar surface is controllable.
However, the task of unmanned autonomous sampling of lunar surfaces and unmanned autonomous sampling of extraterrestrial celestial bodies usually has the problem of large communication delay of the device and the ground. Meanwhile, the sampling point state is confirmed on the ground in real time, frequent device-ground interaction is required, and the condition of implementing an emergency coping strategy for sampling work faults is considered, so that the real-time requirement on data transmission in the sampling process is very high.
The traditional spacecraft in-orbit flight implementation earth data transmission usually calculates the pointing direction in real time according to the azimuth of a target survey station relative to the spacecraft, and for a lunar exploration task, usually after the spacecraft lands, under the condition that the lunar landing position and landing attitude deviation are known, the target pointing angle is calculated in real time and an antenna mechanism is driven to move to a target angle. The method is greatly influenced by measurement input such as spacecraft positioning measurement, landing attitude determination and the like and the time of mechanism movement time, has poor timeliness, and is difficult to meet the time sequence requirement of compact lunar surface sampling working procedures. In addition, the spacecraft task autonomously completes the pointing calculation of the antenna to the target measurement station by adopting an ephemeris injection method, and the method requires that a spacecraft navigation and control system has higher autonomous control capability, and can introduce an antenna driving mechanism into closed-loop control according to the relative relation between ephemeris inversion and the ground target measurement station. Because the pointing of the antenna is realized by autonomous control of the spacecraft, the method is greatly influenced by the precision of the upper-note ephemeris and the calculation precision of a spacecraft control center, data transmission is interrupted easily because the antenna does not point correctly and does not point to a target in time, and the implementation of lunar surface sampling work is seriously influenced.
Disclosure of Invention
In view of the above, the invention provides an antenna control method for ensuring reliable data transmission of unmanned automatic lunar sampling tasks, which can ensure fast pointing to 'coarse pointing' with timeliness, can ensure 'fine adjustment' of high code rate accurate pointing in the sampling working process, and meets the control requirements of compact time sequence of lunar sampling work and high antenna accuracy.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention discloses an antenna control method for ensuring reliable data transmission of an unmanned automatic lunar sampling task, which comprises the following steps:
step 1, determining a target-pointing area according to a positioning result and task requirements of a lunar sampling spacecraft after landing
A surface measurement and control station;
step 2, preselecting landing sites according to unmanned automatic lunar sampling tasksDetermining the envelope range of the antenna biaxial motion within the lunar surface position and landing attitude deviation range: the azimuth axis is (alpha) min ，α max ) The pitch axis is (beta) min ，β max )；
Step 3, determining a plurality of groups of antenna target corner data for implementing coarse pointing by adopting grid division according to the antenna biaxial motion envelope range to generate an angle pre-selection database;
step 4, after confirming that the spacecraft lands, retrieving an angle preselection database according to the actual landing time, the initial landing positioning and the attitude determination result, and determining a preset azimuth angle and a preset pitch angle of the antenna for the coarse pointing of the target survey station;
step 5, determining the pointing time of the antenna to the target survey station according to the design of the lunar surface sampling time sequence;
step 6, calculating the fine adjustment of the antenna according to the relative motion track of the target survey station, the accurate landing positioning result of the spacecraft and the landing attitude determination result, and determining the adjustment angle of the antenna pointing direction corresponding to the random adjustment time of the antenna in the lunar surface sampling and packaging working process according to the relative motion track of the target survey station and the antenna mechanism control strategy;
and 7, determining whether to implement the adjustment of the pointing angle of the antenna or not through the data transmission result of the lunar surface sampling process on the ground, if so, repeatedly executing the step 5 to the step 7 until the pointing is not required to be adjusted, and if not, stopping the antenna to keep the current state.
In step 2, a specific implementation method for determining the biaxial motion envelope range of the antenna is as follows:
forecasting and calculating the range of a preselected landing point according to the flight orbit of the spacecraft;
determining a landing attitude deviation range according to the landform characteristics of a landing area and the landing attitude control precision;
and thirdly, under the condition of comprehensively considering the landing point dispersion obtained in the step I and the landing attitude deviation range obtained in the step II, respectively determining the motion envelope ranges of the pitching axis and the azimuth axis of the antenna by combining the installation and the pointing direction of the data transmission antenna.
In step 1, the specific manner of determining the target ground measurement and control station is as follows:
and determining a ground measurement and control station for executing data transmission data reception according to the landing position of the spacecraft and the data transmission time requirement in the lunar surface sampling process.
In step 3, the specific implementation method for generating the "angle preselection database" includes:
step 31, respectively according to the movement angle range (alpha) of the azimuth axis min ，α max ) And the range of angular motion (beta) of the pitch axis min ，β max ) Marking out a rectangular area in which the mechanism can move;
step 32, according to the precision requirement of the 'coarse pointing', the movement step length alpha of the azimuth axis is utilized step And pitch axis motion step β step Dividing the rectangular region into an M N grid, wherein
In step 33, an "angle preselection database" is created from the grid regions divided in steps 31 and 32.
In step 6, the adjustment angle determining method of the antenna direction corresponding to the antenna arbitrary adjustment time is as follows: determining
For the execution timing of the ith fine adjustment, i equals 1, 2, 3
Target direction of the lunar surface sampling task time middle segment T int The direction of the target station, the antenna being
The adjustment angle of the antenna direction corresponding to the adjustment time is as follows:
wherein, the first and the second end of the pipe are connected with each other,
is an antenna at
Adjusting the azimuth angle of the antenna direction corresponding to the adjusting time,
is an antenna at
Adjusting the azimuth angle alpha of the antenna direction corresponding to the time of adjustment 0 Presetting azimuth angle beta for coarse pointing of antenna to target station 0 And presetting a pitch angle for the antenna to perform coarse pointing on the target measurement station.
Advantageous effects
The invention can ensure the rough pointing of the rapid pointing timeliness and the fine adjustment of the high code rate accurate pointing in the sampling working process, is suitable for the antenna control method of the unmanned automatic lunar sampling task, and implements the target pointing control method of the rough pointing plus the fine adjustment, thereby solving the problem that the pointing of the antenna can be completed in the shortest time and the optimal path in the unmanned automatic lunar sampling process, reliably ensuring the implementation of the lunar sampling task, and having very important significance for the engineering implementation of tasks with compact time sequence and high data transmission requirements, such as unmanned automatic lunar/extraterrestrial surface sampling.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a schematic view of a lunar sampling task data transmission antenna dual-axis driving mechanism according to the present invention.
FIG. 3 is a schematic diagram of the motion range and ground-pointing envelope of the lunar sampling task antenna according to the present invention.
FIG. 4 is an angle pre-selection database of the lunar sampling task antenna for "coarse pointing" of a target survey station.
Fig. 5 is a schematic diagram of a control strategy of pointing to "fine adjustment" of a target survey station by a lunar sampling task antenna according to the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The lunar surface environment is complex, the lunar unmanned automatic sampling task needs to confirm the landform and the lunar soil environment of a sampling target area before each sampling action is implemented, the sampling state needs to be monitored in the whole process of the sampling action, the lunar soil sample state needs to be confirmed after the sampling is completed, and high requirements are provided for a platform system, particularly the data transmission reliability. Meanwhile, limited time resources are required to be optimized and utilized to a great extent due to the rigid limitation of fixed lunar surface working time, the data transmission antenna can be ensured to point to a target quickly, and manual links of interaction operation between the lunar surface sampling spacecraft and the ground are reduced.
The invention provides a control method for realizing rapid and accurate pointing of a data transmission antenna to a target under the condition of ensuring high code rate data transmission based on design requirements of a lunar sampling working time sequence and reliable data transmission task requirements in a lunar unmanned automatic sampling task, and the pointing target of the lunar sampling working data transmission antenna is determined based on preset angle 'coarse pointing' + accurate control 'fine adjustment', and the method specifically comprises the following steps:
firstly, determining an antenna pointing envelope range according to a preselected landing point lunar surface position and a landing attitude deviation threshold range, so that several groups of antenna target corner data due to 'rough pointing' are preset before a lunar surface sampling spacecraft landing lunar surface, and an 'angle preselection database' is generated; after the spacecraft lands on the moon surface, an angle pre-selection database is quickly retrieved according to information such as actual landing time, initial landing positioning, attitude determination results and the like, a target pointing angle is selected, and the requirement of quick ground pointing before implementation of lunar surface sampling work is met. And then, combining an accurate positioning result, and calculating and generating an antenna pointing angle and an adjusting time which are accurately adjusted according to a sampling working time sequence and a relative movement result of a target survey station, namely implementing a target pointing control method of coarse pointing and fine adjustment, so that the problem that the antenna can be pointed in the shortest time and the optimal path in the unmanned automatic lunar surface sampling process is solved, and the implementation of a lunar surface sampling task is reliably ensured.
The implementation flow chart of the invention is shown in figure 1, and specifically comprises the following steps:
step 1, determining a target-pointing ground measurement and control station P according to positioning results and task requirements of a lunar surface sampling spacecraft after landing Target ；
The specific implementation method comprises the steps that according to the landing position of the spacecraft and the requirement of data transmission time in the lunar surface sampling process, a ground measurement and control station for receiving data transmission data is determined;
step 2, determining an antenna biaxial motion envelope range according to the lunar surface position and landing attitude deviation range of a lunar surface unmanned automatic sampling task pre-selection landing point: the azimuth axis is (alpha) min ，α max ) The pitch axis is (beta) min ，β max )；
The schematic diagram of the lunar surface sampling task data transmission antenna double-shaft driving mechanism is shown in fig. 2, and the specific implementation method for determining the antenna double-shaft motion envelope range comprises the following steps:
forecasting and calculating the range of a preselected landing point according to the flight orbit of the spacecraft;
determining a landing attitude deviation range according to the landform characteristics of the landing area and the landing attitude control precision, and generally defining a nominal landing attitude as follows: the spacecraft mechanical coordinate system coincides with a geographic coordinate system (e.g., a sky-east-north coordinate system) centered on the lunar landing site, and the attitude deviation is defined by two dimensions, namely: firstly, the rotational deviation of the lander around the + X axis; second is the deviation of the inclination of the lander relative to the local horizontal plane. The lunar surface landing attitude deviation range of the Chang' e fifth lunar probe is as follows:
A) the rotational deviation of the lander about its + X axis amounts to: ± 15 °;
B) the deviation of the inclination of the YZ plane of the lander with respect to the local horizontal plane amounts to: less than or equal to +/-14 degrees.
And step three, under the condition of comprehensively considering the landing point dispersion obtained in the step one and the landing attitude deviation range obtained in the step two, respectively determining the motion envelope ranges of the pitching axis and the azimuth axis of the antenna by combining the installation and the direction of the data transmission antenna, as shown in fig. 3.
Step 3, determining a plurality of groups of antenna target corner data for implementing coarse pointing by adopting grid division according to the antenna biaxial motion envelope range to generate an angle preselection database;
the specific implementation method comprises the following steps:
step 31, respectively according to the movement angle range (alpha) of the azimuth axis min ，α max ) And the range of angular motion (beta) of the pitch axis min ，β max ) Marking out a rectangular area in which the mechanism can move;
step 32, according to the precision requirement of the 'coarse pointing', the movement step length alpha of the azimuth axis is utilized step And pitch axis motion step β step Dividing the rectangular area into an M N grid, wherein
Step 33, generating an "angle preselection database" according to the grid regions divided in step 31 and step 32, as shown in fig. 4, where the azimuth axis motion range of the antenna is-8 ° to 28 °, the pitch axis motion range of the antenna is 46 ° to 84 °, and with 2 ° as a step size, there are:
taking points by the rotation angle of the azimuth axis: counter-clockwise 8 ° → 6 ° → 4 ° → 2 ° → null → clockwise 2 ° → 4 ° → 6 ° → 8 ° → 10 ° → 12 ° → 14 ° → 16 ° → 18 ° → 20 ° → 22 ° → 24 ° → 28 °, for all 19 points;
taking a point of a rotation angle of a pitching shaft: clockwise 46 ° → 48 ° → 50 ° → 52 ° → 54 ° → 56 ° → 58 ° → 60 ° → 62 ° → 64 ° → 66 ° → 68 ° → 72 ° → 74 ° → 76 ° → 78 ° → 82 ° → 84 °, for total of 20 dots.
The correspondingly generated angle preselection database is a data quantity of 19 multiplied by 20 groups of angle combination results, and according to the results, a double-shaft driving mechanism angle rotation instruction is generated in advance to complete instruction verification for timely injection to the spacecraft;
step 4, after confirming that the spacecraft lands, according to the actual landing time T L Landing initial positioning P L And a posture determination result Q L The 'angle pre-selection database' is quickly searched by the equal information, and the preset angle (delta) of the antenna to the coarse pointing direction of the target survey station is determined 0 ，δ 0 )；
Taking the calculation of the target pointing rotation angle of the antenna after landing as the azimuth axis 13.5 and the pitch axis 55.2 degrees as an example, according to the principle of forward, selecting (14 degrees and 56 degrees) from the command data generated in step 3 in advance, and immediately injecting to finish the rapid 'rough pointing' work of the antenna to the ground in the initialization stage before the first step, namely implementation of lunar sampling;
step 5, according to the design of the lunar surface sampling time sequence, determining the pointing time of the antenna to the target survey station
I.e. the timing of the antenna 'fine tuning', as shown in fig. 5.
Step 6, according to the relative motion track of the target survey station, the accurate landing positioning result of the spacecraft and the landing attitude determination result, calculating the fine adjustment of the antenna, according to the relative motion track of the target survey station and the control strategy of the antenna mechanism, and determining the adjustment angle (delta) of the antenna pointing direction corresponding to the random adjustment time of the antenna in the lunar surface sampling and packaging working process α ，δ β )；
As shown in FIG. 5, fine adjustment of antenna pointing is performed to determine the location of the sample prior to drilling
The execution time of the second fine adjustment. To ensure reliable data transmission throughout the drilling and tabulating sampling process, the data acquisition system needs to be adapted to the data acquisition system
Target orientation adjustment of (1) into a lunar sampling taskMiddle period of time T int The orientation of the target survey station. Namely, the method comprises the following steps:
and 7, determining whether to implement the adjustment of the pointing angle of the antenna or not through the data transmission result of the lunar surface sampling process on the ground, if so, repeatedly executing the step 5 to the step 7 until the pointing is not required to be adjusted, and if not, stopping the antenna to keep the current state.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An antenna control method for ensuring reliable data transmission of unmanned automatic lunar sampling tasks is characterized by comprising the following steps:
step 1, determining a target-pointing ground measurement and control station according to a positioning result and a task requirement after a lunar sampling spacecraft lands;
step 2, determining an antenna biaxial motion envelope range according to the lunar surface position and the landing attitude deviation range of a lunar surface unmanned automatic sampling task pre-selection landing point: the azimuth axis is (alpha) min ，α max ) The pitch axis is (beta) min ，β max )；
Step 3, determining a plurality of groups of antenna target corner data for implementing coarse pointing by adopting grid division according to the antenna biaxial motion envelope range to generate an angle preselection database;
step 4, after confirming that the spacecraft lands, retrieving an angle preselection database according to the actual landing time, the initial landing positioning and the attitude determination result, and determining a preset azimuth angle and a preset pitch angle of the antenna for the coarse pointing of the target survey station;
step 5, determining the pointing time of the antenna to the target survey station according to the design of the lunar surface sampling time sequence;
step 6, calculating a fine adjustment angle of the antenna according to the relative motion track of the target survey station, the accurate landing positioning result of the spacecraft and the landing attitude determination result; determining an adjustment angle pointed by the antenna corresponding to any adjustment time of the antenna in the lunar surface sampling and packaging working process according to the relative motion track of the target survey station and the antenna mechanism control strategy;
and 7, determining whether to implement the adjustment of the pointing angle of the antenna or not through the data transmission result of the lunar surface sampling process on the ground, if so, repeatedly executing the step 5 to the step 7 until the pointing is not required to be adjusted, and if not, stopping the antenna to keep the current state.
2. The antenna control method for ensuring reliable data transmission of the unmanned automatic lunar sampling task as claimed in claim 1, wherein in the step 2, the specific implementation method for determining the biaxial motion envelope range of the antenna comprises:
forecasting and calculating the range of a preselected landing point according to the flight orbit of the spacecraft;
determining a landing attitude deviation range according to the landform characteristics of a landing area and the landing attitude control precision;
and thirdly, under the condition of comprehensively considering the landing point dispersion obtained in the step I and the landing attitude deviation range obtained in the step II, respectively determining the motion envelope ranges of the pitching axis and the azimuth axis of the antenna by combining the installation and the pointing direction of the data transmission antenna.
3. The antenna control method for ensuring reliable data transmission of the unmanned automatic lunar sampling task as claimed in claim 1, wherein in the step 1, the specific way of determining the target ground measurement and control station is as follows:
and determining a ground measurement and control station for executing data transmission data reception according to the landing position of the spacecraft and the data transmission time requirement in the lunar surface sampling process.
4. The antenna control method for ensuring reliable data transmission of the unmanned automatic lunar sampling task as claimed in claim 1, wherein the specific implementation method for generating the angle preselection database in the step 3 is as follows:
step 31, respectively according to the movement angle range (alpha) of the azimuth axis min ，α max ) And the range of angular motion (beta) of the pitch axis min ，β max ) Marking out a rectangular area in which the mechanism can move;
step 32, according to the precision requirement of the 'coarse pointing', the movement step length alpha of the azimuth axis is utilized step And pitch axis motion step β step Dividing the rectangular area into an M N grid, wherein
In step 33, an "angle preselection database" is created from the grid regions divided in steps 31 and 32.
5. The antenna control method for ensuring reliable data transmission of the unmanned automatic lunar sampling task as claimed in claim 4, wherein in the step 6, the adjustment angle determining mode of the antenna pointing direction corresponding to any adjustment time of the antenna is as follows: determining
The execution timing of the ith fine adjustment is 1, 2, 3 … N, wherein N represents the total number of fine adjustments; will be provided with
Target direction of the lunar surface sampling task time middle segment T int The direction of the target station, the antenna being
The adjustment angle of the antenna direction corresponding to the adjustment time is as follows:
wherein, the first and the second end of the pipe are connected with each other,
is an antenna at
Adjusting the azimuth angle of the antenna direction corresponding to the adjusting time,
is an antenna at
The pitch angle adjustment angle alpha of the antenna direction corresponding to the adjustment time 0 Presetting azimuth angle beta for coarse pointing of antenna to target station 0 Presetting a pitch angle for the antenna to coarsely point to a target survey station;
is the current angle of the azimuth axis,
is the current angle of the pitch axis.
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