CN100408433C - Real-time prediction method for satellite flight parameter - Google Patents
Real-time prediction method for satellite flight parameter Download PDFInfo
- Publication number
- CN100408433C CN100408433C CNB2006100910017A CN200610091001A CN100408433C CN 100408433 C CN100408433 C CN 100408433C CN B2006100910017 A CNB2006100910017 A CN B2006100910017A CN 200610091001 A CN200610091001 A CN 200610091001A CN 100408433 C CN100408433 C CN 100408433C
- Authority
- CN
- China
- Prior art keywords
- satellite
- real
- control command
- attitude
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
A timely estimating method for satellite flight parameter can receive operating instructions from the earth by giving timely feedback so as to achieve the real time, whole course, accurate control of the flying status of the satellite. Besides, off-line application of this software can simulate the flight tasks to provide qualitative conclusion, it can also provide off-line training of operators to improve their operating skills and precision, so as to get economical and effective training.
Description
Technical field
The present invention relates to satellite control field, in particular, relate to a kind of real-time prediction method for satellite flight parameter.
Background technology
The control of satellite exists problems such as long time delay, limited observing and controlling segmental arc, real measured data be damaged.It is untimely that the long time delay problem is meant that because spatial extent is big real measured data obtains, and caused the information transfer long time delay, generally reaches 4-10 second, and big like this communication delay has destroyed the diaphaneity of system, even causes control unstable; Limited observing and controlling segmental arc is meant that satellite generally is not global observing and controlling, and state of flight that therefore can't omnidistance surveillance satellite influences next step decision-making and operation; The damaged information that is meant of real measured data produces problems such as the losing of packets of information, corrupted unavoidably in transmission course, cause correctly surveillance satellite state.
Summary of the invention
In order to solve above-mentioned traditional problem, so one object of the present invention has proposed a kind of real-time prediction method for satellite flight parameter exactly.
In one aspect of the invention, real-time prediction method for satellite flight parameter comprises: (A) variables corresponding is carried out initialization; (B) control command is added in the corresponding instruction bucket; (C) obtain current flight time t; (D) according to flight time t inquiry rail control instruction OC in track instruction bucket; (E) instruction that will inquire is input to and carries out real-time simulation in the satellite orbit model of rail simulator system module, prediction satellite position parameter x, y, z and output.
According to this aspect, further comprise step: (F) with the x that calculates, y in the z substitution sub-satellite track computing module, calculates the real-time warp/latitude and the output of satellite.
According to this aspect, further comprise step: (G) with the x that calculates, y in the z substitution satellite orbit parameters computing module, calculates the orbit parameter and the output of satellite.
According to this aspect, further comprise step: (H) press current flight time t, inquiry attitude control command AC in satellite attitude instruction bucket; And the instruction that (I) will inquire is input in the satellite attitude model of rail simulator system module the prediction attitude angle.
According to this aspect, wherein in step (B),, then the track control command is loaded in the rail control instruction bucket if control command is the track control command; And if, then the attitude control command is loaded in the appearance control instruction bucket if control command is the attitude control command.
By this satellite flight parameter real-time estimate technology, can be with receiving in the face of the operating order of satellite, and in time it is responded, finally reach in real time, omnidistance, reflect the control purpose of satellite flight state exactly.In addition, can also use, flight tasks is carried out off-line simulation by this invention software off-line, provide corresponding conclusion qualitatively, and can the off-line training operator, improve operations of operators skill and performance accuracy, thereby improved the economy and the validity of training.
Description of drawings
In conjunction with accompanying drawing subsequently, what may be obvious that from following detailed description draws above-mentioned and other purpose of the present invention, feature and advantage.In the accompanying drawings:
Fig. 1 has provided spaceflight machine application example; And
Fig. 2 has provided the diagram of circuit according to real-time prediction method for satellite flight parameter of the present invention;
Fig. 3 has provided the diagram of circuit of prediction satellite position parameter;
Fig. 4 has provided satellite attitude open loop controlling models figure;
Fig. 5 has provided satellite attitude closed loop control illustraton of model.
The specific embodiment
Hereinafter, with reference to the accompanying drawings the preferred embodiments of the present invention are described in detail.In the accompanying drawings, identical Reference numeral is represented identical or similar part, even they are described in different accompanying drawings.In being described below, can not cause when not knowing when forming theme of the present invention, omission is elaborated to known function and the step that is adopted here.
Set forth the present invention with the artificial application example of spaceflight machine below.The spaceflight robot is made of as shown in Figure 1 flying platform (being satellite) and mechanical arm.Wherein the quality of satellite, physical dimension (length), rotor inertia (Iz), enter the orbit initial pose parameter, mechanical arm geometric parameter, and parameter such as the earth write as file list, and is as follows for Ix, Iy:
Parameter_Table.txt:
80 // satellite quality kg
1.1 the long m of // satellite
1.2 the wide m of // satellite
1.1 the high m of // satellite
80 //Ix
100 //Iy
110 //Iz
// mechanical arm parameter
3.986005e14 // terrestrial gravitation constant
3.352819e-3 humorous of // earth oblateness second order band
6.37814e6 // terrestrial equator radius
7.2722e-5 // rotational-angular velocity of the earth
-1.0097 // zero moment right ascension of meridian
20081201; 11:35:00.000 // enter the orbit constantly
The earth's core distance of 7148860 // injection point
114.07 the longitude of // injection point
22.60 the latitude of // injection point
7466.860 the speed of // injection point
22.640 the speed inclination angle of // injection point
67.40 the Velocity Azimuth angle of // injection point
0.0010445 the cireular frequency of // satellite orbit
-3.670e6 ,-5.486e6, the initial position of 2.747e6 // satellite (in the inertial coordinates system OCS of equator, the earth's core)
2.812e3,1.732e3, the rate of onset of 6.815e3 // satellite (in the inertial coordinates system OCS of equator, the earth's core)
0,0, the 0 // attitude angle (satellite orbit system of axes CCS) of satellite body constantly of entering the orbit
0,0, the 0 // cireular frequency (among the satellite body system of axes BCS) of satellite principal axis of inertia constantly of entering the orbit
6015.6 // the orbit period
Below in conjunction with Fig. 2, the diagram of circuit according to real-time prediction method for satellite flight parameter of the present invention is described in detail.
At first read in Parameter_Table.txt, and variables corresponding is carried out initialization (step S101).If the control command of not receiving then is loaded into the attitude control command in the appearance control instruction bucket (step S102).If the control command of receiving then adds the track control command in the corresponding instruction buffer memory storehouse (step S104).Wherein control command comprises the track control command of satellite, the attitude control command and the mechanical arm control command of satellite, and form separately is as follows:
The control command form:
After this, the flight time of acquisition system (step S106), and according to flight time t inquiry OC instruction (S107) in track instruction storehouse, the instruction that will inquire is input to and carries out real-time simulation in the satellite orbit model of rail simulator system module then, prediction satellite position parameter x, y, z and output (step S108), concrete treating process as shown in Figure 3, wherein:
Input: (F
x, F
y, F
z) for being applied to the track thrust on the satellite
Output: (x, y, z) next position coordinate constantly of satellite for calculating according to satellite orbit model.
Model trajectory is:
Utilize the approximate following formula that obtains of second order difference:
Wherein: (x, y z) are the coordinate (F of satellite in the inertial coordinates system of equator, the earth's core
x, F
y, F
z) for the component r of track thrust in the inertial coordinates system of equator, the earth's core of satellite be satellite the earth's core distance
M is the satellite quality
μ is the terrestrial gravitation constant
J
2Be the banded association of earth second order gravitation constant
R
EBe the terrestrial equator radius
After this with x, y in the z substitution sub-satellite track computing module, calculates the real-time warp/latitude χ/λ and the output (step S109) of satellite; With x, y in the z substitution satellite orbit parameters computing module, calculates the orbit parameter r of satellite then, a, e, i, Ω, η, ω and output (step S110).
After this press current flight time t, query statement (step S111) in satellite attitude instruction storehouse, the instruction that will inquire is input in the satellite attitude model of rail simulator system module and carries out real-time simulation then, and is specific as follows:
The satellite attitude model:
The satellite attitude model is divided into two classes again: satellite attitude open loop controlling models and satellite attitude closed loop control model.Wherein open loop controlling models is directly to regulate satellite attitude by applying moment; And the closed loop control model is to make satellite reach the expectation attitude angle by controlled reset.Therefore, when Attitude Simulation is calculated, confirm the kind of attitude command earlier, when attitude command is torque command, call attitude open loop controlling models, as shown in Figure 4, wherein:
Kinetic model:
Discretization gets:
Kinematics model:
(ω
x, ω
y, ω
z) be three components of satellite rotational angular velocity under orbital coordinate system
(M
x, M
y, M
z) for being applied to three components (controlling quantity) of moment on principal axis of inertia on the satellite
(I
x, I
y, I
z) be the rotor inertia of satellite
W
0Orbit angular velocity for satellite
When instruction is instructed for expectation value, call the closed loop control model, as shown in Figure 5, wherein,
It is carried out first order difference gets
Calculate the flight attitude parameter of satellite thus
And output (step S112).Calculate t satellite flight state parameter constantly through real-time simulation in the rail system:
Name variable | Implication | Types of variables |
m_dMSCentDATAt | The earth's core distance of the instantaneous barycenter of satellite | double |
m_dMSOrbiInclAngle | Inclination of satellite orbit | double |
m_dMSAsceNode | The ascending node of satellite orbit right ascension | double |
m_dMSArguPeri | Argument of perigee of satellite orbit | double |
m_dMSTrueAnom | The satellite orbit true anomaly | double |
m_dMSOrbiSemiAxis | The semi-major axis of orbit of satellite | double |
m_dMSOrbiEcce | The orbital eccentricity of satellite | double |
m_dMSLogitude | The longitude of satellite | double |
m_dMSLatitude | The latitude of satellite | double |
m_dMSOrbiAnguVelo | The cireular frequency of satellite orbit | double[3] |
m_dMSPosOCS | Satellite instantaneous position (in the inertial coordinates system OCS of equator, the earth's core) | double[3] |
m_dMSVeloOCS | Satellite momentary velocity (in the inertial coordinates system OCS of equator, the earth's core) | double[3] |
m_dMSAnguVeloBCS | Satellite rotational angular velocity (body coordinate system BCS) | double[3] |
m_dMSAttiAngleCCS | The satellite attitude angle, yaw angle, pitch angle and roll angle | double[3] |
Judge then whether emulation finishes (step S113), then log off if finish emulation; Otherwise t=t+h in addition, circulation emulation finishes up to emulation.
This system successfully is embedded in the middle of the space robot remote operating system, reaches the purpose of real-time estimate satellite flight parameter.
Though provide and described the present invention with reference to its some preferred embodiment, should be understood that to those skilled in the art, can make various variations to its structure and details without departing from the spirit and scope of the present invention.Therefore, scope of the present invention is not limited to these embodiment, but by claim and equivalent thereof define subsequently.
Claims (5)
1. real-time prediction method for satellite flight parameter comprises:
(A) variables corresponding is carried out initialization;
(B) control command is added in the corresponding instruction bucket;
(C) obtain current flight time t;
(D) according to flight time t inquiry rail control instruction OC in track instruction bucket; And
(E) instruction that will inquire is input to and carries out real-time simulation in the satellite orbit model of rail simulator system module, prediction satellite position parameter x, y, z and output.
2. according to claim 1 real-time prediction method for satellite flight parameter, further comprise step:
(F) with the x that calculates, y in the z substitution sub-satellite track computing module, calculates the real-time warp/latitude and the output of satellite.
3. according to claim 2 real-time prediction method for satellite flight parameter, further comprise step:
(G) with the x that calculates, y in the z substitution satellite orbit parameters computing module, calculates the orbit parameter and the output of satellite.
4. according to claim 3 real-time prediction method for satellite flight parameter, further comprise step:
(H) press current flight time t, inquiry attitude control command AC in satellite attitude instruction bucket; And
(I) instruction that will inquire is input in the satellite attitude model of rail simulator system module, the prediction attitude angle.
5. according to claim 1 real-time prediction method for satellite flight parameter, wherein in step (B),
If control command is the track control command, then the track control command is loaded in the rail control instruction bucket; And
If control command is the attitude control command, then the attitude control command is loaded in the appearance control instruction bucket.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNB2006100910017A CN100408433C (en) | 2006-07-07 | 2006-07-07 | Real-time prediction method for satellite flight parameter |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNB2006100910017A CN100408433C (en) | 2006-07-07 | 2006-07-07 | Real-time prediction method for satellite flight parameter |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1923622A CN1923622A (en) | 2007-03-07 |
CN100408433C true CN100408433C (en) | 2008-08-06 |
Family
ID=37816484
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNB2006100910017A Expired - Fee Related CN100408433C (en) | 2006-07-07 | 2006-07-07 | Real-time prediction method for satellite flight parameter |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN100408433C (en) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101450716B (en) * | 2008-12-26 | 2010-12-29 | 中国科学院国家天文台 | Fault photo-detection method for earth synchronous transfer orbit satellite in orbit |
CN102880063B (en) * | 2012-09-13 | 2016-01-20 | 中国人民解放军63921部队 | Synchro control remote control system and method |
CN103019249A (en) * | 2012-11-13 | 2013-04-03 | 北京航空航天大学 | Method applied to unmanned aerial vehicle for improving navigation calculating precision |
CN103453906B (en) * | 2013-08-09 | 2016-04-27 | 清华大学 | The Forecasting Methodology of satellite orbit |
CN109188468B (en) * | 2018-09-13 | 2021-11-23 | 上海垣信卫星科技有限公司 | Ground monitoring system for monitoring satellite running state |
CN110471431B (en) * | 2019-07-30 | 2022-08-12 | 北京天问空间科技有限公司 | Method for controlling spatial resolution of earth observation system |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6138061A (en) * | 1997-04-18 | 2000-10-24 | Hughes Electronics Corporation | Onboard orbit propagation using quaternions |
CN1393682A (en) * | 2001-07-02 | 2003-01-29 | 北京超翼技术研究所有限公司 | Real-time flight simulation monitor system |
-
2006
- 2006-07-07 CN CNB2006100910017A patent/CN100408433C/en not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6138061A (en) * | 1997-04-18 | 2000-10-24 | Hughes Electronics Corporation | Onboard orbit propagation using quaternions |
CN1393682A (en) * | 2001-07-02 | 2003-01-29 | 北京超翼技术研究所有限公司 | Real-time flight simulation monitor system |
Non-Patent Citations (2)
Title |
---|
人造地球卫星轨道及位置的预报. 薛具奎.西北师范大学学报,第30卷第4期. 0199 * |
卫星过顶与成像区域时间的快速预报算法研究. 张锦绣,曹喜滨,林晓辉.哈尔滨工业大学学报,第38卷第4期. 2006 * |
Also Published As
Publication number | Publication date |
---|---|
CN1923622A (en) | 2007-03-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Huang et al. | Adaptive control for space debris removal with uncertain kinematics, dynamics and states | |
CN111061247B (en) | Polarity test system and test method for closed-loop control of angular momentum of flywheel under whole satellite | |
CN100408433C (en) | Real-time prediction method for satellite flight parameter | |
CN103412491B (en) | A kind of Spacecraft feature axis attitude maneuver index time-varying sliding-mode control | |
CN106697333B (en) | A kind of robust analysis method of spacecraft orbit control strategy | |
Landzettel et al. | Robotic on-orbit servicing-DLR's experience and perspective | |
CN106873611A (en) | A kind of method for designing of multichannel linear active disturbance rejection controller | |
CN104898642B (en) | A kind of integration testing analogue system for Spacecraft Attitude Control algorithm | |
CN100390022C (en) | On-line correction method of satellite flight parameter | |
Scharf et al. | ADAPT demonstrations of onboard large-divert Guidance with a VTVL rocket | |
CN105184002B (en) | A kind of several simulating analysis for passing antenna pointing angle | |
CN104309822B (en) | A kind of spacecraft single impulse water-drop-shaped based on parameter optimization is diversion track Hovering control method | |
CN104015191B (en) | Based on the motion compensation process under the space manipulator tool coordinates of base satellite angular speed | |
CN110884691B (en) | Method for testing rotation speed closed-loop control polarity of redundancy momentum wheel set under whole satellite | |
CN108469737B (en) | Dynamics control method and system for space non-cooperative target navigation capture | |
CN109426147B (en) | Adaptive gain adjustment control method for combined spacecraft after satellite acquisition | |
CN106184819A (en) | A kind of attitude maneuver self adaptation method for planning track | |
CN106682361A (en) | System and method for simulating flight tracks of unmanned aerial vehicles on basis of GPS (global positioning system) simulation | |
Nolet et al. | Autonomous docking algorithm development and experimentation using the SPHERES testbed | |
CN109625329A (en) | A kind of autonomous discharging method of flywheel angular momentum based on discrete jet | |
Sternberg | Development of an incremental and iterative risk reduction facility for robotic servicing and assembly missions | |
CN111272173A (en) | Gradient solving iterative guidance method considering earth rotation and large yaw angle | |
CN106250623A (en) | A kind of semi physical rapid simulation method steadily switched based on state | |
CN109918706A (en) | One kind being based on the dynamic (dynamical) satellite of broad sense-antenna coupled system path planning algorithm | |
CN107300861A (en) | A kind of spacecraft dynamics distributed computing method |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080806 Termination date: 20170707 |
|
CF01 | Termination of patent right due to non-payment of annual fee |