CN104139871B - A kind of two spacecraft close-distance safety control of collision avoidance methods - Google Patents
A kind of two spacecraft close-distance safety control of collision avoidance methods Download PDFInfo
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- CN104139871B CN104139871B CN201410318555.0A CN201410318555A CN104139871B CN 104139871 B CN104139871 B CN 104139871B CN 201410318555 A CN201410318555 A CN 201410318555A CN 104139871 B CN104139871 B CN 104139871B
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Abstract
The invention discloses a kind of two spacecraft close-distance safety control of collision avoidance methods, the present invention considers position and the relative motion law of two spaceborne annexes simultaneously, design the motor-driven of continuous two different directions, when enforcement first is motor-driven, two spacecrafts according to relative away from direction motion, avoid the annex of spacecraft to collide; Second is motor-driven, considers the relative motion law of track, make two spacecrafts gradually away from, avoid again colliding.Motor-driven by applying two continuously, can ensure that two spacecrafts do not collide.
Description
Technical field
The present invention relates to a kind of two spacecraft close-distance safety control of collision avoidance methods.
Background technology
Spacecraft carries out intersection in space, is the process of a spacecraft close to another spacecraft, be exactly in space flight two or more spacecraft by the coordination of orbit parameter, arrive the process of space same position at one time.Two spacecrafts are stopped in control process relatively, use the sensor of relative measurement to measure, obtain the information such as two spacecraft relative positions, relative velocity, and carry out relative position control based on these metrical informations.Once relative position measurement between the two lost efficacy, just cannot obtain relative position information, and now need a spacecraft to carry out suitable motor-driven, avoid two spacecrafts to collide.
Existing method can to the reversing sense applied thrust of two Spacecraft Relative Motions, make two spacecrafts temporarily away from.But along with the motion of spacecraft on the track around the earth, the relative motion of two spacecrafts is a kind of cyclical movements, the consequence that this reversing sense thrust causes can cause two spacecrafts to move on less desirable relative position, and the relevant path of two spacecrafts may be caused again to intersect after a certain time, collide again.Therefore, the maneuver autopilot of collision prevention needs to select suitable direction.
When two spacecraft close together, the collision prevention maneuver autopilot designed according to relative motion law, likely makes spaceborne annex again, as the annex such as solar array, antenna collides.
Summary of the invention
Technical matters to be solved by this invention is: overcome the deficiencies in the prior art, provide a kind of control method of close-distance safety collision prevention, when can relatively stop et out of order in control process in two spacecraft closer distance, two spacecrafts and spaceborne annex is avoided to collide
The present invention includes following technical scheme:
A kind of two spacecraft close-distance safety control of collision avoidance methods, if the heading of two spacecrafts is+X-direction, direction, the earth's core is+Z-direction; Then-X-direction is the reversing sense of heading;-Z-direction is the reversing sense in direction, the earth's core; Two spacecrafts are in spacecrafts rendezvous process, and the annex that spacecraft 2 stretches out is in the below of spacecraft 1; When two spacecrafts are in spacecrafts rendezvous process during et out of order, two spacecraft close-distance safety control of collision avoidance methods are as follows:
(1) spacecraft 2 first carry out first motor-driven, the thruster of thrust direction edge-X-direction and the thruster of thrust direction edge+Z-direction are opened simultaneously, make spacecraft 2 to-X and+Z-direction motion; It is t that the thruster of thrust direction edge-X-direction and the thruster of thrust direction edge+Z-direction amount to opening time length
1, thus ensure that spacecraft 2 is greater than 2 times of the appendage length that spacecraft 2 stretches out from the distance L of initial position motion during et out of order;
(2) spacecraft 2 carry out second motor-driven, the thruster of thrust direction edge+X-direction and the thruster of thrust direction edge-Z-direction are opened simultaneously; The thruster opening time length of thrust direction edge+X-direction is t
x, ensure second time motor-driven complete after spacecraft 2 be greater than zero in X-direction speed; The thruster opening time length of thrust direction edge-Z-direction is t
z, spacecraft 2 can be made to move to the rear of spacecraft 1.
The present invention's advantage is compared with prior art:
The present invention considers position and the relative motion law of two spaceborne annexes simultaneously, design the motor-driven of continuous two different directions, when enforcement first is motor-driven, two spacecrafts according to relative away from direction motion, avoid the annex of spacecraft to collide; Second is motor-driven, considers the relative motion law of track, make two spacecrafts gradually away from, avoid again colliding.Motor-driven by applying two continuously, can ensure that two spacecrafts do not collide.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of two spacecrafts.
Fig. 2 is the motor-driven sense of motion schematic diagram of enforcement two.
Detailed description of the invention
As shown in Figure 1, two spacecrafts et out of order in closer distance needs to carry out the motor-driven of collision free, and the annex that spacecraft 2 stretches out is in the below of spacecraft 1.
According to the relative motion law of two spacecrafts, spacecraft 2 can make its track raise to heading (+X-direction) applied thrust, and the speed of the relative earth of spacecraft 2 diminishes, and spacecraft 2 can be more and more far away at the rear of spacecraft 1.Spacecraft 2 can make its track reduce to the reversing sense (-X-direction) applied thrust of heading, and the speed of the relative earth of spacecraft 2 becomes large, and spacecraft 2 can be more and more far away in the front of spacecraft 1.If spacecraft 2 is along direction, the earth's core (+Z-direction) applied thrust, spacecraft 2 can to the motion of direction, the earth's core, and the circle that can detour from spacecraft 1 front within an orbit period is got back to initial position.If spacecraft 2 is along the reversing sense (-Z-direction) applied thrust in direction, the earth's core, spacecraft 2 can deviate from the motion of direction, the earth's core, and the circle that can detour from spacecraft 1 rear within an orbit period is got back to initial position.
Be convenient to after fault obtains getting rid of in order to follow-up, spacecraft 2 can carry out close again from the rear of spacecraft 1.After wishing the motor-driven enforcement of collision prevention, spacecraft 2 moves to the rear of spacecraft 1.According to the above characteristics of motion, need spacecraft 2 to heading (+X-direction) and liftoff heart direction (-Z-direction) both direction applied thrust of supporting or opposing.And if according to this both direction applied thrust, at spacecraft 2, relatively the annex now on spacecraft 2 and spacecraft 2 can bump against spacecraft 1 for heading with deviate from the motion of direction, the earth's core spacecraft 1 starting stage of moving.
Therefore the present invention design two motor-driven.First motor-driven edge-X-direction and+Z-direction, motor-driven amount is less.Ensure spacecraft 2 starting stage and spacecraft 1 away from.Second motor-driven edge+X-direction and-Z-direction, ensure that spacecraft 2 is more and more far away at the rear of spacecraft 1.
Method of the present invention, specifically comprises the steps:
(1) spacecraft 2 first carry out first motor-driven, the thruster of the thruster of thrust direction edge-X-direction and thrust direction edge+Z-direction is opened, and makes spacecraft 2 to-X and the motion of+Z-direction.As shown in Figure 2, the annex of spacecraft 2 stretches to+X-direction, and spacecraft 2 moves from initial position motion to the direction of position 1.The opening time of thruster is mainly according to annex direction of extension length, X-direction rate of onset v
0,-X-direction thruster thrust F
-x, spacecraft mass m estimates.Duration opened by thruster is t
1time, the distance that spacecraft is passed by along thrust direction is approximately
open duration t
1should long enough, make L be greater than the length of annex.For the sake of assurance, L can be made to be greater than 2 times of appendage length.
(2) spacecraft 2 and then carry out second motor-driven, thrust direction edge+X-direction and-two groups of thrusters of Z-direction are opened simultaneously.T opened by+X-direction thruster
xsecond, t opened by the thruster of-Z-direction
zsecond, make spacecraft 2 mainly to-Z-direction motion, slightly to move a segment distance to+X-direction simultaneously.The long term of-Z-direction thruster is that spacecraft 2 is moved to the rear of spacecraft 1.The effect of+X-direction thrust is that the track of spacecraft 2 is raised, and the speed of the relative earth diminishes.The track of such spacecraft 2 just lags behind spacecraft 1 always, and the rear namely remaining on spacecraft 1 is more and more far away.
Duration t opened by+X-direction thruster
xspecific design, need to consider first motor-driven after, spacecraft 2 has one to the speed of-X-direction
after ensureing that second time is motor-driven and completing, spacecraft 2 is greater than zero in X-direction speed, and duration demand fulfillment opened by+X-direction thruster
wherein F
+ xit is+thrust the size of X-direction.
Duration t opened by the thruster of-Z-direction
zonly need just can ensure that spacecraft 2 moves to the direction of position 2 enough greatly.Such as t
1=10 seconds, t
x=15 seconds, then t is set
z=100 seconds.
The content be not described in detail in specification sheets of the present invention belongs to the known technology of professional and technical personnel in the field.
Claims (1)
1. two spacecraft close-distance safety control of collision avoidance methods, if the heading of two spacecrafts is+X-direction, direction, the earth's core is+Z-direction; Then-X-direction is the reversing sense of heading;-Z-direction is the reversing sense in direction, the earth's core; Two spacecrafts are in spacecrafts rendezvous process, and the annex that the second spacecraft (2) stretches out is in the below of the first spacecraft (1); It is characterized in that, when two spacecrafts are in spacecrafts rendezvous process during et out of order, two spacecraft close-distance safety control of collision avoidance methods are as follows:
(1) second spacecraft (2) first carry out first motor-driven, the thruster of thrust direction edge-X-direction and the thruster of thrust direction edge+Z-direction are opened simultaneously, make the second spacecraft (2) to-X and+Z-direction motion; It is t that the thruster of thrust direction edge-X-direction and the thruster of thrust direction edge+Z-direction amount to opening time length
1, thus ensure that the second spacecraft (2) is greater than 2 times of the appendage length that the second spacecraft (2) stretches out from the distance L of initial position motion during et out of order;
(2) second spacecrafts (2) carry out second motor-driven, the thruster of thrust direction edge+X-direction and the thruster of thrust direction edge-Z-direction are opened simultaneously; The thruster opening time length of thrust direction edge+X-direction is t
x, ensure second time motor-driven complete after the second spacecraft (2) be greater than zero in X-direction speed; The thruster opening time length of thrust direction edge-Z-direction is t
z, the second spacecraft (2) can be made to move to the rear of the first spacecraft (1).
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| CN201410318555.0A CN104139871B (en) | 2014-07-04 | 2014-07-04 | A kind of two spacecraft close-distance safety control of collision avoidance methods |
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| CN104139871B true CN104139871B (en) | 2015-12-30 |
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| FR3032043B1 (en) * | 2015-01-26 | 2017-02-17 | Thales Sa | METHOD OF AVOIDING ONE OR MORE OBSTACLES BY AN AIRCRAFT, COMPUTER PROGRAM PRODUCT, ELECTRONIC SYSTEM AND AIRCRAFT |
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| JP2535246B2 (en) * | 1990-07-18 | 1996-09-18 | 宇宙開発事業団 | Rendezvous Maneuver Retry / Recovery Methods |
| US5511748A (en) * | 1993-11-12 | 1996-04-30 | Scott; David R. | Method for extending the useful life of a space satellite |
| US7216834B2 (en) * | 2001-07-30 | 2007-05-15 | Iostar Corporation | Orbit space transportation and recovery system |
| US6634603B2 (en) * | 2001-11-29 | 2003-10-21 | The Boeing Company | Magnetic dipole tractor beam control system |
| US6845303B1 (en) * | 2002-11-05 | 2005-01-18 | Lockheed Martin Corporation | Micro-satellite and satellite formation for inverse and distributed proximity operations |
| CN100475651C (en) * | 2007-04-19 | 2009-04-08 | 上海交通大学 | Awl-rod type butt and releasing gear for spacing micro-nano star station |
| CN101774432A (en) * | 2009-12-30 | 2010-07-14 | 北京控制工程研究所 | Human control intersection docking operation method |
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