CN105651516A - Engine thrust calibration method based on GNSS observation value and calibration device - Google Patents

Abstract

The invention discloses an engine thrust calibration method based on a GNSS observation value. The method comprises steps that a first GNSS observation value between a first maneuvering end time to a first maneuvering beginning time is acquired; a precision track at the first maneuvering beginning time is determined according to the first GNSS observation value; a first maneuvering arc segment track value from the first maneuvering beginning time to a second maneuvering end time is forecasted according to the precision track at the first maneuvering beginning time; a second GNSS observation value from the second maneuvering end time to a second maneuvering beginning time is acquired; a precision track at the second maneuvering end time is determined according to the second GNSS observation value; a second maneuvering arc segment track value from the first maneuvering beginning time to the second maneuvering end time is forecasted according to the precision track at the second maneuvering end time; engine thrust calibration is carried out according to change of the first maneuvering arc segment track value and the second maneuvering arc segment track value. The invention further discloses an engine thrust calibration device based on the GNSS. The method and the device can realize engine thrust calibration.

Description

Based on engine thrust scaling method and the device of GNSS observed value

Technical field

The present invention relates to engine thrust scaling method and device, in particular to a kind of engine thrust scaling method based on GNSS observed value and device.

Background technology

In space probation, the time arriving planet or fixed star to shorten, making detector can carry more observation instruments etc. with less propelling agent, it is necessary to find propulsion mode more efficient than rocket engine, therefore the research and development of electric propulsion technology and application thereof have caused the great attention of spacefaring nation. Electric propulsion technology has than leaping high, thrust is little, can repeated priming, light weight and the feature such as the life-span is long, on a lot of satellite, obtained application, in the military and commercial satellite that Boeing pays, have 18 and have employed this kind of technology. Current electric propulsion technology is mainly used for track position and keeps, and when the main propulsion system failure of satellite, electricity thruster has played vital role in satellite orbit shifts, such as " advanced extremely-high frequency satellite "-1 (AEHF-1) of United States Air Force and " falcon bird " number ASTEREX etc. of Japan.

Electric propulsion technology becomes the first-selected propulsion mode of future space exploration, for ensureing its validity used, need to carry out the lift-launch test of electric propulsion system early stage, its thrust be demarcated.

Summary of the invention

In view of this, for overcoming at least one shortcoming above-mentioned, and provide following at least one advantage. The present invention discloses a kind of engine thrust scaling method based on GNSS observed value, adopts the present invention can realize the demarcation to engine thrust. Meanwhile, the invention also discloses the device that a kind of engine thrust based on GNSS observed value is demarcated.

For solving the problems of the technologies described above, the present invention by the following technical solutions:

The present invention discloses a kind of engine thrust calibrating method based on GNSS observed value, comprising:

Obtain the GNSS observed value between the first motor-driven start time in motor-driven end moment to the first; The described first motor-driven time in end moment is upper preferential in described first motor-driven start time;

The Precise Orbit of the first motor-driven start time is determined according to a described GNSS observed value;

Precise Orbit according to the first motor-driven start time forecasts first of the period between the first motor-driven start time to the 2nd motor-driven end moment the motor-driven segmental arc track value;

Obtain the 2nd GNSS observed value between the 2nd motor-driven end moment to the 2nd motor-driven start time; The described 2nd motor-driven time in end moment is upper preferential in described 2nd motor-driven start time;

The Precise Orbit in the 2nd motor-driven end moment is determined according to described 2nd GNSS observed value;

Precise Orbit according to the 2nd motor-driven end moment forecasts the 2nd of the period between the first motor-driven start time to the 2nd motor-driven end moment the motor-driven segmental arc track value;

The thrust of engine is demarcated according to the change of described first motor-driven segmental arc track value and described 2nd motor-driven segmental arc track value.

Further, described determine the first motor-driven segmental arc track value according to a described GNSS observed value or described determine the 2nd motor-driven segmental arc track value according to described 2nd GNSS observed value, comprising

Use the first/two GNSS observed value to carry out precision orbit determination, obtain the Precise Orbit in motor-driven start/end moment;

Use Precise Orbit and the kinetic model in motor-driven start/end moment to carry out orbit integration forecast, obtain the first/two motor-driven segmental arc track value.

Further, the described thrust demarcating engine according to the change of described first motor-driven segmental arc track value and described 2nd motor-driven segmental arc track value, comprising:

According to the change between described first motor-driven segmental arc track value and described 2nd motor-driven segmental arc track value, it is determined that Orbit revolutionary value;

Determine to demarcate the thrust of engine according to described Orbit revolutionary value.

Further, the described thrust determining to demarcate engine according to described Orbit revolutionary value, is determined by following formula

Orbit revolutionary value=f (track radical, the acceleration that engine thrust causes),

The acceleration that described Orbit revolutionary value and described engine thrust cause is existing relation.

The invention also discloses a kind of engine thrust based on GNSS observed value calibration device, comprising:

GNSS receiver, for the GNSS observed value obtained between the first motor-driven start time in motor-driven end moment to the first, and the 2nd the 2nd GNSS observed value between the motor-driven end moment to the 2nd motor-driven start time, the described first motor-driven time in end moment is upper preferentially in described first motor-driven start time, and the described 2nd motor-driven time in end moment is upper preferential in described 2nd motor-driven start time;

Precise orbit determination module, for determining the Precise Orbit of motor-driven start time according to a described GNSS observed value, determines the Precise Orbit in motor-driven end moment according to described 2nd GNSS observed value;

Orbit prediction module, for the Precise Orbit described first motor-driven segmental arc track value of forecast according to motor-driven start time, according to the Precise Orbit in motor-driven end moment forecast the 2nd motor-driven segmental arc track value;

Thrust demarcating module, demarcates the thrust of engine for the change according to described first motor-driven segmental arc track value and described 2nd motor-driven segmental arc track value.

Further, described orbit prediction module

Carry out precision orbit determination by the first/two GNSS observed value, obtain the Precise Orbit in motor-driven start/end moment.

Use Precise Orbit and the kinetic model in motor-driven start/end moment to carry out orbit integration forecast, obtain the first/two motor-driven segmental arc track value.

Further, described thrust demarcating module, according to described first motor-driven segmental arc track value and described 2nd motor-driven segmental arc track value, it is determined that Orbit revolutionary value; The thrust of engine is determined according to described Orbit revolutionary value.

Further, described thrust demarcating module demarcates engine thrust by following formula according to described Orbit revolutionary value:

Orbit revolutionary value=f (acceleration that track radical, engine thrust cause),

The acceleration that described Orbit revolutionary value and described engine thrust cause is existing relation.

By adopting technique scheme, the useful effect reached of the present invention is:

The present invention utilizes GNSS observed data that satellite orbit is carried out orbit determination, thus can obtain more accurate orbit determination result. Simultaneously according to the work characteristics of engine thrust, according to the conversion of satellite orbit, engine is demarcated, thus the on-orbit calibration of engine thrust can be realized.

Accompanying drawing explanation

In order to the technical scheme being illustrated more clearly in the embodiment of the present invention, below the accompanying drawing used required in the embodiment of the present invention being described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, it is also possible to content according to embodiments of the present invention and these accompanying drawings obtain other accompanying drawing.

Fig. 1 is the engine thrust scaling method schema of the embodiment of the present invention based on GNSS observed value;

Fig. 2 is to GNSS observed data segmentation schematic diagram in the embodiment of the present invention.

Fig. 3 is the engine thrust caliberating device schematic diagram of GNSS observed value in the embodiment of the present invention.

Embodiment

For the present invention is solved technical problem, the technical scheme of employing and the technique effect that reaches clearly, below in conjunction with accompanying drawing, the technical scheme of the embodiment of the present invention is described in further detail, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments. Based on the embodiment in the present invention, those skilled in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.

Below in conjunction with accompanying drawing and the technical scheme of the present invention is described further by embodiment.

Fig. 1 is the engine thrust scaling method schema of the embodiment of the present invention based on GNSS observed value;

Fig. 2 is to GNSS observed data segmentation schematic diagram in the embodiment of the present invention.

With reference to figure 1, in embodiments of the present invention, for realizing the demarcation to satellite engine thrust, the GNSS receiver utilizing satellite to load is needed to obtain GNSS observed quantity, thus complete the determination to track according to the GNSS observed quantity obtained, and the existing demarcation to engine thrust of determination fruitage according to track.

Step S101, obtains the GNSS observed value between the first motor-driven start time in motor-driven end moment to the first, and obtains the 2nd GNSS observed value between the 2nd motor-driven end moment to the 2nd motor-driven start time.

With reference to figure 2, if t0 was the first motor-driven end moment, t1 was the first motor-driven start time; T2 was the 2nd motor-driven end moment, and t3 was the 2nd motor-driven start time. Thus, it can be seen that, in time, t0 preferentially in t1, t2 preferentially in t3. Certainly, in embodiments of the present invention, the difference that first motor-driven end moment, the first motor-driven start time, the 2nd motor-driven end moment, the 2nd motor-driven start time are only in name, in motor-driven stage and the non-maneuver stage of satellite, it can be seen in FIG. 2 that the first motor-driven end moment is corresponding to the moment of a motor-driven end before satellite. First motor-driven start time was restarting the motor-driven moment corresponding to satellite after the first motor-driven end moment, and the corresponding 2nd motor-driven end moment is corresponding to the motor-driven end moment after completing the first motor-driven start time to the motor-driven stage in the 2nd motor-driven end moment. 2nd motor-driven start time is then corresponding to the next motor-driven moment after the first motor-driven start time of next-door neighbour.

In each time period of above-mentioned t0��t1, t2��t3, the GNSS receiver all utilizing satellite to load obtains the GNSS observed quantity corresponding to each segmentation moment. In the sampling moment that this segmentation moment can be expressed as in t0��t1, t2��t3 each time period, namely all obtain corresponding GNSS observed quantity in the time period in each sampling moment.

Step S102, determines the Precise Orbit of the first motor-driven start time according to a GNSS observed value, according to two GNSS observed values determine the Precise Orbit in the 2nd motor-driven end moment.

In embodiments of the present invention, to realize the method for precise orbit determination as follows for t0��t1:

1) GNSS observed data pre-treatment, comprises three parts: one is Data Format Transform, input data comprise GNSS observed data, GNSS satellite almanac data, GNSS satellite clock correction data; Two is observed data quality examination, the cycle slip and slightly poor that detection carrier phase exists; Three is pseudorange One-Point Location, and the deadline is synchronous and the generation of priori track.

2) error corrects and normal equation generation, the sorts of systems error completing observed data corrects (generally comprising the correction of antenna phase center, theory of relativity correction, phase place winding correction, the correction of hardware delay correction for deflection, ionospheric error), builds GNSS observation equation.

3) parameter estirmation: use filtering or least square estimation etc. to realize the estimation of solve for parameter is one of the core of precise orbit determination.

4) orbit determination precision judges, meets, by the estimation before and after estimating, the accuracy assessment that situation completes Precise Orbit. Export the Precise Orbit of the track radical after upgrading, satellite. When accuracy assessment result meets orbit determination accuracy requirement, precise orbit determination terminates; Otherwise repeat 2), 3), 4) step.

In t0��t1 time period, after completing track orbit determination according to aforesaid method, the orbit determination value corresponding to the t1 moment can be obtained, and utilize this orbit determination value to be forecast in the t2 moment, thus obtain the forecast orbit determination value in t2 moment.

In embodiments of the present invention, to realize the method for track orbit determination as follows for t2��t3:

In t2��t3 time period, after completing track orbit determination according to aforesaid method, utilize the orbit determination value in the t2 moment obtained, the t1 moment is forecast, thus obtains the forecast orbit determination value in t1 moment.

Step S103, the change between being worth according to the first track orbit determination value obtained through step S102 and the 2nd track orbit determination is to the thrust demarcating engine.

Work characteristics according to satellite engine, it is possible to the thrust that engine produces is divided into impulse force and Finite Thrust. Paired pulses thrust and Finite Thrust carry out modeling respectively, can obtain following two thrust model.

Impulse force model: the action time of thrust is much shorter than the cycle becoming track before and after rail, the function that thrust changes in time can be approximately impulse function, make its momentum equal the momentum (this impulse function equals momentum and is multiplied by dirac-delta-function) of former thrust, satellite motion equation shows as the temporal variation of speed.

Finite Thrust model: the thrust time is longer, when thrust is very little, thrust segmental arc even may throughout the big portion of whole track mobile process or whole. The equation of motion of satellite is as follows:

$\stackrel{\·\·}{\stackrel{\→}{r}}={\stackrel{\→}{a}}_g+{\stackrel{\→}{a}}_{\mathrm{ng}}+{\stackrel{\→}{a}}_{\mathrm{emp}}+{\stackrel{\→}{a}}_E---\left(1\right)$

In formula:For the conservative power acceleration under inertial system,For the non-conservative forces acceleration under inertial system,For the experience power acceleration under inertial system,For the engine thrust under inertial system.

The electric propulsion engine of satellite has than the feature such as leaping high, thrust is little, and typical ion propeller thrust is 20mN-40mN, and propelling agent consumption is 0.8mg/s. Thrust acceleration is expressed as follows:

${\stackrel{\→}{a}}_E=\frac{{\stackrel{\→}{F}}_E}{m}=\frac{F_E{\stackrel{\→}{e}}_E}{m_0(1+\frac{\stackrel{\·}{m}}{m}t)}---\left(2\right)$

In formula: F_EFor engine thrust, m is satellite quality,For propelling agent consumption, m₀Satellite initial mass,For the acceleration that engine thrust causes, t is the engine action time. Considering that electric propulsion engine propelling agent spending rate relative satellite quality is in a small amount, ignore the quality change of satellite in mobile process in calculating, namely thrust acceleration is as follows:

${\stackrel{\→}{a}}_E=\frac{F_E{\stackrel{\→}{e}}_E}{m}---\left(3\right)$

Satellite is oval at space motion track, describes with semi-major axis of orbit a, eccentric ratio e, orbital inclination i, argument of perigee w, mean anomaly M, dragon's head right ascension �� six track radicals. Considering the impact of satellite other power suffered, the track moment of satellite changes, and tangentially component U, perturbation acceleration are as follows along normal component N, perturbation acceleration along the perturbation equation form of orbital plane normal component W for perturbation acceleration:

$\frac{\mathrm{da}}{\mathrm{dt}}=\frac{2}{n\sqrt{1-e^2}}\sqrt{1+2e\cos f+e^2}U$

$\frac{\mathrm{de}}{\mathrm{dt}}=\frac{\sqrt{1-e^2}}{\mathrm{na}}\sqrt{(1+2e\cos f+e^2)}[2(\cos f+e)U-\sqrt{1-e^2}\sin \mathrm{EN}]$

$\frac{\mathrm{dw}}{\mathrm{dt}}=\frac{\sqrt{1-e^2}}{\mathrm{nae}}\sqrt{(1+2e\cos f+e^2)}[2\sin \mathrm{fU}+(\cos E+e)N]-\cos i\frac{\mathrm{d\Ω}}{\mathrm{dt}}---\left(4\right)$

$\frac{\mathrm{dM}}{\mathrm{dt}}=n-\frac{1-e^2}{\mathrm{nae}}\sqrt{(1+2e\cos f+e^2)}[(-2\sin f+\frac{{2e}^2}{\sqrt{1-e^2}}\sin E)U+(\cos E-e)N]$

$\frac{\mathrm{di}}{\mathrm{dt}}=\frac{1-r\cos u}{{\mathrm{na}}^2\sqrt{1-e^2}}W$

$\frac{\mathrm{d\Ω}}{\mathrm{dt}}=\frac{r\sin u}{{\mathrm{na}}^2\sqrt{1-e^2}\sin i}W$

In formula, f is true anomaly, and E is eccentric anomaly, and u is dragon's head angular distance, and n is average angle speed, and r is the earth's core distance of satellite.

As implied above, the power of velocity reversal can change the size of track, therefore can by the size of the change inversion speed direction force of track radius. Note electricity trust engine thrust is F_E, electricity thrust direction and velocity reversal angle are ��, and visible according to upper formula, the electric thrust of velocity reversal will cause the change of semi-major axis of orbit, and its velocity of variation and track excentricity, semi-major axis of orbit are relevant.

According to above-mentioned derivation, in embodiments of the present invention, corresponding to engine thrust in all directions, with corresponding Orbit revolutionary, there is following relation.

Orbit revolutionary value=f (track radical, the acceleration that engine thrust produces).

That is, Orbit revolutionary value is corresponding to each variable for characterizing Orbit revolutionary in formula (4) left side, and be that the constant of the acceleration that produces in all directions of corresponding engine thrust and a parametric configuration is amass on formula (4) right side.

Fig. 3 is the engine thrust caliberating device schematic diagram of GNSS observed value in the embodiment of the present invention.

With reference to figure 3, the engine thrust caliberating device of GNSS observed value comprises in embodiments of the present invention: GNSS receiver, precise orbit determination module, orbit prediction module, thrust demarcating module.

Wherein, GNSS receiver in each moment shown in upper Fig. 2, can obtain the GNSS observed value between the first motor-driven start time in motor-driven end moment to the first, and the 2nd GNSS observed value between the 2nd motor-driven end moment to the 2nd motor-driven start time.

Precise orbit determination module, determines the Precise Orbit of motor-driven start time according to a GNSS observed value, determines the Precise Orbit in motor-driven end moment according to the 2nd GNSS observed value. The process of precise orbit determination is identical with above-mentioned steps S102.

Orbit prediction module, forecasts the first motor-driven segmental arc track value according to the Precise Orbit of motor-driven start time, according to the Precise Orbit in motor-driven end moment forecast the 2nd motor-driven segmental arc track value. This first motor-driven segmental arc track value and the 2nd motor-driven segmental arc track value can obtain with reference to the forecast orbit determination value in above-mentioned steps 102.

Thrust demarcating module, demarcates the thrust of engine according to the change of described first motor-driven segmental arc track value and described 2nd motor-driven segmental arc track value. The process thrust of engine demarcated is identical with above-mentioned steps S103.

Note, above are only the better embodiment of the present invention and institute's application technology principle. It is understood by those skilled in the art that and the invention is not restricted to specific embodiment described here, various obvious change can be carried out for a person skilled in the art, readjust and substitute and protection scope of the present invention can not be departed from. Therefore, although being described in further detail invention has been by above embodiment, but the present invention is not limited only to above embodiment, when not departing from present inventive concept, other equivalence embodiments more can also be comprised, and the scope of the present invention is determined by appended right.

Claims (8)

1. the engine thrust calibrating method based on GNSS observed value, it is characterised in that, comprising:

Obtain the GNSS observed value between the first motor-driven start time in motor-driven end moment to the first; The described first motor-driven time in end moment is upper preferential in described first motor-driven start time;

The Precise Orbit of the first motor-driven start time is determined according to a described GNSS observed value;

Precise Orbit according to the first motor-driven start time forecasts first of the period between the first motor-driven start time to the 2nd motor-driven end moment the motor-driven segmental arc track value;

Obtain the 2nd GNSS observed value between the 2nd motor-driven end moment to the 2nd motor-driven start time; The described 2nd motor-driven time in end moment is upper preferential in described 2nd motor-driven start time;

The Precise Orbit in the 2nd motor-driven end moment is determined according to described 2nd GNSS observed value;

Precise Orbit according to the 2nd motor-driven end moment forecasts the 2nd of the period between the first motor-driven start time to the 2nd motor-driven end moment the motor-driven segmental arc track value;

The thrust of engine is demarcated according to the change of described first motor-driven segmental arc track value and described 2nd motor-driven segmental arc track value.

2. method as claimed in claim 1, it is characterised in that: described determine the first motor-driven segmental arc track value according to a described GNSS observed value or described determine the 2nd motor-driven segmental arc track value according to described 2nd GNSS observed value, comprising

Use the first/two GNSS observed value to carry out precision orbit determination, obtain the Precise Orbit in motor-driven start/end moment;

Use Precise Orbit and the kinetic model in motor-driven start/end moment to carry out orbit integration forecast, obtain the first/two motor-driven segmental arc track value.

3. method as claimed in claim 1, it is characterised in that: the described thrust demarcating engine according to the change of described first motor-driven segmental arc track value and described 2nd motor-driven segmental arc track value, comprising:

According to the change between described first motor-driven segmental arc track value and described 2nd motor-driven segmental arc track value, it is determined that Orbit revolutionary value;

Determine to demarcate the thrust of engine according to described Orbit revolutionary value.

4. method as claimed in claim 3, it is characterised in that: the described thrust determining to demarcate engine according to described Orbit revolutionary value, determined by following formula

Orbit revolutionary value=f (track radical, the acceleration that engine thrust causes),

The acceleration that described Orbit revolutionary value and described engine thrust cause is existing relation.

5. the calibration device of the engine thrust based on GNSS observed value, it is characterised in that, comprising:

GNSS receiver, for the GNSS observed value obtained between the first motor-driven start time in motor-driven end moment to the first, and the 2nd the 2nd GNSS observed value between the motor-driven end moment to the 2nd motor-driven start time, the described first motor-driven time in end moment is upper preferentially in described first motor-driven start time, and the described 2nd motor-driven time in end moment is upper preferential in described 2nd motor-driven start time;

Precise orbit determination module, for determining the Precise Orbit of motor-driven start time according to a described GNSS observed value, determines the Precise Orbit in motor-driven end moment according to described 2nd GNSS observed value;

Orbit prediction module, for the Precise Orbit described first motor-driven segmental arc track value of forecast according to motor-driven start time, according to the Precise Orbit in motor-driven end moment forecast the 2nd motor-driven segmental arc track value;

Thrust demarcating module, demarcates the thrust of engine for the change according to described first motor-driven segmental arc track value and described 2nd motor-driven segmental arc track value.

6. device as claimed in claim 5, it is characterised in that: described orbit prediction module

Carry out precision orbit determination by the first/two GNSS observed value, obtain the Precise Orbit in motor-driven start/end moment.

Use Precise Orbit and the kinetic model in motor-driven start/end moment to carry out orbit integration forecast, obtain the first/two motor-driven segmental arc track value.

7. device as claimed in claim 5, it is characterised in that: described thrust demarcating module, according to described first motor-driven segmental arc track value and described 2nd motor-driven segmental arc track value, it is determined that Orbit revolutionary value; The thrust of engine is determined according to described Orbit revolutionary value.

8. device as claimed in claim 7, it is characterised in that: described thrust demarcating module demarcates engine thrust by following formula according to described Orbit revolutionary value:

Orbit revolutionary value=f (acceleration that track radical, engine thrust cause),

The acceleration that described Orbit revolutionary value and described engine thrust cause is existing relation.