CN106707758A - Autonomous orbit reprogramming method of spaceflight aircraft - Google Patents

Autonomous orbit reprogramming method of spaceflight aircraft Download PDF

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Publication number
CN106707758A
CN106707758A CN201710084067.1A CN201710084067A CN106707758A CN 106707758 A CN106707758 A CN 106707758A CN 201710084067 A CN201710084067 A CN 201710084067A CN 106707758 A CN106707758 A CN 106707758A
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orbit
track
parameter
target track
overproof
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CN106707758B (en
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李超兵
王晋麟
禹春梅
徐国强
祁琪
吕建强
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China Academy of Launch Vehicle Technology CALT
Beijing Aerospace Automatic Control Research Institute
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China Academy of Launch Vehicle Technology CALT
Beijing Aerospace Automatic Control Research Institute
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

Abstract

The invention relates to an autonomous orbit reprogramming method of a spaceflight aircraft. The method comprises the following steps that spacecraft state information is acquired; out-of-tolerance of an orbit is calculated according to the state information; whether reprogramming is performed is judged according to the out-of-tolerance situation, flying according to the normal default orbit is performed if the out-of-tolerance situation does not occur, and ballistic reprogramming is performed if the out-of-tolerance situation occurs; the minimum i value corresponding to an accessible target orbit parameter in an orbit parameter library is judged according to the order of priority, and the preselected orbit corresponding to the minimum i value acts as a new target orbit; and the aircraft is controlled to fly according to the new target orbit. The spaceflight aircraft is creatively enabled to have the autonomous orbit reprogramming capacity so that self-rescuing under the fault state can be realized, the expected target is completed under the fault situation and the economic loss can be reduced and the safety risk can be reduced; and the manpower and material resource cost can be reduced through the autonomous mode without depending on ground equipment and personnel.

Description

A kind of autonomous Orbit weight planing method of aerospace craft
Technical field
The present invention relates to a kind of autonomous Orbit weight planing method of aerospace craft, category spacecraft flight device Guidance and control neck Domain.
Background technology
Traditional space transportation device, typical such as carrier rocket, is all once to launch, regardless of after taking off such as after taking off Engine failure or other fortuitous events are run into, can only be left it to chance, it is impossible to carried out track and plan again, thus do not possess failure Redemption ability, therefore larger economic loss is often caused in case of a fault, or even security incident can occur.Some flights Although device possesses track and plans ability again, and function is saved with failure, (such as satellite, when occur rocket be not sent to it is pre- Orbit determination road or when having larger track deviation, can inject the instruction for uploading by receiving ground, carry out track and plan again) but all It is to carry out weight-normality based on world communication mode to draw, i.e., on ground, generation failure situation lower railway weight-normality draws instruction, by long-range distant Prosecutor formula is uploaded to aircraft, and on the one hand this mode needs ground observing and controlling equipment and a large amount of technical staff to support, expend huge Manpower and materials cost, on the other hand also limited by TT ＆ c arc and world communication condition, when some failures generation in observing and controlling During blind area or when there is world communication failure, can still cause that aircraft cannot receive surface instruction and causing trouble cannot be drawn Rescue.
Aerospace craft is with autonomous Orbit maneuverability between payload and base level carrier rocket New space transportation instrument, the features such as with in-orbit, multiple startup for a long time, autonomous flight, powerful maneuverability.This space flight flies Row device can complete many star transmittings, satellite deployment, space test, intersect, reenters return and the task such as orbit maneuver.It is to improve fire The effective way of arrow performance and raising task adaptability, the extremely great attention of each spacefaring nation in the world.
How the information such as oneself state parameter such as the velocity location that arrives of related sensor sensitivity carried using aircraft, oneself The new optimal objective track of main selection, is the technical problem of this area urgent need solution.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of autonomous Orbit weight-normality of aerospace craft is drawn Method, carries out online autonomous judgement, independently selects new optimal objective track so that aerospace craft can be by track weight-normality Draw and possess failure and save ability.
The object of the invention is achieved by following technical solution：
A kind of autonomous Orbit weight planing method of aerospace craft is provided, is comprised the following steps：
(1) collection aerospace craft is in coasting-flight phase tsThe state of flight information at moment, state of flight information includes：Distance rises Fly the relative time t at moments, the coordinate system t of aerospace craft control systemsThe speed [Vx, Vy, Vz] at moment and position [x, y, z]；Orbit parameter is calculated, including：It is semi-major axis a, eccentricity e, orbit inclination angle i, argument of perigee ω, right ascension of ascending node Ω, very near Point angle f；
(2) orbit parameter is judged with the presence or absence of overproof, if orbit parameter does not carry out track weight-normality without overproof Draw, aircraft is along acquiescence orbital flight；If any orbit parameter exist it is overproof, into step (3)；
(3) the pre-selection track of bookbinding orbit parameter storehouse N bars in a computer in advance, semi-major axis a are readi, eccentricity ei、 Orbit inclination angle ii, argument of perigee ωi, right ascension of ascending node Ωi, true anomaly fi, i=1,2,3...N, by i from small to large suitable Sequence is arranged；Apart from the relative time t of departure times, aerospace craft control system coordinate system tsMoment speed [Vx, Vy, Vz], position [x, y, z], the thrust F that estimates of reading and read the specific impulse U of pre- bookbinding, and the 1st, orbit parameter storehouse target track Parameter, judges whether that the target track can be reached, if can reach, using the 1st article of pre-selection track as new target track, If can not reach, the 2nd, storehouse of orbit parameter target track parameter is calculated, judge whether to reach the target track, if energy Reach, then using the 2nd article of pre-selection track as new target track, the like, until can be reached in finding orbit parameter storehouse The corresponding minimum i values of target track parameter, then using the corresponding pre-selection track of minimum i values as new target track；
(4) control aircraft presses fresh target orbital flight.
Preferably, judge that orbit parameter is with the presence or absence of overproof specific method in step (2)：
Judge | a-a0|≤Δa、|e-e0|≤Δe、|i-i0|≤Δi、|Ω-Ω0|≤ΔΩ、|ω-ω0|≤Δω、| f-f0| whether≤Δ f is satisfied by, if being satisfied by requiring to judge orbit parameter all without overproof, if any orbit parameter is not Meet and require, then show that the orbit parameter is overproof, wherein a0、e0、i0、ω0、Ω0、f0The track of representation theory standard half is long respectively Axle, eccentricity, orbit inclination angle, argument of perigee, right ascension of ascending node, true anomaly, Δ a, Δ e, Δ i, Δ Ω, Δ ω, Δ f point The semi-major axis of orbit deviation threshold of other representation theory standard, eccentricity deviation threshold, orbit inclination angle deviation threshold, argument of perigee Deviation threshold, right ascension of ascending node deviation threshold, true anomaly deviation threshold.
Preferably, the specific method for finding the corresponding minimum i values of the target track parameter that can be reached in orbit parameter storehouse is： Using parameter ts, [Vx, Vy, Vz], [x, y, z], F, U, a1、e1、i1、ω1、Ω1、f1, being calculated by the method for interative guidance can Up to track am1、em1、im1、ωm1、Ωm1、fm1, calculate | a1-am1|、|e1-em1|、|i1-im1|、|Ω1-Ωm1|、|ω1-ωm1|、| f1-fm1|, judge whether less than or equal to respective deviation threshold, if be respectively less than being equal to respective deviation threshold, judgement can be reached should Track, using the 1st article of pre-selection track as new target track, if any parameter is more than deviation threshold, can not reach this Track, the 1st article of pre-selection track is not as new target track；The 2nd, storehouse of orbit parameter target track parameter is calculated, is judged whether It is overproof, if not overproof, using the 2nd article of pre-selection track as new target track, the like, until finding orbit parameter The corresponding minimum i values of target track parameter not overproof in storehouse, that is, meet | ai-ami|、|ei-emi|、|ii-imi|、|Ωi-Ωmi |、|ωi-ωmi|、|fi-fmi| respectively less than minimum i values of deviation threshold, then using the corresponding pre-selection track of minimum i values as new Target track, wherein ami、emi、imi、ωmi、Ωmi、fmiRepresent respectively and choose i-th pre-selection orbit theory, using interative guidance Calculate semi-major axis, eccentricity, orbit inclination angle, argument of perigee, right ascension of ascending node, the true anomaly up to track.
Preferably, N is not less than 10.
Preferably, tsMoment selects the preceding 1000s of coasting-flight phase.
Preferably, aircraft is then controlled along acquiescence orbital flight if N bars pre-selection track can not be reached in step (3).
The present invention has the following advantages that compared with prior art：
(1) aerospace craft that makes of the invention possesses autonomous Orbit weight-normality stroke ability, can realize malfunction Under save oneself, complete target in case of a fault, reduce economic loss and reduce security risk；
(2) present invention is independent of ground installation and personnel by autonomous mode, reduces manpower and materials cost；
(3) present invention online from host computer by way of, do not limited by TT ＆ c arc, not by world communication failure limit System, improves task adaptability.
Brief description of the drawings
Fig. 1 is that track weight-normality of the present invention draws schematic flow sheet.
Specific embodiment
Technical solution of the invention is：The implementation process that autonomous Orbit is planned again, it is main to include passing through sensor The status informations such as the velocity location for obtaining, determine whether state parameter is overproof, it is determined whether need to carry out weight-normality stroke, autonomous to determine New target track, autonomous control is flown towards new target track.Track weight-normality is drawn and is comprised the following steps that：
(1) status information of aircraft is gathered
When entering sliding state after aerospace craft and base level Separation, collection aerospace craft is in coasting-flight phase tsWhen The state of flight information at quarter.State of flight information includes following data：Apart from the relative time t of departure times, aerospace craft Control system coordinate system tsThe speed [Vx, Vy, Vz] and position [x, y, z] at moment, calculate orbit parameter：A, e, i, ω, Ω, f, Semi-major axis, eccentricity, orbit inclination angle, argument of perigee, right ascension of ascending node, true anomaly are represented respectively.
(2) judge whether orbit parameter is overproof
If | a-a0|≤Δa、|e-e0|≤Δe、|i-i0|≤Δi、|Ω-Ω0|≤ΔΩ、|ω-ω0|≤Δω、| f-f0|≤Δ f meets, and illustrates that orbit parameter, all without overproof, track weight-normality do not carried out and drawn, and aircraft flies along acquiescence track OK.
If above-mentioned formula has one to be unsatisfactory for, carry out track weight-normality and draw.A in above formula0、e0、i0、ω0、Ω0、f0, it is The orbital tracking of theoretical standard, binds in aerospace craft computer before taking off.Δ a, Δ e, Δ i, Δ ω, Δ Ω, Δ f, For track allows overproof threshold value, bookbinding is in aerospace craft computer in advance.For different tasks, a0、e0、i0、 ω0、Ω0、f0It is different from Δ a, Δ e, Δ i, Δ ω, Δ Ω, Δ f.
(3) new target track is chosen
According to (2nd) step, if orbit parameter is overproof, carries out new target track and choose.New target track parameter From bookbinding orbit parameter storehouse a in a computer in advancei、ei、ii、ωi、Ωi、fiChosen in (i=1,2,3...N), wherein ai、 ei、ii、ωi、Ωi、fi(i=1,2,3...N), is the pre-selection track of prior stapled N bars, by meeting the preferential suitable of mission requirements Sequence, is arranged from small to large by i=1,2,3...N orders, and N is typically no less than 10.
Choosing method uses interative guidance algorithm, and interative guidance |input paramete is that state of flight information includes following data： Apart from the relative time t of departure times, aerospace craft control system coordinate system tsThe speed [Vx, Vy, Vz] at moment, position [x, y, z], thrust F and read the pre- specific impulse U for binding that reading is estimated, and i-th of orbit parameter storehouse target track ai、ei、ii、 ωi、Ωi、fi(i=1,2,3...N), calculates the method by interative guidance up to track a successivelymi、emi、imi、ωmi、Ωmi、 fmi(i=1,2,3...N), judges whether the rail for new planning when the not overproof corresponding minimum i values of orbit parameter successively Road parameter codes iresult, iresult are the result of 1~N, i.e., selected first in orbit parameter storehouse if iresult i=1 Bar track is new target track, and Article 2 track is new target track during iresult=2 then selects orbit parameter storehouse, successively It is similar to push away, if iresult is not between 1~N, weigh planning failure, then retry, if then retry and still fail twice, Second step is returned to, weight-normality is no longer carried out and is drawn.
(4) control aircraft presses fresh target orbital flight
New target track is chosen according to (3rd) step, and according to the real-time state parameter of aircraft, is calculated using interative guidance Method, control aircraft presses fresh target orbital flight.
The present invention will be further described below in conjunction with the accompanying drawings.
(1) spacecraft status information is gathered；
(2) it is whether overproof according to status information calculating track；
(3) drawn according to whether overproof situation interpretation carries out weight-normality, if not overproof, by the orbital flight of normal acquiescence, if It is overproof, then carry out trajectory weight-normality and draw；
(4) by weight planning strategy and algorithm, new target track is chosen；
(5) judge that fresh target track is chosen whether to succeed
(6) if fresh target track is chosen successfully, control aircraft presses fresh target orbital flight, if fresh target track is selected Failure is taken, then still by acquiescence orbital flight
Embodiment 1
If base level Launch Vehicle Engine breaks down, thrust declines does not send aerospace craft into pre- orbit determination Road.Aircraft enters coasting-flight phase, gathers spacecraft status information：
Project Numerical value Unit
ts 2032.913 s
Vx -3243.605 m/s
Vy -9231.941 m/s
Vz -5.362 m/s
x 5915326.422 m
y -10328784.798 m
z -15279.831 m
According to status information, orbital tracking is calculated, wherein | a-a0|=2350km Δ a=100km, therefore the result for judging It is that orbit parameter is overproof to be drawn, it is necessary to carry out track weight-normality
According to state parameter and orbit parameter storehouse, new-track parameter selection is carried out, obtain iresult=3, that is, select the 3rd Bar weight-normality draws track, that is, the spacecraft fresh target track descended in Fig. 1, new target track is chosen successfully, and aerospace craft needs Into following new-track:
Table 1：Spacecraft fresh target track
If not carrying out trajectory weight-normality now to draw, aerospace craft still uses original parameter, after igniting shutdown next time The track that will enter is larger as follows from target track deviation：
Table 2：Non- trajectory weight-normality draws the track for entering
Table 3：Trajectory weight-normality draws the track for entering
Title Symbol Numerical value Track deviation Deviation requirement Unit
Semi-major axis of orbit a 43655.949 -8.19059 |△a|≤100 km
Orbital eccentricity e 0.1285867 0.094256656 |e|≤0.002
Orbit inclination angle i 0.0341468 -0.095853159 |△i|≤0.20° °
Argument of perigee ω 179.1877 0.287738 /
Right ascension of ascending node Ω 356.2081 -0.2919 /
True anomaly f 179.5089 0.008865 /
Trajectory weight-normality stroke is carried out using the present invention to enter such as lower railway as shown in table 3, track deviation is minimum, meets final Use requirement.Further demonstrating this method by the present embodiment has preferable operability.
The above, optimal specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in, Should all be included within the scope of the present invention.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.

Claims (6)

1. a kind of autonomous Orbit of aerospace craft weighs planing method, it is characterised in that comprise the following steps：
(1) collection aerospace craft is in coasting-flight phase tsThe state of flight information at moment, state of flight information includes：When distance is taken off The relative time t at quarters, the coordinate system t of aerospace craft control systemsThe speed [Vx, Vy, Vz] and position [x, y, z] at moment； Orbit parameter is calculated, including：Semi-major axis a, eccentricity e, orbit inclination angle i, argument of perigee ω, right ascension of ascending node Ω, true near point Angle f；
(2) judge that orbit parameter, with the presence or absence of overproof, if orbit parameter does not carry out track weight-normality and draw without overproof, flies Row device is along acquiescence orbital flight；If any orbit parameter exist it is overproof, into step (3)；
(3) the pre-selection track of bookbinding orbit parameter storehouse N bars in a computer in advance, semi-major axis a are readi, eccentricity ei, track Inclination angle ii, argument of perigee ωi, right ascension of ascending node Ωi, true anomaly fi, i=1,2,3...N are arranged by i orders from small to large Row；Apart from the relative time t of departure times, aerospace craft control system coordinate system tsThe speed [Vx, Vy, Vz] at moment, position Put [x, y, z], thrust F and read the pre- specific impulse U for binding that reading is estimated, and the 1st, orbit parameter storehouse target track parameter, sentence It is disconnected whether to reach the target track, if can reach, using the 1st article of pre-selection track as new target track, if not Can reach, then calculate the 2nd, storehouse of orbit parameter target track parameter, judge whether to reach the target track, if can reach, Using the 2nd article of pre-selection track as new target track, the like, until the target track that can be reached in finding orbit parameter storehouse The corresponding minimum i values of road parameter, then using the corresponding pre-selection track of minimum i values as new target track；
(4) control aircraft presses fresh target orbital flight.
2. the autonomous Orbit of aerospace craft as claimed in claim 1 weighs planing method, it is characterised in that step is sentenced in (2) Disconnected orbit parameter is with the presence or absence of overproof specific method：
Judge | a-a0|≤Δa、|e-e0|≤Δe、|i-i0|≤Δi、|Ω-Ω0|≤ΔΩ、|ω-ω0|≤Δω、|f-f0 | whether≤Δ f is satisfied by, if being satisfied by requiring to judge orbit parameter all without overproof, if any orbit parameter is unsatisfactory for It is required that, then show that the orbit parameter is overproof, wherein a0、e0、i0、ω0、Ω0、f0The semi-major axis of orbit of difference representation theory standard, Eccentricity, orbit inclination angle, argument of perigee, right ascension of ascending node, true anomaly, Δ a, Δ e, Δ i, Δ Ω, Δ ω, Δ f difference The semi-major axis of orbit deviation threshold of representation theory standard, eccentricity deviation threshold, orbit inclination angle deviation threshold, argument of perigee are inclined Difference limen value, right ascension of ascending node deviation threshold, true anomaly deviation threshold.
3. the autonomous Orbit of aerospace craft as claimed in claim 1 or 2 weighs planing method, it is characterised in that find track The specific method of the corresponding minimum i values of target track parameter that can be reached in parameter library is：Using parameter ts, [Vx, Vy, Vz], [x, y, z], F, U, a1、e1、i1、ω1、Ω1、f1, calculated up to track a by the method for interative guidancem1、em1、im1、ωm1、 Ωm1、fm1, calculate | a1-am1|、|e1-em1|、|i1-im1|、|Ω1-Ωm1|、|ω1-ωm1|、|f1-fm1|, judge whether to be less than Equal to respective deviation threshold, if be respectively less than being equal to respective deviation threshold, judgement can reach the track, using the 1st article of pre-selection Track, if any parameter is more than deviation threshold, can not reach the track, the 1st article of pre-selection track as new target track Not as new target track；Calculate orbit parameter the 2nd, storehouse target track parameter, judge whether it is overproof, if not overproof, Using the 2nd article of pre-selection track as new target track, the like, until target track not overproof in finding orbit parameter storehouse The corresponding minimum i values of road parameter, that is, meet | ai-ami|、|ei-emi|、|ii-imi|、|Ωi-Ωmi|、|ωi-ωmi|、|fi-fmi| Respectively less than minimum i values of deviation threshold, then using the corresponding pre-selection track of minimum i values as new target track, wherein ami、emi、 imi、ωmi、Ωmi、fmiRespectively represent select i-th pre-selection track, using interative guidance method calculate up to track semi-major axis, Eccentricity, orbit inclination angle, argument of perigee, right ascension of ascending node, true anomaly.
4. the autonomous Orbit of aerospace craft as claimed in claim 1 or 2 weighs planing method, it is characterised in that N is not less than 10。
5. the autonomous Orbit of aerospace craft as claimed in claim 1 or 2 weighs planing method, it is characterised in that tsMoment selects The preceding 1000s of coasting-flight phase.
6. the autonomous Orbit of aerospace craft as claimed in claim 1 or 2 weighs planing method, it is characterised in that in step (3) If N bars pre-selection track can not be reached, control aircraft is along acquiescence orbital flight.
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CN112859914A (en) * 2021-01-13 2021-05-28 中山大学 Trajectory planning-based hypersonic aircraft reentry safety control method and system
CN113485108A (en) * 2021-07-07 2021-10-08 大连理工大学 Intelligent task reconstruction method for ascending section of carrier rocket under thrust descent fault
CN113741529A (en) * 2021-09-14 2021-12-03 中国运载火箭技术研究院 Remote guidance method and remote guidance device for spacecraft and intersection part
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CN108984903A (en) * 2018-07-16 2018-12-11 北京航天自动控制研究所 A kind of preferred/optimum design method of Guidance Parameter
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CN113485108A (en) * 2021-07-07 2021-10-08 大连理工大学 Intelligent task reconstruction method for ascending section of carrier rocket under thrust descent fault
CN113741529A (en) * 2021-09-14 2021-12-03 中国运载火箭技术研究院 Remote guidance method and remote guidance device for spacecraft and intersection part
CN113741529B (en) * 2021-09-14 2024-05-14 中国运载火箭技术研究院 Remote guidance method and remote guidance device for spacecraft and intersection part
CN113834386A (en) * 2021-10-29 2021-12-24 湖北航天技术研究院总体设计所 Solid carrier rocket atmospheric layer guidance control method
CN113834386B (en) * 2021-10-29 2023-02-28 湖北航天技术研究院总体设计所 Solid carrier rocket atmospheric layer guidance control method

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