CN106815400B - Automatic design method for rail adjustment scheme - Google Patents
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Abstract
The invention provides an automatic design method of a rail adjusting scheme, which comprises the following steps: 1) setting a calculation condition; 2) recursion of the orbit to a specified time based on the oblateness and the atmospheric perturbation, and compensation of the attenuation of the semi-long axis and the phase drift generated by the attenuation after recursion; 3) generating an orbit adjusting window according to the two-satellite orbit parameters; 4) judging a process number according to the two-satellite orbit parameters, and selecting a main process; the main flow branch 1 is a forward drift branch, matching time estimation is carried out, a subsequent scheme number is judged by combining the calculation result, and a corresponding track adjusting scheme is executed; the main flow branch 2 is a reverse drift branch, executes a reverse drift scheme, and generates two sets of parallel schemes simultaneously with the branch 1; 5): the generated solution is evaluated to determine the end or restart of the process. The method is rapid and reliable, and the decision efficiency is improved.
Description
Technical Field
The invention relates to the technical field of satellite orbit design, in particular to a phase difference initialization design method for two-satellite combined use of a near-earth circular orbit.
Background
The combined use of two or more satellites is a very effective working mode for completing space tasks, and can achieve the performance which is difficult to achieve by independent work of single satellites. The reasonable design of the combined use mode can improve the time resolution, enlarge the coverage and achieve the purpose of improving the coverage characteristic.
The two-star combined use of the near-earth circular orbit puts forward a certain requirement on the orbit relationship between the two stars, namely the two-star configuration meets the requirement that the maximum earth revisit time of the constellation does not exceed a required value. To ensure this requirement is fulfilled, the two-star orbit needs to be satisfied:
(1) the method has good subsatellite point repetition characteristics, which puts requirements on phase difference of two stars;
(2) in order to avoid the divergence trend of the phase difference between the two stars, the orbits of the two stars should be at the same height for a long time.
In actual engineering, a second star (hereinafter, referred to as "02 star") is often transmitted when one star (hereinafter, referred to as "01 star") is already in orbit. After the 02 stars are actually in orbit, the difference between the heights of the two stars is difficult to avoid, and the initial phase difference is generally not exactly equal to the nominal design value. Therefore, after 02 star-on-orbit, it is necessary to initialize the two-star configuration for phase-matched orbital adjustment.
For a satellite capable of performing velocity tangential orbit transfer at any time, the initialization process of the two-satellite configuration is simple and convenient, the nominal phase difference of the two satellites can be obtained after the two satellites enter the orbit, and the two-satellite orbit is adjusted to the same height to complete the adjustment when the two-satellite orbit drifts to the nominal value (hereinafter referred to as phase matching).
The β angles of the orbit are different at different orbit-in times and regularly change, in some β angular intervals, the satellite is in a forward flight state and can only provide positive tangential thrust, namely can only adjust the orbit upwards, in other intervals, the satellite can yaw by 180 degrees and can only provide negative tangential direction, namely can only adjust the orbit downwards, and in other situations, the β angle is not adjustable in other situations.
Disclosure of Invention
The invention provides an automatic design method of a track adjustment scheme aiming at a two-satellite combined use configuration initialization requirement, under the condition that a track adjustment window is obviously restricted, in order to improve the design efficiency and adapt to the requirement of rapid design decision after 02-satellite track entering, a large amount of complicated designs caused by uncertainty of input conditions before 02-satellite track entering are omitted, and a configuration initialization solution can be provided under any initial track state of two satellites.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an automatic design method of a rail-adjusting scheme aims at the requirement of initialization of a two-satellite combined use configuration, and comprises the following steps:
1) setting calculation conditions including earth oblateness parameters, orbit altitude descending speed caused by atmospheric perturbation and simulation time;
2) recursion of the orbit to a designated time based on the oblateness and atmospheric perturbation, input of a 01 star orbit state and recursion to an epoch time, and compensation of the attenuation of the semimajor axis and the phase drift generated by the attenuation after J4 recursion in a mode of combining mapping J4 and linear attenuation of the semimajor axis of the orbit;
3) generating an orbit adjusting window according to the two-satellite orbit parameters, wherein β angles have constraint on a satellite attitude mode, then the orbit adjusting window has constraint, starting from the two-satellite orbit parameters at epoch time, recursion is carried out for tens of days, β angle data based on a time axis can be obtained, and then the orbit adjusting window is obtained;
4) judging a process number according to the two-satellite orbit parameters, and selecting a main process; the main flow branch 1 is a forward drift branch, matching time estimation is carried out, a subsequent scheme number is judged by combining the calculation result, and a corresponding track adjusting scheme is executed; the main flow branch 2 is a reverse drift branch, executes a reverse drift scheme, and generates two sets of parallel schemes simultaneously with the branch 1;
5): evaluating the generated scheme of 4) to determine the end or restart of the process.
In the step 2), on the basis of the flat rate and the atmospheric perturbation recursive orbit, the consideration of orbit height change is added on the basis of a non-spherical perturbation analytic recursive method, so that the obvious phase error caused by the orbit height change in the recursive of the analytic method can be effectively compensated, the recursive precision requirement and the rapidity requirement are ensured,
the compensation is performed as follows:
where t is the recurrence duration, a0,e0,i0,Ω0,ω0,M0Is the number of tracks at the initial moment; mapping J4Adopting a quasi-parallel root recurrence method; a is2Is a second order quantity of a semimajor axis, substituted by a track height attenuation rate; m2Is a second order quantity of change of mean-anomaly angle, i.e. a phase change compensation quantity.
In the step 3), the orbit adjustment window is determined by the sun face illumination angle, and only upward orbit adjustment can be performed when the orbit adjustment window conforms to a certain interval, and only downward orbit adjustment can be performed when the orbit adjustment window conforms to another interval, and the orbit adjustment window cannot be performed under other conditions, that is, the orbit adjustment window does not belong to, so that the window a is called, and the window B is called on the contrary, the window a is called, and the window a slows down the phase difference drift rate.
And 4), automatically judging according to the two-star orbit parameters, and dividing the main flow structure into two levels: firstly, judging whether to use a main process 1 or a main process 2 according to the heights of the two star tracks; secondly, entering any main flow to run two branches in parallel; estimating the matching time in the forward branch, and executing a preset scheme according to the judgment result; the reverse drift branch directly executes reverse drift measures and preset schemes; simultaneously outputting two parallel schemes for subsequent link evaluation;
wherein the calculation of the nominal phase difference is expressed by:
where days is the number of days in which 02 stars fall behind 01 stars, ωeIs the speed of the rotation of the earth,
and
respectively the rate of change of the corresponding orbital element due to earth's non-spherical perturbation.
The matching opportunity estimation method comprises the following steps: and predicting the time when the two satellites drift to the specified nominal phase difference for matching by using the current relative phase drift rate of the two satellites, wherein the related nominal phase difference target value is calculated according to the phase matching requirement of the two satellites, and the perturbation parameters and the revisit days required by calculation are flexibly set according to requirements.
The track adjusting scheme is suitable for an overshoot design value and a drift design value which meet matching requirements in a designated window section, a track adjusting scheme based on two-time track control is formed, the track control adjusting amount of the two times is reasonably distributed to achieve bidirectional matching time adjustment, and the matching time is enabled to fall in an ideal track adjusting window.
The reverse drift scheme is used in branch 2 of the main process, two-star phase drifts towards the direction opposite to the initial state, and the two-star phase drifts and is used in parallel with branch 1 and output together for evaluation of a subsequent link.
The invention provides an automatic design method of a track adjustment scheme aiming at a two-satellite combined use configuration initialization requirement, which solves the problem of design of a maneuvering scheme with more than two times of phase matching of two satellites under the condition that a track adjustment window is obviously constrained, classifies and discusses the problem step by step according to input calculation process quantity, and ensures that each time of track control is positioned in the track adjustment window and meets the configuration requirement by designing reasonable track control time and track control quantity; the method can realize automatic design, solves the complex design problem caused by input uncertainty, and is convenient for carrying out on-site rapid design and difficult decision making under the condition that personnel and resources in front of the flight control group are limited after the flight control group enters the orbit.
Drawings
FIG. 1 is a block diagram of the process flow of the present invention;
FIG. 2 is a schematic diagram of a track adjustment window according to the present invention;
FIG. 3 is a diagram illustrating the nominal phase difference value design according to the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples.
In this embodiment, as shown in fig. 1, the present invention includes the following steps:
and (3) link 1: setting design conditions
The conditions required by the calculation are set to include earth ellipticity parameters, orbit altitude descending speed caused by atmospheric perturbation and simulation time.
And (2) link: input orbit states and recursion
Generally, as the collected two-satellite orbit epochs are inconsistent, taking 01 star as an example, the orbit is recurred to the epoch which is the same as 02 star, which is convenient for the calculation of the subsequent link.
The 01 star orbit state is input and recurred to epoch time, and the attenuation amount of the semi-major axis and the phase drift amount generated thereby after J4 recursion are compensated by adopting a mode of combining the mapping J4 and the orbit semi-major axis linear attenuation.
Where t is the recurrence duration, a0,e0,i0,Ω0,ω0,M0Is the number of tracks at the initial moment; mapping J4The quasi-flat root recurrence method has the advantages of high precision and high speed, and is not detailed here; a is2Is a second order quantity of a semimajor axis, substituted by a track height attenuation rate; m2Is a second order quantity of change of mean-anomaly angle, i.e. a phase change compensation quantity.
And (3) link: generating windows
Defining β angle as the complementary angle of the included angle between the normal vector of the orbital plane and the sun vector, having constraint on the attitude mode of the satellite, and then having constraint on the orbit-adjusting window, taking the example that 02 stars are higher than 01 stars under the initial condition, the two-star orbit-adjusting window is defined as follows:
and (3) window A: the phase drift rate is reduced when the orbit of the 02 star is higher than the 01 star when the 01 star is upward or the 02 star is downward;
and a window B: and the phase drift rate is increased when the 02 star is upward or the 01 star is downward and the 02 star orbit is higher than the 01 star.
Starting from the two-satellite orbit parameter at epoch time, recursion is carried out for tens of days, β angle data based on a time axis can be obtained, and then a window A and a window B are obtained, and the reference is shown in FIG. 2.
And 4, link 4: main process
Link 4.1: number of flow judgment
Main flow 1 and main flow 2 are specified in principle in the following categories:
main process 1: the starting time 02 star is higher than 01 star
Main process 2: start time 02 star is lower than 01 star
The two structures are the same, and the specific track adjusting direction and the window direction may have opposite conditions, the design of this embodiment is performed based on the condition of the process 1, and the condition of the process 2 is designed in the same manner, and is not repeated in this chapter.
And aiming at specific situations, manual participation decision can be introduced when needed.
Link 4.2: branch 1-decision plan number
The top layer main line logic is given in the present section, and specific implementation schemes and methods are referred to in the subsequent two sections.
When the two-satellite orbit is known at a certain moment, phase matching is considered, and the two-satellite nominal phase difference delta u is calculated:
the phase relation between two stars is directly related to the intersatellite point tracks, and the expected intersatellite point tracks can be achieved under the given delta omega (the ascension difference of two-star orbit intersection points).
According to the single-star orbit characteristic, the locus of the points under the star of the two adjacent time orbits is divided into a plurality of parts, for example, 4-day regression, see fig. 3. Of these 4 tracks, the satellites occupy one track per day, and in order to keep the maximum revisit time of the two-star configuration as much as possible within two days, when the 01 star occupies the track of subsatellite point numbered 1, it is necessary to occupy the 02 star occupying the track of subsatellite point numbered 3, and if the 02 star occupies the track of numbered 2 or 4, the maximum revisit time may be greater than 2 days, but certainly less than 54 hours (corresponding to orbital plane angles of 90 °, for 45 ° and 135 °, 51 hours and 57 hours, respectively).
For each Δ Ω, a nominal phase difference Du can always be found that meets the requirements described in this section. The relationship between the two can be expressed by the following formula:
where days is the number of days in which 02 stars fall behind 01 stars, ωeIs the speed of the rotation of the earth,
and
respectively the rate of change of the corresponding orbital element due to earth's non-spherical perturbation. And finally rounding Du to 0-360 degrees to obtain the nominal phase difference.
Estimating according to the current height difference and phase difference of the two satellites to be adjusted, wherein the estimating method comprises the following steps:
under the condition of knowing two-star orbit, estimating the phase matching time according to the following formula
ΔT＝ΔDu/(n1-n2)＝(Δu-Du)·μ-0.5·(a1 -1/3-a2 -1/3)-1
Where Δ T is the matching time from the present, a1、a2Respectively, the major axis of the current 01 star and the major axis of the current 02 star, and the delta u-u2-u1Representing the current phase difference of two stars, Du representing the nominal phase difference, n1，n2Respectively representing orbital angular velocities of 01 star and 02 star.
For one of the following conditions, the first scenario is performed:
1) the current drift rate is estimated to complete phase matching in the current window A;
2) the current drift rate is estimated to be able to complete phase matching in the next window A;
for one of the following conditions, trying to reduce the drift rate, a second scheme is executed;
1) the current is not in the window A, and the current drift rate is estimated to be earlier than the next window A at the phase matching moment;
for one of the following conditions, trying to accelerate the drift rate, executing a third scheme;
1) the current phase matching time is finished later than the current window A by predicting the phase matching time at the current drift rate;
2) the current is not in the window A, and the phase matching time is estimated to be finished later than the latest window A according to the current drift rate;
link 4.3: branch 1-execution scheme
adding the 01 star semimajor axis above 02 star reverses the drift direction and ensures that the two stars phase match within window B. The new 01 star semimajor axis is calculated from
ΔDu＝(n1-n2)·(TBt-TA0)＝μ0.5·(a1 -1/3-a2 -1/3)·(TBt-TA0)
In the formula, a1Is the semi-major axis of the 01-star target to be solved, a2Is a 02 star semimajor axis, and Delta Du is the amount of phase difference to be drifted, TBtWithin window B, T, for the desired moment of matchingA0For the moment of computation, is located within window a.
And the semi-major axis target value of the 01 star is designed to ensure that the matching moment is positioned in the window A.
The drift rate is accelerated by increasing the difference between the heights of the two stars, and the method is calculated by the following formula
ΔDu＝(n1-n2)·(TAt-TB0)＝μ0.5·(a1 -1/3-a2 -1/3)·(TAt-TB0)
In the formula, a2Is a semi-major axis of a 02 star target to be solved, a1Is a 01 star semimajor axis, and Delta Du is the amount of phase difference to be drifted, TAtWithin window A, T, for the desired moment of matchingB0For the moment of origin, is located within window B.
Link 4.4: branch 2-execution scheme
The reverse drift measure is implemented from the link 4.1.
If the amount of the two-star phase difference to be drifted at the starting moment is not large but continuously increases, it can be considered that the increasing measure changes the trend into the decreasing one.
Waiting until the first window A, adjusting the 01 orbit upwards to be the same as or slightly higher than the 02 star, wherein the specific overshoot is determined according to the situation, and the drifting amount is guaranteed to be stopped.
And executing a second scheme.
The reverse drift maneuver and the first maneuver in the flow 2 should be both 01 stars, which can be combined into one time as the case may be.
And (5) link: project assessment
Two sets of schemes are obtained through parallel calculation in the process, and the two sets of schemes need to be evaluated.
And preferably selecting a scheme with short time as the optimal scheme output within a reasonable drift time range. The evaluation process is also convenient to carry out manually, and the selected scheme is determined after comprehensively judging the drift time, fuel, track height and other overall requirements required by the scheme.
And if no feasible scheme exists, adjusting the setting conditions or other engineering constraints of the main process, and executing the main process again until a feasible scheme is obtained.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (7)
1. An automatic design method of a rail-adjusting scheme aims at the initialization requirement of a 01 and 02 two-star combined use configuration, and is characterized by comprising the following steps:
1) setting calculation conditions including earth oblateness parameters, orbit altitude descending speed caused by atmospheric perturbation and simulation time;
2) recursion of the orbit to a designated time based on the oblateness and atmospheric perturbation, input of a 01 star orbit state and recursion to an epoch time, and compensation of the attenuation of the semimajor axis and the phase drift generated by the attenuation after J4 recursion in a mode of combining mapping J4 and linear attenuation of the semimajor axis of the orbit;
3) generating an orbit adjusting window according to the two-satellite orbit parameters, wherein β angles have constraint on a satellite attitude mode, then the orbit adjusting window has constraint, starting from the two-satellite orbit parameters at epoch time, recursion is carried out for tens of days, β angle data based on a time axis can be obtained, and then the orbit adjusting window is obtained;
4) judging a process number according to the two-satellite orbit parameters, and selecting a main process; the main flow branch 1 is a forward drift branch, matching time estimation is carried out, a subsequent scheme number is judged by combining the calculation result, and a corresponding track adjusting scheme is executed; the main flow branch 2 is a reverse drift branch, executes a reverse drift scheme, and generates two sets of parallel schemes simultaneously with the branch 1;
5): evaluating the generated scheme in the step 4) to judge that the process is ended or restarted;
in the step 2), on the basis of the flat rate and the atmospheric perturbation recursive orbit, the consideration of orbit height change is added on the basis of a non-spherical perturbation analytic recursive method, so that the obvious phase error caused by the orbit height change in the recursive of the analytic method can be effectively compensated, the recursive precision requirement and the rapidity requirement are ensured,
the compensation is performed as follows:
where t is the recurrence duration, a0,e0,i0,Ω0,ω0,M0Is the number of tracks at the initial moment; mapping J4Adopting a quasi-parallel root recurrence method; a is2Is a second order quantity of a semimajor axis, substituted by a track height attenuation rate; m2The second order quantity of the change of the mean and near point angle is the compensation quantity of the phase change;
is a semi-major axis of the track;
is a semi-long axis of the track under non-spherical perturbation and atmospheric resistance;
the recursion value of the mean and near point angles is obtained;
is a flat proximal angle; and n is the average angular velocity of the track.
2. The automatic design method of the track adjustment scheme according to claim 1, wherein in the step 3), the track adjustment window is judged by the sun illumination angle, and when the track adjustment window meets a certain interval, only the track adjustment can be performed upwards, and when the track adjustment window meets another interval, only the track adjustment can be performed downwards, and otherwise, the track adjustment is not performed, namely, the track adjustment window does not belong to, so that the window A is called, and the window B is called, on the contrary, the window A is called, wherein the window A slows down the phase difference drift rate.
3. The automatic design method of the rail-adjusting scheme according to claim 1, wherein in the step 4), automatic judgment is performed according to two-star orbit parameters, and a main flow structure is divided into two levels: firstly, judging whether a main process branch 1 or a main process branch 2 is used according to the heights of two satellite tracks; secondly, entering any main flow to run two branches in parallel; estimating the matching time in the forward branch, and executing a preset scheme according to the judgment result; the reverse drift branch directly executes reverse drift measures and preset schemes; simultaneously outputting two parallel schemes for subsequent link evaluation;
wherein the calculation of the nominal phase difference is expressed by:
where days is the number of days in which 02 stars fall behind 01 stars, ωeIs the speed of the rotation of the earth,
and
respectively the change rate of the corresponding orbit number caused by the non-spherical perturbation of the earth, wherein delta u is the nominal phase difference of two stars, and delta omega is the right ascension difference of the two star orbit intersection points; Δ t is the time period that the 02 star trajectory lags the 01 star trajectory.
4. The automatic design method of the rail-switching scheme according to claim 3, wherein the matching opportunity estimation method is as follows: and predicting the time when the two satellites drift to the specified nominal phase difference for matching by using the current relative phase drift rate of the two satellites, wherein the related nominal phase difference target value is calculated according to the phase matching requirement of the two satellites, and the perturbation parameters and the revisit days required by calculation are flexibly set according to requirements.
5. The automatic design method of the rail-adjusting scheme according to claim 4, wherein the main flow branch 1 predicts the current height difference and phase difference of two stars according to the adjustment amount, and the prediction method comprises the following steps:
under the condition of knowing two-star orbit, estimating the phase matching time according to the following formula
ΔT＝ΔDu/(n1-n2)＝(Δu-Du)·μ-0.5·(a1 -1/3-a2 -1/3)-1
Where Δ T is the matching time from the present, a1、a2Respectively, the major axis of the current 01 star and the major axis of the current 02 star, and the delta u-u2-u1Representing the current phase difference of two stars; du represents a nominal phase difference, n1 and n2 represent orbital angular velocities of 01 star and 02 star respectively; delta Du is the amount of phase difference to be drifted; μ is the earth's gravitational constant.
6. The automatic design method of the rail-adjusting scheme according to claim 4, wherein the rail-adjusting scheme is adapted to an overshoot design value and a drift design value which meet matching requirements in a designated window section, a rail-adjusting scheme based on two rail controls is formed, the two rail control adjustment amounts are reasonably distributed to achieve bidirectional matching opportunity before and after, and the matching opportunity is made to fall within an ideal rail-adjusting window.
7. The automatic design method of the rail-adjusting scheme according to claim 3, wherein the reverse drift scheme is used in branch 2 of the main process, and two-star phase drifts towards the direction opposite to the initial state, and is used in parallel with branch 1 and output together for the evaluation of the subsequent link.
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| CN109918777A (en) * | 2019-03-05 | 2019-06-21 | 哈尔滨工业大学 | A kind of geostationary orbit spacecraft considering illumination constraint is independently diversion method |
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