CN106892136B - A kind of aerospace craft metro planning method based on world communication - Google Patents

A kind of aerospace craft metro planning method based on world communication Download PDF

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Publication number
CN106892136B
CN106892136B CN201710084248.4A CN201710084248A CN106892136B CN 106892136 B CN106892136 B CN 106892136B CN 201710084248 A CN201710084248 A CN 201710084248A CN 106892136 B CN106892136 B CN 106892136B
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ignition
orb
duration
aerospace craft
target track
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CN106892136A (en
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李超兵
王晋麟
李学锋
禹春梅
徐国强
徐帆
肖称贵
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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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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/242—Orbits and trajectories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems
    • B64G1/247—Advanced control concepts for autonomous, robotic spacecraft, e.g. by using artificial intelligence, neural networks or autonomous agents

Abstract

The present invention relates to a kind of aerospace craft metro planning method based on world communication, after including the following steps: that confirmation needs trajectory weight-normality to draw, start to receive spacecraft status information；Ground calculates fresh target track；Upload fresh target orbit parameter；After receiving target track parameter on arrow, planning becomes rail strategy；Planning is become under rail strategy and is passed, if ground observing and controlling system thinks that the duration of ignition and Guidance Law are unreasonable, plans and sends again upload parameter again, until ground observing and controlling system thinks that the duration of ignition is reasonable, and send confirmation message；Start to become rail, into fresh target track.The present invention, which realizes, eliminates base level non-critical fault bring risk, guarantees that payload also can enter working track；The optimal objective track realized under malfunction is chosen.

Description

A kind of aerospace craft metro planning method based on world communication
Technical field
The present invention relates to a kind of aerospace craft metro planning methods based on world communication, belong to spacecraft flight device system Lead control field.
Background technique
Aerospace craft (low rail or sub- track) after being sent into corresponding track by base level carrier rocket, is completed subsequent Space tasks.If non-lethal failure (such as propellant depleted shutdown, thrust decline) occurs for base level rocket, cannot will navigate Its aircraft be sent into planned orbit perhaps region or due to special circumstances need to change aerospace craft target track change Original flight path.
For carrier rocket, ground observing and controlling system can only passively receive the telemetry intelligence (TELINT) of carrier rocket, can not intervene The flight course of carrier rocket；After carrier rocket breaks down, the fault countermeasure bound before carrier rocket can only being used to take off is real Protection flight is applied, not can be carried out the optimal flight under malfunction；And the flight that can not execute Iterim Change target track is appointed Business.Satellite has preferable observing and controlling condition, and observing and controlling blind area is less, can intervene subsequent flight by TT&C system at any time, Floor planning entirely becomes rail strategy, and the entire rail process that becomes is implemented by ground remote control.
Relative to satellite and carrier rocket, the world communication function of aerospace craft how is utilized, aerospace craft is worked as Preceding state passes ground back, and ground design personnel calculate new target track using the status information passed back, then logical by the world New target track is sent to aerospace craft by communication function, and aerospace craft information based on the received plans subsequent change rail Strategy is this field technical problem urgently to be resolved.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of aerospace craft rails based on world communication Road planing method increases world communication function, intervenes the flight course of aerospace craft, independently implement subsequent flight plan.
The object of the invention is achieved by following technical solution:
A kind of aerospace craft metro planning method based on world communication is provided, which comprises the steps of:
(1) when base level rocket breaks down, or aerospace craft is needed to enter fresh target track, in space travel After device enters sliding state, ground observing and controlling system receives the state of flight information of coasting-flight phase, if not receiving state of flight letter Breath, then continue to coasting-flight phase 10~1000s state of flight information and be replaced；State of flight information includes following data: Apart from the relative time t of departure times, the control system coordinate system t of aerospace craftsSpeed [the V at momentx, Vy, Vz] and position [x, y, z]；
(2) ground observing and controlling system reads aerospace craft and predicts that the duration of ignition is tyd；
(3) ground observing and controlling system generates new upload parameter, and in prediction duration of ignition tydIt will be new upper before preceding 1000s It passes parameter and is sent to aerospace craft；
(4) aerospace craft is receiving new upload parameter, forecasts spacecraft rocket ignition time using upload parameter； And ground observing and controlling system will be sent to the duration of ignition, ground observing and controlling system determines that the duration of ignition is corresponding with Guidance Law serial number is needed The reasonability of Guidance Law then send confirmation message if it is considered to the duration of ignition and Guidance Law are reasonable, fly by new target track Row is planned again if ground observing and controlling system thinks that the duration of ignition and Guidance Law are unreasonable and sends upload parameter again, navigates Its aircraft determines the duration of ignition using the upload parameter sent again again, and ground observing and controlling system determines the duration of ignition again Reasonability, until ground observing and controlling system thinks that the duration of ignition is reasonable, and send confirmation message；
(5) actual ignition point is reached, the final received upload information Midcourse Guidance serial number planned according to aerospace craft Corresponding Guidance Law and shutdown amount implement powered phase control, until shutdown of entering the orbit.
Preferably, it includes ignition point the earth's core away from η that ground observing and controlling system, which generates new target track parameter,d, ignition point is very close Point angle fd, target track semi-major axis aaim, target track eccentric ratio eaim, target track orbit inclination angle iaim, target track perigee Argument ωaim, target track right ascension of ascending node Ωaim, target track true anomaly faim, Guidance Law serial number j is needed, shutdown is applicable in Measure Kw.
Preferably, be applicable in shutdown amount Kw include semi-major axis, the earth's core away from, orbit inclination angle, right ascension of ascending node, longitude and latitude.
Preferably, Guidance Law includes that positive thrust vector, propulsive thrust vector, interative guidance and track antarafacial are motor-driven；Guidance Law By serial number arrangement bookbinding on aerospace craft.
Preferably, the method for upload parameter forecast spacecraft rocket ignition time is utilized are as follows: utilize tsThe speed at moment [Vx, Vy, Vz] and position [x, y, z] and dynamics of orbits formula to calculating torbThe earth's core at moment is away from ηorbWith true anomaly forb, according to Secondary calculating orb=1, the earth's core of orb=2 ... is away from ηorbWith true anomaly forb, until there is a certain moment tk, meet ηk-ηd≥0 Or fk-fd>=0, then tkThe as duration of ignition.
The invention has the following advantages over the prior art:
(1) present invention, which realizes, eliminates base level non-critical fault bring risk, guarantees that payload also can enter work Track；The optimal objective track realized under malfunction is chosen.
(2) present invention is uploaded by the target track in a TT & c arc, reduces the communication of subsequent TT & c arc Demand, reduces the transition to ground observing and controlling system and relies on, and completes task in limited TT & c arc.It only needs logical using the world Communication function uploads new target track, and subsequent change rail strategy is independently implemented by aerospace craft, exists even if becoming rail section Observing and controlling blind area will not influence subsequent change rail plan, into new target track.
(3) present invention can change target track according to task temporary variations situation, reduce large number of ground work, increase task Flexibility.
Detailed description of the invention
Fig. 1 is that trajectory weight-normality of the present invention draws flow diagram.
Specific embodiment
Specific step is as follows for trajectory weight-normality of the present invention stroke:
(1) if base level breaks down, or aerospace craft is needed to enter fresh target track, aerospace craft into After entering sliding state, ground observing and controlling system starts to receive the state of flight information for the coasting-flight phase that aircraft passes down, if received not To state of flight information, the state of flight information that can continue to 10s~1000s any time is replaced.Flight shape State information includes following data: apart from the relative time t of departure times, aerospace craft control system coordinate system tsThe speed at moment Spend [Vx, Vy, Vz] and position [x, y, z].
(2) ground observing and controlling system reads aircraft and predicts that the duration of ignition is tyd；
(3) ground observing and controlling system generates target track parameter, and in prediction duration of ignition tydMesh will be generated before preceding 1000s Mark orbit parameter is sent to aircraft.Upload parameter is as follows:
1 trajectory weight-normality of table draws upload parameter
Common shutdown amount is, semi-major axis, the earth's core away from, orbit inclination angle, right ascension of ascending node, longitude and latitude etc..Commonly Be positive thrust vectoring, propulsive thrust vector, interative guidance and track antarafacial of Guidance Law is motor-driven etc..
(4) aerospace craft utilizes new target track parameter to determine and becomes rail plan after receiving upload target track parameter Slightly, becoming rail strategy includes the planning duration of ignition.After the completion of planning, lower progress of disease rail strategy to ground observing and controlling system, ground observing and controlling system System determines the reasonability for becoming rail strategy, agrees to after becoming rail strategy, returns to confirmation message, flies by new target track, if Ground observing and controlling system disagrees the change rail strategy, then plans simultaneously upload parameter again, utilize the target track parameter uploaded again The reasonability for becoming rail strategy is determined again, until ground observing and controlling system is agreed to become rail strategy.
Become the determination method that rail strategy includes the planning duration of ignition are as follows: utilize tsSpeed [the V at momentx, Vy, Vz] and position [x, y, z] and dynamics of orbits formula to calculating torbThe earth's core at moment is away from ηorbWith true anomaly forb, successively calculate orb=1, orb =2 ... until there is a certain moment tk, meet ηk-ηd>=0 or fk-fd>=0, then tkThe as duration of ignition.
It obtains in tsThe velocity information V of moment spacecraftx, Vy, VzWith the location information x, y, z of spacecraft；
torb=torb-1+Torb, wherein t0=ts (1)
rxorb=xorb+R0x
ryorb=yorb+R0y
rzorb=zorb+R0z
Ωx=cosB0·cosA0
Ωy=sinB0
Ωz=-cosB0·sinA0
Zc=Ωx·rxorb+Ωy·ryorb+Ωz·rzorb
In formula, torb-1For initial time, torbFor the subsequent time of initial time, TorbTo calculate step-length, Vx,orb, Vy,orb, Vz,orbFor moment torbThe speed of spacecraft, xorb, yorb, zorbFor moment torbThe position of spacecraft；gx,orb-1、 gy,orb-1、gz,orb-1For initial time torb-1Terrestrial gravitation suffered by spacecraft；gx,orb、gy,orb、gz,orbFor the moment torbTerrestrial gravitation suffered by spacecraft；R0x、R0y、R0zFor spacecraft launch point the earth's core radius vector component；rxorb、 ryorb、rzorb、Zc、Ωx、Ωy、Ωz、sinφdxFor intermediate variable；RaFor terrestrial equator radius, Ra=6378140m；A0For transmitting Directive, B0For launch latitude；FM is Gravitational coefficient of the Earth, fM=3986005 × 108m3/s2, J is terrestrial gravitation coefficient, J= 0.001623945；
Utilize xorb, yorb, zorb, Vx,orb, Vy,orb, Vz,orb, torb is using traditional dynamics of orbits formula calculating torbWhen The earth's core at quarter is away from ηorbWith true anomaly forb, orb=1 is successively calculated, orb=2 ... is until there is a certain moment tk, meet ηk-ηd >=0 or fk-fd>=0, then tkThe as duration of ignition.
Ground observing and controlling system is received after the duration of ignition using the Guidance Law of needs and is applicable in after shutdown meter counts rail Orbit parameter, including a, e, i, ω, Ω, f respectively indicate possible semi-major axis, eccentricity, orbit inclination angle, argument of perigee, liter Intersection point right ascension, true anomaly；Calculate whether Orbit injection error meets the requirements, if | a-aaim|≤Δa、|e-eaim|≤Δe、|i- iaim|≤Δi、|Ω-Ωaim|≤ΔΩ、|ω-ωaim|≤Δω、|f-faim|≤Δ f meets, then it is assumed that rationally, agrees to Change rail strategy, if any deviation is unsatisfactory for requiring, then it is assumed that unreasonable, upload parameter again；Δa,Δe,Δi,ΔΩ, Δ ω, Δ f respectively indicate the semi-major axis of orbit deviation threshold, eccentricity deviation threshold, orbit inclination angle deviation threshold, near-earth of requirement Point argument deviation threshold, right ascension of ascending node deviation threshold, true anomaly deviation threshold.
(5) according to the change rail strategy planned on arrow, and the Guidance Law and shutdown amount selected implement powered phase control, until entering Rail shutdown.Trajectory weight-normality is completed to draw.
The present invention will be further described with reference to the accompanying drawing.
(1) after confirmation needs trajectory weight-normality to draw, start to receive spacecraft status information；
(2) ground calculates fresh target track；
(3) fresh target orbit parameter is uploaded；
(4) after receiving target track parameter on arrow, planning becomes rail strategy；
(5) planning is become under rail strategy and is passed, and confirm that planning is completed；
If it is confirmed that completing to go successively to step (6), step (3) otherwise are returned to from newly.Target track ginseng is uploaded from new Number.
(6) start to become rail, into fresh target track.
Embodiment 1
If base level occurs propellant and shifts to an earlier date depleted shutdown, aerospace craft is not sent into planned orbit, has been entered Another dragging track, belongs to non-lethal failure.Into coasting-flight phase 12s, spacecraft status information is received:
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
Aerospace craft needs to enter such as lower railway:
Table 1: spacecraft target track
Title Symbol Numerical value Unit
Semi-major axis of orbit a 43664.140 km
Orbital eccentricity e 0.034330
Orbit inclination angle i 0.13 °
Argument of perigee ω 74.5604 °
Right ascension of ascending node Ω 309.3854 °
True anomaly f 359.3188 °
At this time if drawn without trajectory weight-normality, aerospace craft still uses original parameter, after igniting shutdown next time The track of entrance is larger from target track deviation as follows:
Table 2: non-trajectory weight-normality draws the track entered
Title Symbol Numerical value Track deviation Deviation requirement Unit
Semi-major axis of orbit a 35021.59652 -8642.54 |△a|≤100 km
Orbital eccentricity e 0.52236905 0.488039 |e|≤0.002
Orbit inclination angle i 0.16857535 0.038575 |△i|≤0.20° °
Argument of perigee ω 32.6475 41.9129 /
Right ascension of ascending node Ω 205.1007 104.285 /
True anomaly f 145.0155 214.303 /
Table 3: trajectory weight-normality draws the track entered
Trajectory weight-normality is carried out using the present invention to draw, and interative guidance is selected to restrain as powered phase guidance, enters target track Road is as shown in table 3, and track deviation is minimum, meets final requirement.This method tool is further demonstrated through this embodiment There is preferable operability.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto, In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art, It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.

Claims (5)

1. a kind of aerospace craft metro planning method based on world communication, which comprises the steps of:
(1) when base level rocket breaks down, or aerospace craft is needed to enter fresh target track, aerospace craft into After entering sliding state, ground observing and controlling system receives the state of flight information of coasting-flight phase, if not receiving state of flight information, Coasting-flight phase 10~1000s state of flight information is continued to be replaced；State of flight information includes following data: distance rises Fly the relative time t at moments, the control system coordinate system t of aerospace craftsSpeed [the V at momentx, Vy, Vz] and position [x, y, z]；
(2) ground observing and controlling system reads aerospace craft and predicts that the duration of ignition is tyd；
(3) ground observing and controlling system generates new upload parameter, and in prediction duration of ignition tydNew upload is joined before preceding 1000s Number is sent to aerospace craft；
(4) aerospace craft is receiving new upload parameter, forecasts spacecraft rocket ignition time using upload parameter；And it will The duration of ignition is sent to ground observing and controlling system, and ground observing and controlling system determines duration of ignition system corresponding with Guidance Law serial number is needed The reasonability of rule is led, if it is considered to the duration of ignition and Guidance Law are reasonable, then sends confirmation message, is flown by new target track, If ground observing and controlling system thinks that the duration of ignition and Guidance Law are unreasonable, plans again and send upload parameter, space flight again Aircraft determines the duration of ignition using the upload parameter sent again again, and ground observing and controlling system determines the duration of ignition again Reasonability until ground observing and controlling system thinks that the duration of ignition is reasonable, and sends confirmation message；
(5) actual ignition point is reached, it is corresponding according to the final received upload information Midcourse Guidance serial number of aerospace craft planning Guidance Law and shutdown amount, implement powered phase control, until enter the orbit shutdown.
2. the aerospace craft metro planning method as described in claim 1 based on world communication, which is characterized in that ground is surveyed It includes ignition point the earth's core away from η that control system, which generates new target track parameter,d, ignition point true anomaly fd, target track semi-major axis aaim, target track eccentric ratio eaim, target track orbit inclination angle iaim, target track argument of perigee ωaim, target track, which rises, to be handed over Point right ascension Ωaim, target track true anomaly faim, Guidance Law serial number j is needed, shutdown amount Kw is applicable in.
3. the aerospace craft metro planning method as claimed in claim 2 based on world communication, which is characterized in that be applicable in and close Machine amount Kw include semi-major axis, the earth's core away from, orbit inclination angle, right ascension of ascending node, longitude and latitude.
4. the aerospace craft metro planning method as claimed in claim 2 based on world communication, which is characterized in that Guidance Law It is motor-driven including positive thrust vector, propulsive thrust vector, interative guidance and track antarafacial；Guidance Law is flown by serial number arrangement bookbinding in space flight On row device.
5. the aerospace craft metro planning method as claimed in claim 1 or 2 based on world communication, which is characterized in that benefit With the method for upload parameter forecast spacecraft rocket ignition time are as follows: utilize tsSpeed [the V at momentx, Vy, Vz] and position [x, Y, z] and dynamics of orbits formula to calculating torbThe earth's core at moment is away from ηorbWith true anomaly forb, successively calculate orb=1, orb= 2 ... the earth's core is away from ηorbWith true anomaly forb, until there is t at the time of a certain moment orb=kk, meet ηk-ηd>=0 or fk-fd >=0, then tkThe as duration of ignition, ηdIt is ignition point the earth's core away from fdFor ignition point true anomaly.
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