CN107065930A - A kind of strict regression orbit control method of Complex Constraints - Google Patents
A kind of strict regression orbit control method of Complex Constraints Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
The invention discloses a kind of strict regression orbit control method of Complex Constraints, comprise the following steps：S1, according to GNSS data and spaceborne reference locus point, using spaceborne high-precision orbital evolutionary model, completes the determination of relative motion characteristic, exports relative motion characteristic parameter；S2, according to described relative motion characteristic parameter, is operated on reference orbit, the star supplemented by satellite actual trajcctorics with virtual primary, forms virtual formation, and determine virtual Formation Configuration parameter；S3, according to described virtual Formation Configuration parameter, determines caliber radius, draws corresponding control strategy.The present invention independently can realize 3-dimensional high-precision spatial pipe control on star.
Description
Technical field
The present invention is more particularly directed to a kind of strict regression orbit control method of Complex Constraints.
Background technology
With continuing to develop for satellite-borne SAR technology application demand, payload requires to improve constantly to satellite platform control,
The strict recurrence constraint of 3-dimensional is promoted to by conventional 1 dimension ground trace drift constraint, i.e., actual track is run between satellite total life cycle
Centered on reference orbit (strict regression accuracy is better than meter level), R is in the space pipeline of radius.Strict regression orbit control
Precision directly affects the regression accuracy of satellite and the operating efficiency of payload.
At present, it is domestic now only for conventional using ground trace drift as the achievement in research of constraint, it there is no strict recurrence
Achievement in research is controlled, there are a small amount of correlative study achievement in foreign countries, and these achievements in research have fuel consumption and are not optimised, dependent on ground
Support, the deficiency such as method applicability is limited and constraints is simpler.
The content of the invention
It is an object of the invention to provide a kind of strict regression orbit control method of Complex Constraints, 3 independently can be realized on star
Tie up high-precision spatial pipe control.
In order to realize the above object the present invention is achieved by the following technical solutions：
A kind of strict regression orbit control method of Complex Constraints, is characterized in, this method is comprised the following steps：
S1, according to GNSS data and spaceborne reference locus point, using spaceborne high-precision orbital evolutionary model, completes relative
The determination of motion feature amount, exports relative motion characteristic parameter；
S2, according to described relative motion characteristic parameter, is operated on reference orbit with virtual primary, with the true rail of satellite
Star supplemented by road, forms virtual formation, and determine virtual Formation Configuration parameter；
S3, according to described virtual Formation Configuration parameter, determines caliber radius, draws corresponding control strategy.
Also included after described step S3：
S4, judges whether described virtual formation needs control, if so, then according to virtual formation control strategy, calculating 3 arteries and veins
Punching control speed increment, and corresponding gas puff Z-pinch command sequence is converted into according to satellite characterisitic parameter, select corresponding thrust
Device, completes gas puff Z-pinch；If it is not, then repeat step S1~S3.
Described step S1 is specially：
According to GNSS data and spaceborne reference locus point, using spaceborne high-precision orbital evolutionary model, relative fortune is completed
The determination of dynamic characteristic quantity, output relative motion characteristic parameter (xc, zc, c, d, α, Δ t)；
Wherein, (xc,zc) it is relative movement orbit elliptical center point coordinates of the satellite actual trajcctorics with respect to reference orbit；
C is relative movement orbit oval semi-minor axis of the satellite actual trajcctorics with respect to reference orbit；
D is the oval semi-major axis of relative movement orbit；
α is semi-major axis and O under Hill coordinate systemsHZHAngle；
Δ t is time of the satellite actual trajcctorics with respect to reference orbit under the conditions of track tangential distance is zero
Difference.
Formula (1) solving virtual Formation Configuration parameter (Δ a, p, s, θ are used in described step S2FF, ψFF)；
Wherein, p represents configuration size in Formation Configuration orbit plane, and s represents the outer configuration size of Formation Configuration orbit plane,
θFFRepresent relative eccentric ratio vector phase angle, ψFFRelative inclination vector phase angle is represented, Δ a represents auxiliary star with respect to the half of primary
Major axis difference.
Formula (2) is used in the step S3, caliber radius is determined；
Wherein, E is pipe radius, ENFor E normal component, ERFor E radial component；u1、a1、i1、Ω1Value represents to calculate
The reference orbit Kepler's elements of moment virtual primary；R represents caliber
Boundary threshold；Dd represents the margin value of setting,
3 Pulse Width Control speed increments are calculated using formula (3) in described step S4；
Wherein, Δ v0Speed increment is controlled for normal direction；Δv1With Δ v2Represent first and second secondary control speed increment in plane；
Δa*For semi-major axis controlled quentity controlled variable, n1Represent the mean orbit angular speed of calculating moment virtual primary.
The present invention compared with prior art, with advantages below：
1st, engineering realizability is strong, and clearly technology can be set up needed for strict regression orbit control by saving fuel this method
Flow, sets up the mapping relations of the relative movement parameters based on GNSS receiver measurement data, caliber E and controlled quentity controlled variable, it is considered to
Satellite control system operating lag characteristic and complicated perturbation environment, are designed based on the control strategy virtually formed into columns, engineering can
Realize by force, while completing part control task using perturbation, save fuel consumption, the country there is no correlative study achievement, and foreign countries grind
Study carefully achievement engineering and consider that constraint is ideal, and ground dependence is stronger；
2nd, improving the horizontal satellite Autonomousization operation of satellite Autonomousization includes the trend that autonomy-oriented control is future development, can
Traditional dependence ground system control mode is overcome to need substantial amounts of manpower and materials, operation cost is high, handling failure and burst thing
The ability of part, it is impossible to be competent at the deficiencies such as complicated control task, foundation meets required precision with the height that can be realized on clock star
Precision rail evolutionary model, lifting satellite control autonomy-oriented level, no overcomplicated computing being capable of in-orbit autonomous operation；
3rd, method reliability and strong applicability use virtual formation control strategy, new control task are converted into more ripe
Formation control task, method reliability and strong applicability, it is ensured that the quality of control task.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the strict regression orbit control method of Complex Constraints of the invention；
Fig. 2 is space pipeline of the present invention and pipe radius schematic diagram；
Fig. 3 is that relative characteristic amount parameter of the present invention maps schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.
Problem, introduces the explanation of Formation Configuration parameter for convenience of description.
In order to describe motion of the auxiliary astrology for primary, relative light intensity Δ α vectors are defined as follows：
Wherein, subscript 1 represents primary absolute orbit six roots of sensation number；Subscript 2 represents auxiliary star absolute orbit six roots of sensation number, and Δ u is represented
The difference of relatively flat latitude argument.
Wherein, p/a1It is the size and phase of Δ e vectors, s/a respectively with θ FF1With ψ FF be respectively Δ i vectors size and
Phase.
As shown in Figures 1 to 3, a kind of strict regression orbit control method of Complex Constraints, is comprised the following steps：
S1, according to GNSS data and spaceborne reference locus point, using spaceborne high-precision orbital evolutionary model, completes relative
The determination of motion feature amount, exports relative motion characteristic parameter；
S2, according to described relative motion characteristic parameter, is operated on reference orbit with virtual primary, with the true rail of satellite
Star supplemented by road, forms virtual formation, and determine virtual Formation Configuration parameter；
S3, according to described virtual Formation Configuration parameter, determines caliber radius, draws corresponding control strategy；
S4, judges whether described virtual formation needs control, if so, then according to virtual formation control strategy, calculating 3 arteries and veins
Punching control speed increment, and corresponding gas puff Z-pinch command sequence is converted into according to satellite characterisitic parameter, select corresponding thrust
Device, completes gas puff Z-pinch；If it is not, then repeat step S1~S3.
Above-mentioned step S1 is specially：According to GNSS data and spaceborne reference locus point, spaceborne high-precision orbital is utilized
Evolutionary model, completes the determination of relative motion characteristic, output relative motion characteristic parameter (xc, zc, c, d, α, Δ t)；
Wherein, (xc,zc) it is relative movement orbit elliptical center point coordinates of the satellite actual trajcctorics with respect to reference orbit；
C is relative movement orbit oval semi-minor axis of the satellite actual trajcctorics with respect to reference orbit；
D is the oval semi-major axis of relative movement orbit；
α is semi-major axis and O under Hill coordinate systemsHZHAngle；
Δ t is time difference of the satellite actual trajcctorics with respect to reference orbit under the conditions of track tangential distance is zero.
Formula (1) solving virtual Formation Configuration parameter (Δ a, p, s, θ are used in above-mentioned step S2FF, ψFF)；
Wherein, p represents configuration size in Formation Configuration orbit plane, and s represents the outer configuration size of Formation Configuration orbit plane,
θFFRepresent relative eccentric ratio vector phase angle, ψFFRelative inclination vector phase angle is represented, Δ a represents auxiliary star with respect to the half of primary
Major axis difference.
Formula (2) is used in above-mentioned steps S3, caliber radius is determined；
Wherein, E is pipe radius, ENFor E normal component, ERFor E radial component；u1、a1、i1、Ω1Value represents to calculate
The reference orbit Kepler's elements of moment virtual primary；R represents caliber boundary threshold；Dd represents the margin value of setting.
3 Pulse Width Control speed increments are calculated using formula (3) in above-mentioned step S4；
Wherein, Δ v0Speed increment, the outer parameter of adjustment plane, in u are controlled for normal direction1=arctan (Δ iy/Δix) moment
Positive or u2=arctan (Δ iy/Δix)+π moment negative sense jets；Δv1With Δ v2Represent first and second secondary control speed in plane
Spend increment, Δ v1It is in latitude argument u1=arctan (Δ ey/Δex) at the time of jet, Δ v2Be latitude argument be u2=u1
Jet at the time of+π；Δ a* is that semi-major axis controlled quentity controlled variable includes the relative semi-major axis deviation delta a of step S2 determinations and according to formation
Parameter s is by the amount of bias taken the photograph rule and solar activity situation and determined, n1Represent the mean orbit of calculating moment virtual primary
Angular speed.
In summary, the strict regression orbit control method of a kind of Complex Constraints of the invention, can independently realize that 3-dimensional is high on star
Precision space pipeline is controlled.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (6)
1. a kind of strict regression orbit control method of Complex Constraints, it is characterised in that this method is comprised the following steps：
S1, according to GNSS data and spaceborne reference locus point, using spaceborne high-precision orbital evolutionary model, completes relative motion
The determination of characteristic quantity, exports relative motion characteristic parameter；
S2, according to described relative motion characteristic parameter, is operated on reference orbit with virtual primary, using satellite actual trajcctorics as
Auxiliary star, forms virtual formation, and determine virtual Formation Configuration parameter；
S3, according to described virtual Formation Configuration parameter, determines caliber radius, draws corresponding control strategy.
2. the strict regression orbit control method of Complex Constraints as claimed in claim 1, it is characterised in that after described step S3
Also include：
S4, judges whether described virtual formation needs control, if so, then according to virtual formation control strategy, calculating 3 pulse controls
Speed increment processed, and corresponding gas puff Z-pinch command sequence is converted into according to satellite characterisitic parameter, corresponding thruster is selected, it is complete
Into gas puff Z-pinch；If it is not, then repeat step S1~S3.
3. the strict regression orbit control method of Complex Constraints as claimed in claim 1, it is characterised in that described step S1 tools
Body is：
According to GNSS data and spaceborne reference locus point, using spaceborne high-precision orbital evolutionary model, relative motion is completed special
The determination for the amount of levying, output relative motion characteristic parameter (xc, zc, c, d, α, Δ t)；
Wherein, (xc,zc) it is relative movement orbit elliptical center point coordinates of the satellite actual trajcctorics with respect to reference orbit；
C is relative movement orbit oval semi-minor axis of the satellite actual trajcctorics with respect to reference orbit；
D is the oval semi-major axis of relative movement orbit；
α is semi-major axis and O under Hill coordinate systemsHZHAngle；
Δ t is time difference of the satellite actual trajcctorics with respect to reference orbit under the conditions of track tangential distance is zero.
4. the strict regression orbit control method of Complex Constraints as claimed in claim 3, it is characterised in that in described step S2
Using formula (1) solving virtual Formation Configuration parameter (Δ a, p, s, θFF, ψFF)；
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Wherein, p represents configuration size in Formation Configuration orbit plane, and s represents the outer configuration size of Formation Configuration orbit plane, θFFTable
Show relative eccentric ratio vector phase angle, ψFFRelative inclination vector phase angle is represented, Δ a represents true auxiliary star relative virtual primary
Semi-major axis difference.
5. the strict regression orbit control method of Complex Constraints as claimed in claim 4, it is characterised in that adopted in the step S3
With formula (2), caliber radius is determined；
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Wherein, E is pipe radius, ENFor E normal component, ERFor E radial component；u1、a1、i1、Ω1Value represents to calculate the moment
The reference orbit Kepler's elements of virtual primary；R represents caliber boundary threshold；Dd represents the margin value of setting.
6. the strict regression orbit control method of Complex Constraints as claimed in claim 5, it is characterised in that in described step S4
3 Pulse Width Control speed increments are calculated using formula (3)；
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Wherein, Δ v0Speed increment is controlled for normal direction；Δv1With Δ v2Represent first and second secondary control speed increment in plane；Δa*
For semi-major axis controlled quentity controlled variable, n1Represent the mean orbit angular speed of calculating moment virtual primary.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109739262A (en) * | 2019-01-25 | 2019-05-10 | 上海微小卫星工程中心 | A kind of quickly autonomous transfer orbit control method |
| CN110378012A (en) * | 2019-07-16 | 2019-10-25 | 上海交通大学 | A kind of stringent regression orbit design method considering high-order gravitational field |
| CN110865902A (en) * | 2019-10-25 | 2020-03-06 | 上海航天控制技术研究所 | Batch processing method for storage and upfilling diagnosis of pipeline navigation reference track |
| CN111273692A (en) * | 2020-02-24 | 2020-06-12 | 上海航天控制技术研究所 | Autonomous diagnosis method for formation configuration control strategy |
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| CN111811519B (en) * | 2020-07-22 | 2022-06-24 | 上海航天控制技术研究所 | High-precision semimajor axis attenuation determination method based on reference track |
| CN111806729A (en) * | 2020-08-05 | 2020-10-23 | 上海卫星工程研究所 | Non-freezing orbit multi-satellite positioning formation design method considering arch wire rotation |
| CN113848567A (en) * | 2021-08-26 | 2021-12-28 | 深圳市魔方卫星科技有限公司 | Method, device and related equipment for determining optimal orbit control in SAR satellite plane |
| CN113848567B (en) * | 2021-08-26 | 2023-05-30 | 深圳市魔方卫星科技有限公司 | SAR satellite in-plane optimal orbit control determination method, device and related equipment |
| CN115320891A (en) * | 2022-10-12 | 2022-11-11 | 北京航天驭星科技有限公司 | Near-circle nominal orbit control method based on virtual satellite |
| CN116750210A (en) * | 2023-07-12 | 2023-09-15 | 银河航天(北京)网络技术有限公司 | Method for controlling orbit of satellite formation |
| CN116750210B (en) * | 2023-07-12 | 2024-02-20 | 银河航天(北京)网络技术有限公司 | Method for controlling orbit of satellite formation |
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