CN107298186A - A kind of same rail level satellite Autonomous relative position keeping method based on laser load - Google Patents
A kind of same rail level satellite Autonomous relative position keeping method based on laser load Download PDFInfo
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- CN107298186A CN107298186A CN201710461097.XA CN201710461097A CN107298186A CN 107298186 A CN107298186 A CN 107298186A CN 201710461097 A CN201710461097 A CN 201710461097A CN 107298186 A CN107298186 A CN 107298186A
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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
Abstract
The present invention relates to a kind of same rail level satellite Autonomous relative position keeping method based on laser load, autonomous orbit determination is realized on star or by earth station's observing and controlling orbit determination using navigation constellation, obtain satellite position initial baseline, the time unification between the determination of relative position between the star of space two and system is realized using the integral load combination turntable directional information of laser ranging communication between star, the resolving of target constellation is carried out using each star current location of constellation, existing positional information and target position information are contrasted, determine that each star relative position keeps demand, and resolve each star external envelope and posture deformation requirement, pass through solar wing position adjustment and deformation, adjust Perturbation Effect, change satellite orbit rate of change, so as to realize that the relative position of many stars of same rail level is kept, ensure that each star can be run after track is by Perturbation Effect with a relatively good configuration in constellation, to lower orbital decay influence.
Description
Technical field
The present invention relates to satellite transit track and attitude control technology field, specially a kind of same rail based on laser load
Face satellite Autonomous relative position keeping method.
Background technology
Space technology is that the world today most has one of new and high technology of development potentiality, and space application is from tradition with high rail, list
Arranged in pairs or groups based on star application to high and low rail satellite, constellation group applies the application model blended with single star independent utility to develop.Together
When, the mesh benefit with the high rail rail position competition in space is fierce, and low rail constellation application has become the important form of space application.With iridium satellite
System, rail communication system be representative low rail communication system, using the Big Dipper, GPS as representative compound constellation navigation system, with
" dove group ", " space box " are realized using many star networkings for the low rail remote sensing of the earth system of representative and applied over the ground.And small defend
Flourishing for star technology, makes low rail constellation apply one of important development direction as future space application.
In-orbit spacecraft is mainly influenceed by orbit perturbation.Orbit perturbation mainly has earth heterogeneity, aspherical to perturb, greatly
Atmidometer perturbation, lunisolar gravitational perturbation etc..Low orbit satellite is mainly influenceed by atmospheric drag with perturbation of earths gravitational field, main performance
The ground trace caused by changing to semi-major axis of orbit drifts about.And the satellite in orbit in same constellation is due to by the comprehensive of perturbation factors
Cooperation is used, and constellation performance requirement can not be met to position between two stars, to ensure low rail constellation operation stable, space system relatively
Service behaviour, spreadability, relative annexation etc. apply index, and relative position longtime running constellation star need to be kept,
Ensure that each star can be run after track is by Perturbation Effect with a relatively good configuration in constellation, to lower orbital decay shadow
Ring.
How under the application constraint such as satellite platform quality, power, volume, the agent of reduction satellite booster consumes, realizes constellation
Satellite relative position can keep relatively good configuration after orbital decay, have to raising satellite constellation application power important
Meaning.
The holding of constellation Satellite relative position is the basic guarantee for realizing its function.It is many in constellation application to be declined using nature
Size reduction mode, the Active Control Mode based on propeller or the passive control model influenceed based on space environment.Natural Attenuation pattern
Lower satellite constellation is maintained without constellation, and constellation latter stage systematic function significantly decays.Under Active Control Mode based on propeller
Satellite uses propeller become rail to maintain constellation relative position, leads to using between ground observing and controlling network, navigation constellation combination star
The determination of reliable existing position, data processing is carried out by ground, due to the non-renewable of propellant, the long-term in-orbit ability of system compared with
Autonomous operation ability is poor simultaneously for difference, and system robustness is not enough.Passive type constellation, which maintains to realize using the change of satellite configuration, to be become
Each star is relatively independent in rail, constellation, identical with Active Control Mode, and constellation Satellite produces contact by ground station, still deposits
Higher deficiency is being relied on to ground.
To sum up, to improve constellation independence, realize that the low consumption of the long-term autonomous relative position of constellation is kept, after optimization decay
Constellation, the present invention proposes a kind of same rail level satellite Autonomous relative position keeping method based on laser load.
The content of the invention
A kind of same rail level satellite relative position keeping method based on laser load passes through the integral load of laser communication ranging
The high accuracy positioning with rail level satellite is realized, realizes that relative position is adjusted by variable solar wing position adjustment and deformation, and then
Realize that the relative position in constellation with rail level satellite is kept.Specifically see below.
A kind of same rail level satellite Autonomous relative position keeping method based on laser load, includes navigation constellation (or ground
Stand) and the constellation that constitutes of some same rail level satellites, it is characterised by with the time believing with navigation constellation navigation information or earth station's orbit determination
Cease for initial baseline, the timing initiation relative position holding demand detection when navigation constellation and earth station are unavailable, by satellite
Autonomous computing capability, system, ranging, angle measurement, communication when being realized by laser communication ranging on star from integral load between satellite,
Judge that each star relative position keeps demand, and by controlling satellite windward side effective area to complete the autonomous relative position of constellation Satellite
Put holding.
Its method and step is as follows：
A) initial baseline is obtained.Satellite position, the acquisition of time initial baseline have two ways：One be by satellite Autonomous with
Navigation constellation communication obtains position and realizes autonomous orbit determination and time service on star；Two are or by earth station's observing and controlling orbit determination, ground time service.
Two ways is mutually redundant.Satellite, which is obtained, can be achieved autonomous relative phase holding after initial baseline.
B) unified each satellite time, determines satellite position.Satellite position and time are obtained with navigation information when constellation is runed
Benchmark obtains satellite position and time initial baseline by earth station.When constellation has relative position holding demand, if nautical star
Seat or earth station's information are available, then satellite is directly gone forward side by side and time unification using note satellite position on navigation information or ground；If
Navigation constellation is unavailable with earth station, then using the master control star time as satellite time in unifying datum constellation, passes through laser communication
Ranging one load determines satellite position, enters in planetary time unification on Satellite；Concrete operations are：One is determined in a constellation
Satellite is that constellation main control star numbering is No. 0 star, to the .N of satellite number consecutively 1,2,3 ... on the basis of master control star, by master control
No. 0 star of star initiates phase and maintains to differentiate requirement command, and by master control star, the position according to obtained by extrapolating each satellite orbit carries out satellite point
Group, middle satellite is located at using three adjacent satellites as one group, in every group as relative position measurement star, in the same group of measurement not
Two star relative positions, if having more 2 stars, from mutually being measured into one group, are mutually mutually measured when having more as single star with the star of forward direction one
Amount；Laser communication and ranging localization functions integration realization continuously track the information transfer between measurement and each star.Every group is defended
Measurement star laser communication ranging load in star carries out primarily determining that for target area using the star extrapolation mould shape that gets on the right track, by with
Scanning of the system realization to target is taken aim at, realizes and communication link is set up after echo acknowledgement, carried while load is transmitted to place star platform
Lotus is emitted beam with respect to the angle information of celestial body, and another satellite relative position is converted to by coordinate system.Each star will be with respect to position
Put measurement result and be transmitted to master control star, each star extrapolating results progress position is combined by master control star and checked, final resolve obtains high accuracy
Satellite position information.
C) relative position keeps differentiating.Adjacent two stars angle is resolved according to satellite position in constellation by master control star, with constellation
Angle between interior same rail satellite and the earth's core line is main distinguishing rule, and relative position is started when angle is more than secure threshold
Holding scheme.Secure threshold covers demand and orbit altitude according to constellation and resolved over the ground, with when in constellation most satellite institutes it is in-orbit
Under road fitting gained orbit altitude on the basis of both ideal constellation configuration.
D) target constellation is resolved.It is determined that when need to carry out relative position holding operation, then being worked as by master control star using each star of constellation
Front position carries out the resolving of target constellation, and provides each star target track.Master control star is integrally carried using Space laser communications ranging
Each star target track and current orbit are sent to other stars in constellation by lotus, and each star independently determines that relative position keeps operation.Mesh
Mark constellation mainly considers the heterogeneity of the earth, aspherical perturbation and atmospheric drag when resolving.
E) sun wing area is resolved with position.Each star receives target constellation present satellites position in constellation, with reference to in-orbit fortune
Position of the solar wing needed for row Gesture is resolved with respect to main body and required sun wing area.
F) adjustment solar wing position and area, and then satellite perturbance motion influence is adjusted, realize the relative position with many stars of rail level
Keep.By adjusting solar wing position and deformation, Perturbation Effect is adjusted, changes satellite orbit rate of change, so as to realize same rail
The relative position of many stars in face is kept.
Because perturbation of earths gravitational field is conservative force in low orbit spacecraft perturbation, atmospheric drag is dissipative force, is to cause to defend
The principal element of star orbit displacement.The drag acceleration of atmospheric drag formation is represented by:
Wherein v is the flying speed of satellite relative atmospheric, and ρ is atmospheric density, A/m be satellite effective area and quality it
Than CDFor atmospheric drag coefficient.For without propellant expenditure satellite, satellite quality is basically unchanged.Atmospheric density and orbit altitude
It is related.Effective area needed for demand resolves two stars is adjusted by relative position, and planetary is entered with certain cycle and maintains demand
Adjustment, to ensure that two star relative positions are filling scope perhaps.
Solar wing uses folding and expanding mechanism, and solar wing and satellite relative atmospheric flying speed are adjusted using development mechanism
The perspective plane area in direction, and using the folding adjustment aerofoil area of solar wing, so as to adjust satellite effective area, obtain difference
Atmospheric drag acceleration, adjust satellite orbit attenuation.
Brief description of the drawings
Fig. 1 is application flow schematic diagram of the present invention
Satellite number schematic diagram when Fig. 2 is the same star of rail level 9 seat application
Embodiment
A specific embodiment is enumerated, constellation realizes autonomous orbit determination on star using navigation constellation, obtains position initial baseline, it
Navigation constellation fails afterwards, and constellation independently carries out relative position holding.Realize that satellite is relative using the integral load of laser communication ranging
Time unification in the determination of position and star.Putting each star relative position of determination using each championship of constellation keeps demand to calculate, it is determined that need to enter
Row relative position keeps carrying out target satellite seat solution after operation.Perturbation Adjusted Option is determined by target constellation, changed by solar wing
Become, adjust Perturbation Effect, so as to realize that the relative position of many stars of same rail level is kept.
Obtain each championship that scheme can be divided into using laser communication ranging from integral load and ephemeris after primary standard and put determination,
Relative position keeps demand to resolve, and target constellation is resolved, and sun wing area is resolved with position, and solar wing is motor-driven to realize five ranks
Section.Select a computing capability stronger in a constellation, the higher satellite of reliability initiates information mutual communication as master control satellite by master control star
Demand each star high precision position of planetary of going forward side by side is kept to resolve with constellation relative position, target constellation is resolved.Can be by mission requirements
Convert master control star.Constellation operationally initiates relative position by the timing of master control star and keeps differentiating, carries out satellite position in calculation constellation
It is determined that, and secure threshold is resolved, carrying out relative position when adjacent two stars angle is more than secure threshold keeps operation.
Fig. 2 is satellite number schematic diagram when the same star constellation of rail 9 is applied.Master control star numbering is 00, and other satellites are by same
Order is sequentially numbered.
Application example is maintained with the low star satellite constellation of rail 9 and carries out scheme application note.9 satellites are initially located at same rail
Face is disposed using WALKER constellations, and track maintains target to be that 9 stars are more uniformly distributed in same orbital plane.9 stars are matched somebody with somebody in constellation
Put identical, any of which satellite can be randomly choosed as master control star.Each satellite preliminary orbit is with time initial baseline by nautical star
Seat is provided, and is entered the orbit operation initial baseline as constellation, and follow-up constellation maintains to survey based on the extrapolation of star upper rail and Space laser communications
The integral load of distance is carried out.The autonomous relative position of the constellation keeps scheme embodiment as follows：
(1) determine 9 stars seat main control star and number be 00 star, on the basis of master control star to satellite number consecutively 01 to
08, relative position is initiated by the star of master control star 00 and keeps differentiation demand, specific numbering situation is as shown in Figure 2.
(2) realized using the time on 00 star as benchmark using Space laser communications, ranging from integral load 99 in constellation
Satellite time is unified.Own orbit extrapolation gained self-position is transmitted to 00 star by 01 to 08 star.
(3) 00 stars carry out relative position measurement packet and determine that each group measures star.Utilize laser communication, the integral load of ranging
Using ranging combination turntable angle information, the relative position of 01 star and 08 star to 00 star is determined by master control star 00, by 02 star
The relative position of 01 star and 03 star to 02 star is determined, the relative position of 03 star and 05 star to 04 star is determined by 04 star, it is true by 06 star
Fixed 05 star and 07 star are determined the relative position of 07 star, 08 star relative with 00 star by 08 star to the relative position of 06 star.
(4) each relative position calculation result is transmitted to by master control star 00 by Space laser communications ranging load, by 00 star knot
Close each championship of each star extrapolating results resolving to put, each star is transmitted to by laser communication.Constellation orbital fitting is carried out, safety threshold is resolved
Value.Resolve adjacent two championship put with ground angle in the heart, be more than master when relative position keeps secure threshold when there is an angle between two stars
Control star and start relative position holding operation, be transferred to next step.Otherwise waiting for next relative position keeps differentiation demand to initiate, and repeats
Carry out step (2) to (4).
(5) master control star integrates each satellite position in constellation and carries out the resolving of target constellation and be decomposed into each star target track, will
Target track data get forwarded to each star by laser communication load.Minimum point is taken in nine stars in this application example as Constellation Design
Benchmark, it is considered to adjustment time, generates new constellation and is used as target constellation.
(6) each star resolves itself adjustment demand by the self-position that is transmitted by main control star and target track, with reference to defending
Target solar wing position and target area are defended in star Gesture calculating in orbit.
(7) adjustment solar wing position and area, and then adjust satellite perturbance motion influence.
(8) in adjustment therebetween, timing carries out relative position and keeps demand differentiation, timely Adjusted Option.
Claims (8)
1. a kind of same rail level satellite Autonomous relative position keeping method based on laser load, is included navigation constellation (or earth station)
And the constellation that some same rail level satellites including master control star are constituted；It is characterised by with navigation constellation navigation information or earth station's orbit determination
It is initial baseline with temporal information, when navigation constellation and earth station are unavailable, the timing of master control star initiates relative position and keeps needing
Detection is asked, by the autonomous computing capability of satellite, system when being realized by laser communication ranging on star from integral load between satellite,
Ranging, angle measurement, communication, judge that each star relative position keeps demand, and by controlling satellite windward side effective area to complete constellation
The autonomous relative position of Satellite is kept.Its method and step is as follows：
A) initial baseline is obtained；
B) it is uniformly the time on star, determines satellite position；
C) relative position keeps differentiating；
D) target constellation is resolved；
E) sun wing area is resolved with position；
F) adjustment satellite sun wing position and area, and then satellite perturbance motion influence is adjusted, enter to realize the relative position with many stars of rail level
Put holding.
2. the same rail level satellite Autonomous relative position keeping method according to claim 1 based on laser load, satellite position
Put, the acquisition of time initial baseline has two ways：One is to obtain position by satellite Autonomous and navigation constellation communication to realize on star
Autonomous orbit determination and time service；Two are or by earth station's observing and controlling orbit determination, and time service two ways in ground is mutually redundant.
3. the same rail level satellite Autonomous relative position keeping method according to claim 1 based on laser load, works as constellation
When having relative position holding demand, if navigation constellation or earth station's information are available, satellite directly uses navigation information or ground
Upper note satellite position is gone forward side by side and time unification；If when navigation constellation and unavailable earth station, benchmark is used as using the master control star time
Satellite time in unified constellation, determines satellite position, when entering in planetary on Satellite by the integral load of laser communication ranging
Between it is unified, concrete operations are：It is that constellation main control star numbering is No. 0 star to determine a satellite in a constellation, using master control star as base
It is accurate that is initiated by phase by No. 0 star of master control star and maintains to differentiate requirement command by the .N of satellite number consecutively 1,2,3 ..., by master control star according to
Each satellite orbit extrapolation gained position carries out satellite packet, and middle defend is located at using three adjacent satellites as one group, in every group
Star is as relative position measurement star, and measurement is with another two stars relative position in group, if having more 2 stars, is mutually measured into one group certainly, when
Mutually measured with the star of forward direction one when having more as single star, the measurement star laser communication ranging load in every group of satellite is using on star
Orbit extrapolation mould shape carries out primarily determining that for target area, realizes the scanning to target by pointing system, realizes echo acknowledgement
After set up communication link, emitted beam the angle information of relative celestial body while transmitting load to place star platform, pass through coordinate system
Another satellite relative position is converted to, relative position measurement result is transmitted to master control star by each star, is combined by master control star outside each star
Knot fruit carries out position and checked, and final resolve obtains high-precision satellite position information.
4. the same rail level satellite Autonomous relative position keeping method based on laser load according to claim 1,3, when true
When need to carry out relative position holding operation surely, then the resolving of target constellation is carried out using each star current location of constellation by master control star,
And each star target track is provided, master control star utilizes the integral load of Space laser communications ranging by each star target track and current orbit
Other stars in constellation are sent to, each star independently determines that relative position keeps operation.
5. in the same rail level satellite Autonomous relative position keeping method according to claim 1 based on laser load, constellation
Each star receives target constellation present satellites position, position of the solar wing with respect to main body with reference to needed for being resolved Gesture in orbit
With required sun wing area.
6. the same rail level satellite Autonomous relative position keeping method according to claim 1 based on laser load, adjustment is too
Positive wing position and area and then to adjust satellite perturbance motion influence to realize that the relative position with many stars of rail level is kept be by adjusting satellite
Solar wing position and deformation, adjustment Perturbation Effect, change satellite orbit rate of change, so as to realize the relative position of many stars of same rail level
Put holding.
7. the same rail level satellite Autonomous relative position keeping method based on laser load according to claim 1,6, same to rail
The solar wing of face satellite has the executing agency that can take down the exhibits, and passing of satelline executing agency changes effective front face area of satellite, makes satellite
Adjust to target track, keep autonomous relative position.
8. the same rail level satellite Autonomous relative position keeping method according to claim 1 based on laser load, satellite is certainly
Main relative position keeps being provided with secure threshold, and secure threshold covers demand according to constellation and resolved with orbit altitude over the ground, with star
In seat under orbit altitudes obtained by track fitting where most satellites on the basis of both ideal constellation configuration, by master control star according to being defended in constellation
Championship puts the adjacent two stars angle of resolving, using in constellation with the angle between rail satellite and the earth's core line as main distinguishing rule, when
Angle starts relative position when being more than secure threshold and keeps scheme.
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| CN108820255A (en) * | 2018-06-20 | 2018-11-16 | 北京控制工程研究所 | A kind of full physical verification system and method for three hypervisors of moving-target pointing |
| CN108931760A (en) * | 2018-06-06 | 2018-12-04 | 成都昊图新创科技有限公司 | Space positioning system and method |
| CN108974395A (en) * | 2018-06-21 | 2018-12-11 | 中国人民解放军战略支援部队航天工程大学 | Extraterrestrial target based on the driving of sky-based laser platform becomes rail calculation method and its device |
| CN110855344A (en) * | 2019-11-19 | 2020-02-28 | 中国科学院微小卫星创新研究院 | Phase maintaining method based on reference satellite |
| CN111077767A (en) * | 2019-12-12 | 2020-04-28 | 南京航空航天大学 | Satellite constellation networking same-orbit plane capacity expansion reconstruction control method |
| CN111641456A (en) * | 2018-11-07 | 2020-09-08 | 长沙天仪空间科技研究院有限公司 | Laser communication method based on satellite |
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| CN112319850A (en) * | 2020-09-30 | 2021-02-05 | 中国卫通集团股份有限公司 | Method and device for automatically keeping position of synchronous orbit satellite |
| CN113098590A (en) * | 2021-04-19 | 2021-07-09 | 西安电子科技大学 | Satellite constellation configuration parameter optimization method facing non-uniform service coverage |
| CN113148227A (en) * | 2020-12-11 | 2021-07-23 | 中国空间技术研究院 | Satellite cluster distributed control method and device |
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| CN108931760A (en) * | 2018-06-06 | 2018-12-04 | 成都昊图新创科技有限公司 | Space positioning system and method |
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| CN111077767A (en) * | 2019-12-12 | 2020-04-28 | 南京航空航天大学 | Satellite constellation networking same-orbit plane capacity expansion reconstruction control method |
| CN111678525A (en) * | 2020-08-11 | 2020-09-18 | 北京控制与电子技术研究所 | Multi-spacecraft autonomous navigation method, system and device based on mutual measurement information |
| CN112319850A (en) * | 2020-09-30 | 2021-02-05 | 中国卫通集团股份有限公司 | Method and device for automatically keeping position of synchronous orbit satellite |
| CN113148227A (en) * | 2020-12-11 | 2021-07-23 | 中国空间技术研究院 | Satellite cluster distributed control method and device |
| CN113098590A (en) * | 2021-04-19 | 2021-07-09 | 西安电子科技大学 | Satellite constellation configuration parameter optimization method facing non-uniform service coverage |
| CN113098590B (en) * | 2021-04-19 | 2022-03-04 | 西安电子科技大学 | Satellite constellation configuration parameter optimization method facing non-uniform service coverage |
| CN114162348A (en) * | 2021-12-02 | 2022-03-11 | 北京九天微星科技发展有限公司 | Satellite autonomous orbit control method and device, satellite and gateway station |
| CN114162348B (en) * | 2021-12-02 | 2023-11-28 | 北京九天微星科技发展有限公司 | Satellite autonomous orbit control method and device, satellite and gateway station |
| CN115196045A (en) * | 2022-09-15 | 2022-10-18 | 北京星河动力装备科技有限公司 | Surface detection method, surface detection device, carrier rocket, electronic device and storage medium |
| CN115196045B (en) * | 2022-09-15 | 2023-01-13 | 北京星河动力装备科技有限公司 | Surface detection method, surface detection device, carrier rocket, electronic device and storage medium |
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