CN107796405B - On-orbit tracking method of fixed star speed measurement navigator facing deep space exploration cruise segment - Google Patents
On-orbit tracking method of fixed star speed measurement navigator facing deep space exploration cruise segment Download PDFInfo
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- CN107796405B CN107796405B CN201710876193.0A CN201710876193A CN107796405B CN 107796405 B CN107796405 B CN 107796405B CN 201710876193 A CN201710876193 A CN 201710876193A CN 107796405 B CN107796405 B CN 107796405B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
Abstract
The invention provides an on-orbit tracking method of a fixed star speed measurement navigator facing a deep space exploration cruising segment, which comprises the following steps: step one, a driving mechanism of a fixed star speed measurement navigator is arranged at a zero position; step two, judging whether the Mars detector is in a normal state, if the Mars detector is not in the normal state, turning to the step eight, and if the Mars detector is in the normal state, turning to the step three; and step three, judging whether the Mars detector is in an inertial orientation mode, if the Mars detector is in the inertial orientation mode, turning to step eight, and if the Mars detector is not in the inertial orientation mode, turning to step four. The invention can provide good technical support for high-precision speed measurement and navigation of the deep space probe so as to meet the requirement of autonomous navigation task of deep space probe in the future.
Description
Technical Field
The invention relates to a tracking method, in particular to an on-orbit tracking method of a fixed star speed measurement navigator facing a deep space exploration cruising segment.
Background
The Mars detection task has long flying distance and long duration, a large amount of unknowns and uncertainties exist in a detection object and a detection environment, the accuracy and the real-time performance of radio navigation are reduced along with the increase of the distance between a detector and a ground station, and the problems of discontinuous navigation data caused by a communication blind area exist, and the like, so that the navigation requirement of a Mars detection special flying stage (such as a brake capture stage) cannot be completely met. Therefore, there is a need to develop a mars optical autonomous navigation method, which is mainly divided into three categories, namely angle measurement, distance measurement and speed measurement.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an on-orbit tracking method of a fixed star speed measurement navigator facing a deep space exploration cruising segment, which can provide good technical support for high-precision speed measurement navigation of a deep space detector so as to meet the requirement of a future deep space exploration autonomous navigation task.
According to one aspect of the invention, an on-orbit tracking method for a star speed measurement navigator facing a deep space exploration cruising segment is provided, which is characterized by comprising the following steps:
step one, a driving mechanism of a fixed star speed measurement navigator is arranged at a zero position;
step two, judging whether the Mars detector is in a normal state, if the Mars detector is not in the normal state, turning to the step eight, and if the Mars detector is in the normal state, turning to the step three;
step three, judging whether the Mars detector is in an inertial orientation mode, if the Mars detector is in the inertial orientation mode, turning to step eight, and if the Mars detector is not in the inertial orientation mode, turning to step four;
step four, judging whether the Mars detector is in a joint attitude and orbit control mode, if the Mars detector is in the joint attitude and orbit control mode, turning to step eight, and if the Mars detector is not in the joint attitude and orbit control mode, turning to step five;
step five, judging whether the Mars detector is in a sun-facing orientation mode, if the Mars detector is in the sun-facing orientation mode, turning to step six, and if the Mars detector is not in the sun-facing orientation mode, turning to step eight;
step six, a tracking instruction of the fixed star speed measuring navigator is sent, a fixed star lens of the fixed star speed measuring navigator needs to be driven around the detector body, the driving angular speed is the same as the directional rotation angular speed of the detector platform, and the direction is opposite;
step seven, starting a driving mechanism of the fixed star speed measurement navigator until the posture directional rotation of the detector platform is counteracted;
step eight, the fixed star speed measurement navigator is fixedly connected with the detector, driving is not needed, and step ten is carried out;
step nine, judging whether the detector platform posture directional rotation is counteracted, if yes, turning to the step ten, and if not, turning to the step seven;
and step ten, finishing.
Preferably, the star speed measurement navigator consists of a three-lens star speed measurement sensor.
Preferably, the optical axis of the lens in the three-lens star speed measuring sensor is consistent with the direction of the target star.
Preferably, the driving angular speed of the star speed measurement navigator is consistent with the rotation angular speed of the detector platform and opposite in direction.
Compared with the prior art, the invention has the following beneficial effects: the invention can provide good technical support for high-precision speed measurement and navigation of the deep space probe so as to meet the requirement of autonomous navigation task of deep space probe in the future.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a flow chart of the on-orbit tracking method of the fixed star speed measurement navigator facing the deep space exploration cruising segment.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the on-orbit tracking method of the star speed measurement navigator facing the deep space exploration cruising segment of the invention comprises the following steps:
step one, a driving mechanism of a fixed star speed measurement navigator is arranged at a zero position;
step two, judging whether the Mars detector is in a normal state, if the Mars detector is not in the normal state (in an emergency state and in a safety mode), turning to step eight, and if the Mars detector is in the normal state, turning to step three;
step three, judging whether the Mars detector is in an inertial orientation mode, if the Mars detector is in the inertial orientation mode, turning to step eight, and if the Mars detector is not in the inertial orientation mode, turning to step four;
step four, judging whether the Mars detector is in a joint attitude and orbit control mode, if the Mars detector is in the joint attitude and orbit control mode, turning to step eight, and if the Mars detector is not in the joint attitude and orbit control mode, turning to step five;
step five, judging whether the Mars detector is in a sun-facing orientation mode, if the Mars detector is in the sun-facing orientation mode, turning to step six, and if the Mars detector is not in the sun-facing orientation mode, turning to step eight;
step six, a tracking instruction of the fixed star speed measuring navigator is sent, a fixed star lens of the fixed star speed measuring navigator needs to be driven around the detector body, the driving angular speed is the same as the directional rotation angular speed of the detector platform, and the direction is opposite;
step seven, starting a driving mechanism of the fixed star speed measurement navigator until the posture directional rotation of the detector platform is counteracted;
step eight, the fixed star speed measurement navigator is fixedly connected with the detector, driving is not needed, and step ten is carried out;
step nine, judging whether the detector platform posture directional rotation is counteracted, if yes, turning to the step ten, and if not, turning to the step seven;
and step ten, finishing.
The platform of the Mars probe in the fifth step keeps a + X-axis sun-to-day orientation attitude in a ground fire transfer section, namely the origin of coordinates O is positioned in the mass center of the probe, and OX is used for detecting the sun-to-day orientation attitude of the platformbThe axis pointing to the sun, OYbCross-product vector direction of sun vector and earth of axis direction indicator, OZbThe axis meets the right-hand rule, and in the flying process of the detector from emission to braking capture for about seven months, the + X axis can be seen to rotate at the angular speed of 1.24 × 10-5 DEG/s-0.5 × 10-5 DEG/s in the inertial space, and the angular speed is gradually reduced along with the flying time.
The star speed measuring navigator is composed of a three-lens star speed measuring sensor, and is simple in structure and low in cost.
The driving angular velocity of the star speed measuring navigator is consistent with the rotating angular velocity of the detector platform, the direction is opposite, for deep space Hotman transfer, the angular velocity is as shown in the following formula (1),
wherein mu is a solar gravitational constant, a is a semi-major axis of a transfer orbit of the cruise section, e is the eccentricity of the transfer orbit, and r is the device-day distance and changes along with the flight time.
The optical axis of the lens in the three-lens fixed star speed measuring sensor is consistent with the direction of the target fixed star, and the three-fixed star combination with higher orthogonality is selected, so that the using effect is improved.
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 (3)
1. An on-orbit tracking method of a fixed star speed measurement navigator facing a deep space exploration cruising segment is characterized by comprising the following steps:
step one, a driving mechanism of a fixed star speed measurement navigator is arranged at a zero position;
step two, judging whether the Mars detector is in a normal state, if the Mars detector is not in the normal state, turning to the step eight, and if the Mars detector is in the normal state, turning to the step three;
step three, judging whether the Mars detector is in an inertial orientation mode, if the Mars detector is in the inertial orientation mode, turning to step eight, and if the Mars detector is not in the inertial orientation mode, turning to step four;
step four, judging whether the Mars detector is in a joint attitude and orbit control mode, if the Mars detector is in the joint attitude and orbit control mode, turning to step eight, and if the Mars detector is not in the joint attitude and orbit control mode, turning to step five;
step five, judging whether the Mars detector is in a sun-facing orientation mode, if the Mars detector is in the sun-facing orientation mode, turning to step six, and if the Mars detector is not in the sun-facing orientation mode, turning to step eight;
step six, a tracking instruction of the fixed star speed measuring navigator is sent, a fixed star lens of the fixed star speed measuring navigator needs to be driven around the detector body, the driving angular speed is the same as the directional rotation angular speed of the detector platform, and the direction is opposite;
step seven, starting a driving mechanism of the fixed star speed measurement navigator until the posture directional rotation of the detector platform is counteracted;
step eight, the fixed star speed measurement navigator is fixedly connected with the detector, driving is not needed, and step ten is carried out;
step nine, judging whether the detector platform posture directional rotation is counteracted, if yes, turning to the step ten, and if not, turning to the step seven;
and step ten, finishing.
2. The on-orbit tracking method of the star speed measurement navigator facing the deep space exploration cruising segment as recited in claim 1, wherein the star speed measurement navigator is composed of a three-lens star speed measurement sensor.
3. The on-orbit tracking method of the star speed measurement navigator facing the deep space exploration cruising segment as recited in claim 2, wherein a lens optical axis in the three-lens star speed measurement sensor is in accordance with a target star direction.
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| CN102879014A (en) * | 2012-10-24 | 2013-01-16 | 北京控制工程研究所 | Optical imaging autonomous navigation semi-physical simulation testing system for deep space exploration proximity process |
| CN103017760A (en) * | 2011-09-27 | 2013-04-03 | 上海航天控制工程研究所 | Mars self-orientating method of large elliptical orbit Mars probe |
| CN103472849A (en) * | 2013-09-04 | 2013-12-25 | 航天东方红卫星有限公司 | Satellite attitude maneuver tracking method based on cooperative target tracking in closed loop mode |
| CN104181941A (en) * | 2014-09-02 | 2014-12-03 | 上海新跃仪表厂 | Double-direction solar panel control method applicable to inclined orbit satellite |
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| FR2599140A1 (en) * | 1985-04-16 | 1987-11-27 | Bonnet Patrick | Automatic apparatus for geographical positioning |
| CN103017760A (en) * | 2011-09-27 | 2013-04-03 | 上海航天控制工程研究所 | Mars self-orientating method of large elliptical orbit Mars probe |
| CN102879014A (en) * | 2012-10-24 | 2013-01-16 | 北京控制工程研究所 | Optical imaging autonomous navigation semi-physical simulation testing system for deep space exploration proximity process |
| CN103472849A (en) * | 2013-09-04 | 2013-12-25 | 航天东方红卫星有限公司 | Satellite attitude maneuver tracking method based on cooperative target tracking in closed loop mode |
| CN104181941A (en) * | 2014-09-02 | 2014-12-03 | 上海新跃仪表厂 | Double-direction solar panel control method applicable to inclined orbit satellite |
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