CN108454884A - A kind of power rises safe method of guidance and system - Google Patents
A kind of power rises safe method of guidance and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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Abstract
A kind of power rises safe method of guidance and system, including：(1) the non-gravitational acceleration measured according to acceleration measuring calculates the average thrust valuation that sustainer generates；(2) when the average thrust valuation for the sustainer being calculated is less than nominal engine thrust, and departure is more than predetermined threshold value, it is believed that sustainer failure；(3) engine recombination is implemented according to condition：Attitude control engine is opened, total rising thrust when making up cruising thrust, and calculating sustainer and attitude control engine while using and mixing specific impulse；(4) using after recombination total rising thrust and mixing specific impulse as parameter, calculate the instruction of aimed acceleration direction, the power to complete current period rises safety guidance.After the present invention copes with ascent engine failure, rises the iteration that is likely to occur of explicit Guidance not convergence problem, ensure smoothly completing for follow-up uphill process.
Description
Technical field
The present invention relates to a kind of power to rise safe method of guidance and system, belongs to spacecraft guidance control field.
Background technology
For the spacecraft uphill process of no air, such as the extra-atmospheric flight section of earth rocket or moon exploration
The lunar surface ascent stage of device, generally use sustainer provide thrust, and TRAJECTORY CONTROL is carried out using the explicit Guidance of near-optimization.It is aobvious
Formula method of guidance is relatively more, and state-of-the art earth rocket exoatmosphere generally uses interative guidance, and lunar orbiter rises then
Mostly use Dynamic-Explicit guidance.These method of guidance all have the optimal performance of approximate propellant expenditure, but usually require iteration
It calculates, and to use the parameters such as motor power, specific impulse in an iterative process.
In case of sustainer failure, such as thrust declines, and since great variety occurs in parameter, needs to iterate to calculate
The methods of interative guidance, Dynamic-Explicit guidance, which generally require more iterative steps, to restrain again, but excessive iteration time
Number can be more than the ability of spacecraft guidance computer so that Guidance Parameter can not be updated according to new engine conditions, be led
It causes spacecraft to fly according to the Guidance Parameter of mistake, cannot correctly enter the orbit.
Invention content
The technology of the present invention solves the problems, such as：A kind of overcome the deficiencies in the prior art, it is proposed that the safe method of guidance of power rising.
Bring Guidance Law cannot be in this problem of Finite-time convergence for Parameters variation after uphill process engine failure, the present invention
Method monitors cruising thrust in real time, after finding thrust exception, by recombinating ascent engine, obtains new rising and starts
Machine thrust and specific impulse parameter reuse the safe guidance algorithm of the suboptimum that need not be iterated to calculate and calculate the instruction of target propulsive force direction,
Realize subsequent uphill process TRAJECTORY CONTROL.After this method copes with ascent engine failure, rising explicit Guidance may
The iteration of appearance not convergence problem, ensures smoothly completing for follow-up uphill process.
The technical solution adopted in the present invention is：
A kind of safe method of guidance of power rising, realizes that steps are as follows
(1) the non-gravitational acceleration measured according to acceleration measuring calculates the average thrust valuation that sustainer generates；
(2) when the average thrust valuation for the sustainer being calculated is less than nominal engine thrust, and departure
When more than predetermined threshold value, it is believed that sustainer failure enters step (3)；
(3) engine recombination is implemented according to condition：Attitude control engine is opened, makes up cruising thrust, and calculate master
Total rising thrust when engine and attitude control engine use simultaneously and mixing specific impulse；
(4) using after recombination total rising thrust and mixing specific impulse as parameter, the instruction of aimed acceleration direction is calculated, to complete
Rise safety guidance at the power of current period, next period return to step (4) carries out.
Sustainer generate average thrust valuation be：
Wherein, sustainer is in [tk-1, tk] period generate average thrust valuationCurrent time is tk, upper one
In measurement period, i.e. [tk-1, tk] along the accumulative speed increment measured value of force direction is promoted mainly it is Δ V in the periodacc(tk), and on
One period tk-1The jet pulsewidth instruction that timing control system is sent to i-th of thruster is TRCS,i(tk-1), m is the matter of spacecraft
Amount, Δ t=tk-tk-1；N is the attitude control thruster quantity with cruising thrust direction out of plumb, i-th motor power side
It is α to the angle with cruising thrust directioni, 0≤αi<90 °, the thrust size of i-th attitude control thruster is FRCS,i, 1≤i
≤N。
Total rising thrust when step (3) sustainer and attitude control engine use simultaneously and mixing specific impulse, specifically
For：
It is total to rise thrust
Total mixing specific impulse
Wherein, the specific impulse of main thrust device is Ispmain, the specific impulse of i-th attitude control thruster is IspRCS,i, 1≤i≤N, M are to make
The quantity of attitude control engine.
M is calculated in the following way：
(3.1) the insufficient part of cruising thrust is calculated
(3.2) satisfaction is foundValue minimum M thruster, M be more than 0 and be less than or
Even number equal to N；
(3.3) if cannot meetThen M is the maximum even number no more than N.
The step (4) using after recombination total rising thrust and mixing specific impulse as parameter, calculate aimed acceleration direction and refer to
It enables, the power to complete current period rises safety guidance, specially：
(4.1) guidance coordinate system o is establishedG-xGyGzG；
(4.2) relevant parameter under guidance coordinate system is calculated；
(4.3) vertical channel aimed acceleration vector is calculated；
(4.4) calculated level channel targets acceleration；
(4.5) aimed acceleration synthesis is carried out, aimed acceleration vector is obtained, rises safety guidance to complete power.
Guide coordinate origin oGIn spacecraft centroid, xGAxis is parallel to celestial body center to the radius vector direction of spacecraft, yGEdge
Target track bears normal direction, zGAxis is directed toward heading；
Guidance coordinate system is moving coordinate system, and the direction of guidance three axis of coordinate system at current time in inertial system can be as follows
It calculates
Wherein, symbol "×" indicates that the multiplication cross of two vectors, " | | | | " indicate the mould of vector, xGIt is perpendicular to catalog of celestial bodies
Face, and yGAnd zGThe plane that axis is formed is then local level, the current position under celestial body centered inertial coordinate system of spacecraft
Vector is r, speed v, and climbing target orbit plane normal is ω under inertial coodinate systemorbit；
Calculating the relevant parameter guided under coordinate system is specially：
Vertical velocity size vx=<v·xG>, symbol "<·>" indicate two vectors dot product, speed is in local level
Interior projection vector vh=v-vx·xG, celestial body reference radius is R, then spacecraft height h=| | r | |-R；It guides under coordinate system
Object velocity vector of entering the orbit is [vfx, vfy, vfz]T；Point height of entering the orbit be hf, guidance coordinate system xG to aimed acceleration be
afx, target enters the orbit expression v of the horizontal component under inertial system of speedhf
vhf=vfx·yG+vfz·zG。
Calculating vertical channel aimed acceleration vector is specially：
(4.3.1) calculates the remaining guidance time
(4.3.2) definition guidance guardtime parameter tgomin；
(4.3.3) is if tgo>tgomin, then following four parameters are calculated
tG=0；
Wherein, aIcr1、aIcr2、aIcr3It is the parameter of Guidance Equation, tGIt is the guidance time；
If tgo≤tgomin, a is not repeated since the lower periodIcr1、aIcr2、aIcr3、tGCalculating, retain aIcr1、aIcr2、
aIcr3Last value, and do following guidance time update
tG=tG+Δt
tgo=tgo-Δt；
(4.3.4) according to the following formula calculate vertical channel aimed acceleration vector be
Wherein, g is celestial body gravitation acceleration.
Calculated level channel targets acceleration is specially：
The calculating position (4.1.1) vector is in ωorbitOn projection vector rorbitFor
rorbit=<r·ωorbit>ωorbit；
(4.4.2) horizontal target acceleration is
aIch=-cph·rorbit+cdh·(vhf-vh)
Wherein, cphAnd cdhIt is two parameter presets, is site error-r respectivelyorbitWith velocity error vhf-vhFeedback repair
Positive coefficient.
The step (4.5) carries out aimed acceleration synthesis, obtains aimed acceleration vector, specially：
(4.5.1) flies according to the target propulsive force of vertical channel and the ratio calculation of the practical thrust being capable of providing of engine
Oblique attitude angle θ is
θ=arccos [min (| | aIcr||·m/Fcomb,1)]；
(4.5.2) corrects horizontal and vertical aimed acceleration vector according to the inclination angle
aIcr=Fcomb/m·cosθ·xG；
(4.5.3) synthesizes aimed acceleration vector
aIc=aIch+aIcr。
A kind of safe guidance system of power rising, including：
Average thrust valuation computing module：Non- gravitational acceleration for being measured according to acceleration measuring calculates master and starts
The average thrust valuation that machine generates；
Breakdown judge module：Being averaged for the sustainer for being calculated when average thrust valuation computing module pushes away
Power valuation be less than nominal engine thrust, and departure be more than predetermined threshold value when, judge sustainer failure；
It is total to rise thrust and mixing specific impulse computing module：For when breakdown judge module judge sustainer failure when, root
Implement engine recombination according to condition：Attitude control engine is opened, cruising thrust is made up, and calculates sustainer and attitude control hair
Total rising thrust when motivation uses simultaneously and mixing specific impulse；
Aimed acceleration direction instructs determining module：After always to rise thrust and mixing specific impulse computing module calculating
Total thrust and mixing specific impulse of rising is parameter, calculates the instruction of aimed acceleration direction, the power to complete current period rises
Safety guidance；
Attitude control system：Aimed acceleration direction for instructing determining module to obtain according to aimed acceleration direction refers to
It enables and implements guidance tracking.
Compared with the prior art, the invention has the advantages that：
(1) present invention dynamic surveillance cruising thrust in uphill process, and implement engine recombination, avoid master from starting
Directly cause because thrust is insufficient after machine failure and rise mission failure, improves the reliability of rising.
(2) present invention replaces normal explicit Guidance to restrain, avoids making after detecting engine failure with safe Guidance Law
It leads and causes after parameter significantly change explicit Guidance iteration that cannot avoid the occurrence of engine failure the Finite-time convergence the problem of
Cause guidance and resolves the consequence for unsuccessfully in turn resulting in and rising failure.
Description of the drawings
Fig. 1 power rises safe method of guidance block diagram.
Fig. 2 rise time altitude curves.
Thrust before Fig. 3 uphill process engine failure and after recombination.
Fig. 4 uphill process guidance systems calculated remaining guidance time.
Specific implementation mode
When the failure of spacecraft uphill process engine, when thrust variation is apparent, it is possible to so that rising explicit Guidance
Rule is unable to iteration convergence within the limited time, and then causes to guidance command mistake, cannot complete rising task.In such case
Under, need the safe Guidance of complete set to be coped with.
For this problem, the present invention proposes the power under a kind of fault condition and rises safe method of guidance, this side
Method monitors cruising thrust in real time, after finding thrust exception, by recombinating ascent engine, obtains new ascent engine
Thrust and specific impulse parameter reuse the safe guidance algorithm of the suboptimum that need not be iterated to calculate and calculate the instruction of target propulsive force direction, real
Existing subsequent uphill process TRAJECTORY CONTROL.After this method copes with ascent engine failure, rising explicit Guidance may go out
Existing iteration not convergence problem, ensures smoothly completing for follow-up uphill process.
Implement as shown in Figure 1, the technology used in the present invention includes following four steps：
(1) the non-gravitational acceleration measured according to acceleration measuring calculates the average thrust valuation that sustainer generates；
(2) when the average thrust valuation for the sustainer being calculated is less than nominal engine thrust, and departure
When more than predetermined threshold value, it is believed that sustainer failure enters step (3)；
(3) if it has been found that sustainer failure, implements engine recombination according to condition：Attitude control engine is opened, master is made up
Motor power, and total rising thrust when calculating sustainer and attitude control engine while using and mixing specific impulse；
(4) using after recombination total rising thrust and mixing specific impulse as parameter, the instruction of aimed acceleration direction is calculated, to complete
Rise safety guidance at the power of current period, next period return to step (4) carries out next period guidance and resolves.
If spacecraft is equipped with a sustainer and N (N>0) platform is parallel with cruising thrust direction or less parallel
Attitude control thruster.The nominal thrust size for defining sustainer is Fmain, specific impulse Ispmain；I-th (1≤i≤N) attitude control
The thrust size of thruster is FRCS,i, specific impulse IspRCS,i.And set i-th motor power direction and cruising thrust side
To angle be αi(0≤αi<90°)。
1) thrust monitors
If current time is tk, by accelerometer obtain a upper measurement period in, i.e. [tk-1, tk] in the period along promoting mainly
The accumulative speed increment measured value of force direction is Δ Vacc(tk), and upper period tk-1Timing control system is to i-th of thruster
The jet pulsewidth instruction of transmission is TRCS,i(tk-1), and set and (estimate the method for quality not originally special on spacecraft known to quality m
Profit is comprising among content, it is assumed here that has obtained the numerical value), then it is estimated that [tk-1, tk] in the period, sustainer
The average thrust valuation of generationFor
IfThen think cruising thrust failure.Wherein Δ F>0 is preset failure
Detection threshold, value are needed according to specific tasks (including take-off weight, motor power size, the ginsengs such as height, speed of entering the orbit
Number) it determines, Δ t=tk-tk-1。
2) motor power recombinates
Motor power recombination core concept be using parallel with sustainer or approximately parallel attitude control thruster come
Supply the thrust of sustainer loss.It can be lost according to cruising thrust number determine that the how many a attitude controls of supplement push away
Power device and which specific thruster.The attitude control thruster usually supplemented is opened in pairs, and such benefit is will not to produce
Raw disturbance torque.
In the following, providing a simple engine recombination logic.
First, the insufficient part of thrust is calculated
Then, find the M thruster for the value minimum for meeting formula (3) (M is the even number more than 0 and less than or equal to N)
Without loss of generality, it is assumed that the thruster number found out is that 1~M (specifically looks for method to need according to specific engine cloth
Office's design).Special, if even if M cannot still meet above formula when being the maximum even number no more than N, it is no more than N to take M
Maximum even number.
In this way, the attitude control engine that engine is just reassembled as to sustainer+M platforms (1~M of number) continues to complete rising.
Finally, the gross thrust F of engine after recombinating is calculatedcombFor
The mixing specific impulse I of cluster engine after recombinationspcombFor
3) rise safety guidance
◆ calculate the relevant parameter under guidance
If the spacecraft that navigation system provides currently celestial body centered inertial coordinate system (coordinate system center in celestial body barycenter,
The direction of three axis can be specified according to task, need to only keep relative inertness space to be directed toward constant) under position vector be r, speed
For v.Climbing target orbit plane normal is ω under inertial coodinate systemorbit。
Definition guidance coordinate system oG-xGyGzG.Wherein, origin oGIn spacecraft centroid, xGAxis is parallel to celestial body center to boat
The radius vector direction of its device, yGNormal direction, z are born along target trackGAxis is directed toward heading.It is a moving axes to guide coordinate system
System, the direction of guidance three axis of coordinate system at current time in inertial system can calculate as follows
Wherein, symbol "×" indicates that the multiplication cross of two vectors, " | | | | " indicate the mould of vector.It can be seen that xGIt is perpendicular to day
Body surface face, and yGAnd zGThe plane that axis is formed is then local level.
Then vertical velocity size v can be found outx
vx=<v·xG> (9)
Symbol "<·>" indicate two vectors dot product.Projection vector v of the speed in local levelhFor
vh=v-vx·xG (10)
If celestial body reference radius is R, then spacecraft height h is
H=| | r | |-R (11)
It is [v to be equipped with the object velocity vector of entering the orbit led under coordinate systemfx,vfy,vfz]T；Point height of entering the orbit is hf, guidance is xG
To aimed acceleration be afx.These parameters are entered the orbit Design of State according to target, are known quantities for Guidance Law.
Target can be so calculated to enter the orbit expression v of the horizontal component under inertial system of speedhf
vhf=vfx·yG+vfz·zG (12)
◆ vertical channel aimed acceleration vector
According to the gross thrust of engine after recombination and mixing specific impulse, by present level speed and target enter the orbit horizontal velocity it
Difference calculates remaining guidance time tgoFor
Next vertical passage Guidance Parameter is calculated.Define a guidance guardtime parameter tgomin, this parameter be for
It avoids working as tgoGuidance Parameter resolves diverging and the threshold value of setting when very little, usually desirable 10s.
If tgoMore than tgomin, then following four parameters are calculated
tG=0 (17)
aIcr1、aIcr2、aIcr3It is the parameter of Guidance Equation, tGIt is the guidance time.
Otherwise the calculating of formula (13)~(17) is not repeated since the lower period, retains aIcr1、aIcr2、aIcr3Last take
Value, and do following guidance time update
tG=tG+Δt (18)
tgo=tgo-Δt (19)
Finally, the aimed acceleration vector of calculating vertical channel is according to the following formula
Wherein, g is celestial body gravitation acceleration, is known quantity.
◆ horizontal channel aimed acceleration vector
Position vector is in ωorbitOn projection vector rorbitFor
rorbit=<r·ωorbit>ωorbit (21)
So horizontal target acceleration is
aIch=-cph·rorbit+cdh·(vhf-vh) (22)
Wherein, cphAnd cdhIt is two parameters being pre-designed, is site error-r respectivelyyWith velocity error vhf-vhIt is anti-
Correction factor is presented, they can carry out parameter selection, such as c according to specific object using classical PD control theoretical methodphValue
0.0064, cdhValue 0.32.
◆ the synthesis of aimed acceleration
Aimed acceleration is adjusted firstly the need of according to motor power size.According to the target propulsive force of vertical channel
Ratio calculation flight attitude tiltangleθ with the practical thrust being capable of providing of engine is
θ=arccos [min (| | aIcr||·m/Fcomb,1)] (23)
Then horizontal and vertical aimed acceleration vector is corrected according to the inclination angle
aIcr=Fcomb/m·cosθ·xG (25)
It is finally synthesizing aimed acceleration vector
aIc=aIch+aIcr (26)
The aimed acceleration vector calculated is supplied to posture control system into line trace, and next period repeats the interior of step 3)
Hold, until target velocity conditions of entering the orbit reach, that is, meets
Then engine cutoff, uphill process terminate.
The present invention gives a kind of safe guidance system of power rising, including：
Average thrust valuation computing module：Non- gravitational acceleration for being measured according to acceleration measuring calculates master and starts
The average thrust valuation that machine generates；
Breakdown judge module：Being averaged for the sustainer for being calculated when average thrust valuation computing module pushes away
Power valuation be less than nominal engine thrust, and departure be more than predetermined threshold value when, judge sustainer failure；
It is total to rise thrust and mixing specific impulse computing module：For when breakdown judge module judge sustainer failure when, root
Implement engine recombination according to condition：Attitude control engine is opened, cruising thrust is made up, and calculates sustainer and attitude control hair
Total rising thrust when motivation uses simultaneously and mixing specific impulse；
Aimed acceleration direction instructs determining module：After always to rise thrust and mixing specific impulse computing module calculating
Total thrust and mixing specific impulse of rising is parameter, calculates the instruction of aimed acceleration direction, the power to complete current period rises
Safety guidance；
Attitude control system：Aimed acceleration direction for instructing determining module to obtain according to aimed acceleration direction refers to
It enables and implements guidance tracking.
It is as follows that the present invention provides specific embodiment：
Assuming that the spacecraft that a quality is 600kg takes off from lunar surface, it is close that target enters 15 × 80km ellipse lunar orbits
Month point, Guidance Parameter vfx=0m/s, vfy=1687.5m/s, vfz=0m/s, hf=15000m, afx=0m/s2.This spacecraft
One 2000N sustainer, 310 × 9.8Ns/kg of specific impulse are installed along its longitudinal axis.In addition, also parallel be equipped with 4 120N
Attitude control thruster, 280 × 9.8Ns/kg of specific impulse.
If failure detection threshold Δ F is 200N.Assuming that cruising thrust is fallen to when uphill process 200s
At this moment 1600N goes out engine failure according to thrust measurement logic judgment.According to recombination logic, thrust value of delta F=400N then makes
It is recombinated with 4 120N engines, i.e. M=4.
The altitude curve of uphill process is shown in that Fig. 2, the gross thrust curve of all engine outputs of spacecraft uphill process are shown in figure
3, Guidance Law parameter tgoChange curve Fig. 4.
It can be observed from fig. 2 that having arrived at the 15km high of target at the end of uphill process；As seen from Figure 3, when main hair
After motivation failure occurs, the very short time, which is just detected, is out of order, and completes thruster recombination, and the engine gross thrust after recombination is
2080N；From fig. 4 it can be seen that because having switched Guidance Law, Guidance Parameter t after engine recombinationgoThere is variation.Final boat
Its device is correctly entered the orbit, and the Orbit injection error for emulating acquisition is：Semi-major axis error 718m；Eccentricity errors 3.949 × 10-4。
The result shows that the safe method of guidance of power rising under fault condition proposed by the present invention is effective.
Claims (10)
1. a kind of power rises safe method of guidance, it is characterised in that realize that steps are as follows：
(1) the non-gravitational acceleration measured according to acceleration measuring calculates the average thrust valuation that sustainer generates；
(2) when the average thrust valuation for the sustainer being calculated is less than nominal engine thrust, and departure is more than
When predetermined threshold value, it is believed that sustainer failure enters step (3)；
(3) engine recombination is implemented according to condition：Attitude control engine is opened, cruising thrust is made up, and calculates master and starts
Total rising thrust when machine and attitude control engine use simultaneously and mixing specific impulse；
(4) using after recombination total rising thrust and mixing specific impulse as parameter, the instruction of aimed acceleration direction is calculated, to complete to work as
The power in preceding period rises safety guidance, and next period return to step (4) carries out.
2. a kind of power according to claim 1 rises safe method of guidance, it is characterised in that：Sustainer generates flat
Equal thrust valuation is：
Wherein, sustainer is in [tk-1, tk] period generate average thrust valuation beCurrent time is tk, upper one surveys
It measures in the period, i.e. [tk-1, tk] to promote mainly the accumulative speed increment measured value of force direction be Δ for accelerometer obtains in the period edge
Vacc(tk), and upper period tk-1The jet pulsewidth instruction that timing control system is sent to i-th of thruster is TRCS,i(tk-1), m
For the quality of spacecraft, Δ t=tk-tk-1；N is attitude control thruster quantity with cruising thrust direction out of plumb, i-th
Motor power direction and the angle in cruising thrust direction are αi, 0≤αi<90 °, the thrust size of i-th attitude control thruster
For FRCS,i, 1≤i≤N.
3. a kind of power according to claim 1 rises safe method of guidance, it is characterised in that：The main hair of the step (3)
Total rising thrust when motivation and attitude control engine use simultaneously and mixing specific impulse, specially：
It is total to rise thrust
Total mixing specific impulse
Wherein, the specific impulse of main thrust device is Ispmain, the specific impulse of i-th attitude control thruster is IspRCS,i, 1≤i≤N, M are the appearance used
Control the quantity of engine, M≤N.
4. a kind of power according to claim 3 rises safe method of guidance, it is characterised in that：M is counted in the following way
It obtains：
(3.1) the insufficient part of cruising thrust is calculated
(3.2) satisfaction is foundValue minimum M thruster, M be more than 0 and be less than or equal to N
Even number；
(3.3) if cannot meetThen M is the maximum even number no more than N.
5. a kind of power according to claim 1 rises safe method of guidance, it is characterised in that：The step (4) is with weight
Total rising thrust and mixing specific impulse after group are parameter, calculate the instruction of aimed acceleration direction, to complete the dynamic of current period
Power rises safety guidance, specially：
(4.1) guidance coordinate system o is establishedG-xGyGzG；
(4.2) relevant parameter under guidance coordinate system is calculated；
(4.3) vertical channel aimed acceleration vector is calculated；
(4.4) calculated level channel targets acceleration；
(4.5) aimed acceleration synthesis is carried out, aimed acceleration vector is obtained, rises safety guidance to complete power.
6. a kind of power according to claim 5 rises safe method of guidance, it is characterised in that：Guide coordinate origin oG
In spacecraft centroid, xGAxis is parallel to celestial body center to the radius vector direction of spacecraft, yGNormal direction, z are born along target trackGAxis
It is directed toward heading；
Guidance coordinate system is moving coordinate system, and the direction of guidance three axis of coordinate system at current time in inertial system can calculate as follows
Wherein, symbol "×" indicates that the multiplication cross of two vectors, " | | | | " indicate the mould of vector, xGIt is perpendicular to celestial body surface,
And yGAnd zGThe plane that axis is formed is then local level, the current position vector under celestial body centered inertial coordinate system of spacecraft
For r, speed v, climbing target orbit plane normal is ω under inertial coodinate systemorbit；
Calculating the relevant parameter guided under coordinate system is specially：
Vertical velocity size vx=<v·xG>, symbol "<·>" indicate two vectors dot product, speed is in local level
Projection vector vh=v-vx·xG, celestial body reference radius is R, then spacecraft height h=| | r | |-R guides entering the orbit under coordinate system
Object velocity vector is [vfx,vfy,vfz]T；Point height of entering the orbit is hf, guidance coordinate system xGTo aimed acceleration be afx, target
Expression v of the horizontal component for speed of entering the orbit under inertial systemhfvhf=vfx·yG+vfz·zG。
7. a kind of power according to claim 5 rises safe method of guidance, it is characterised in that：Calculate vertical channel target
Acceleration is specially：
(4.3.1) calculates the remaining guidance time
(4.3.2) definition guidance guardtime parameter tgomin；
(4.3.3) is if tgo>tgomin, then following four parameters are calculated
tG=0；
Wherein, aIcr1、aIcr2、aIcr3It is the parameter of Guidance Equation, tGIt is the guidance time；
If tgo≤tgomin, a is not repeated since the lower periodIcr1、aIcr2、aIcr3、tGCalculating, retain aIcr1、aIcr2、aIcr3's
Last value, and do following guidance time update
tG=tG+Δt
tgo=tgo-Δt；
(4.3.4) according to the following formula calculate vertical channel aimed acceleration vector be
Wherein, g is celestial body gravitation acceleration.
8. a kind of power according to claim 5 rises safe method of guidance, it is characterised in that：Calculated level channel targets
Acceleration is specially：
The calculating position (4.1.1) vector is in ωorbitOn projection vector rorbitFor
rorbit=<r·ωorbit>ωorbit；
(4.4.2) horizontal target acceleration is
aIch=-cph·rorbit+cdh·(vhf-vh)
Wherein, cphAnd cdhIt is two parameter presets, is site error-r respectivelyorbitWith velocity error vhf-vhFeedback modifiers system
Number.
9. a kind of power according to claim 5 rises safe method of guidance, it is characterised in that：The step (4.5) into
Row aimed acceleration synthesizes, and obtains aimed acceleration vector, specially：
(4.5.1) is according to the ratio calculation flight attitude of the target propulsive force and the practical thrust being capable of providing of engine of vertical channel
Tiltangleθ is
θ=arccos [min (| | aIcr||·m/Fcomb,1)]；
(4.5.2) corrects horizontal and vertical aimed acceleration vector according to the inclination angle
aIcr=Fcomb/m·cosθ·xG；
(4.5.3) synthesizes aimed acceleration vector
aIc=aIch+aIcr。
10. a kind of power rises safe guidance system, it is characterised in that including：
Average thrust valuation computing module：Non- gravitational acceleration for being measured according to acceleration measuring calculates sustainer production
Raw average thrust valuation；
Breakdown judge module：The average thrust of the sustainer for being calculated when average thrust valuation computing module is estimated
Value be less than nominal engine thrust, and departure be more than predetermined threshold value when, judge sustainer failure；
It is total to rise thrust and mixing specific impulse computing module：For when breakdown judge module judge sustainer failure when, according to item
Part implements engine recombination：Attitude control engine is opened, makes up cruising thrust, and calculate sustainer and attitude control engine
Total rising thrust when using simultaneously and mixing specific impulse；
Aimed acceleration direction instructs determining module：For total after specific impulse computing module calculates always to rise thrust and mix
It is parameter to rise thrust and mixing specific impulse, calculates the instruction of aimed acceleration direction, and the power to complete current period rises safety
Guidance；
Attitude control system：Aimed acceleration direction for instructing determining module to obtain according to aimed acceleration direction instructs real
Apply guidance tracking.
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