CN108490973A - Spacecraft formation relative orbit determines method and device - Google Patents
Spacecraft formation relative orbit determines method and device Download PDFInfo
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- CN108490973A CN108490973A CN201810355799.4A CN201810355799A CN108490973A CN 108490973 A CN108490973 A CN 108490973A CN 201810355799 A CN201810355799 A CN 201810355799A CN 108490973 A CN108490973 A CN 108490973A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The embodiment of the present invention discloses a kind of Spacecraft formation relative orbit and determines method and device.The method includes：Measure first kinematic parameter of the first spacecraft in the Spacecraft formation of surrounding target object flight relative to references object；According to first kinematic parameter, the first orbital tracking that first spacecraft flies around the target object is determined；Measure second kinematic parameter of second spacecraft relative to first spacecraft in the Spacecraft formation；According to first orbital tracking and second kinematic parameter, the second orbital tracking that second spacecraft flies around the target object is determined；In conjunction with first orbital tracking and second orbital tracking, the average relative light intensity that second spacecraft is moved relative to first spacecraft is determined.
Description
Technical field
The present invention relates to space technology fields more particularly to a kind of Spacecraft formation relative orbit to determine method and device.
Background technology
By multiple spacecrafts according to the combination of certain sequence formation flight, Spacecraft formation can be referred to as.Spacecraft is compiled
Each spacecraft in team keeps scheduled relative orbit, is the premise for the flight queue for maintaining Spacecraft formation, therefore spacecraft
Formation relative orbit determines the success or failure for directly affecting Spacecraft Formation Flying control.For example, lunar orbiter spacecraft compile to be around
The Spacecraft formation of moon flight.Lunar orbiter spacecraft formation relative orbit, which determines, uses earth station's tracking measurement.For the moon
Highly elliptic orbit Spacecraft formation quickly and measures resource since the orbital period is very long, and in perilune spacecraft speed
The problems such as limitation, is constantly present the low problem of the flight control accuracy of Spacecraft formation.
Invention content
In view of this, an embodiment of the present invention is intended to provide a kind of spacecraft relative orbits to determine method and device, at least portion
Decompose the low problem of above-mentioned flight control accuracy of determining.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
In a first aspect, a kind of Spacecraft formation relative orbit of offer of the embodiment of the present invention determines method, including：
Measure first fortune of the first spacecraft in the Spacecraft formation of surrounding target object flight relative to references object
Dynamic parameter；
According to first kinematic parameter, the first track that first spacecraft flies around the target object is determined
Radical；
Measure second kinematic parameter of second spacecraft relative to first spacecraft in the Spacecraft formation；
According to first orbital tracking and second kinematic parameter, determine second spacecraft around the target
Second orbital tracking of object flight；
In conjunction with first orbital tracking and second orbital tracking, determine second spacecraft relative to described
The average relative light intensity of first spacecraft movement.
Optionally, the first spacecraft in the Spacecraft formation for measuring the flight of surrounding target object is relative to reference pair
The first kinematic parameter of elephant, including：
Measure first kinematic parameter of the first spacecraft in the Spacecraft formation of lunar flight relative to the earth.
Optionally, first kinematic parameter includes：Position that first spacecraft operation preset duration is passed through and
The speed of corresponding position；
It is described according to first kinematic parameter, determine first spacecraft flies around the target object first
Orbital tracking, including：
The speed that position and corresponding position that preset duration is passed through are run according to first spacecraft, calculates institute
State the first spacecraft instantaneous orbit radical.
Optionally, second kinematic parameter includes：Second spacecraft runs one week relative to first space flight
The relative velocity of the relative position of device；
It is described according to first orbital tracking and second kinematic parameter, determine second spacecraft around described
Second orbital tracking of target object flight, including：
According to second kinematic parameter, determine that second spacecraft runs one week relative to the references object
The speed of position and corresponding position；
One week is run according to second spacecraft relative to the position of the references object and the speed of corresponding position,
Calculate the second spacecraft instantaneous orbit radical.
Optionally, described to measure second fortune of second spacecraft relative to first spacecraft in the Spacecraft formation
Dynamic parameter, including：
Relative movement parameters using the second spacecraft described in Radio Measurement relative to first spacecraft, wherein
The relative movement parameters include at least one of：Relative position and relative velocity；Relative angle and relative velocity；Opposite position
It sets, relative angle and relative velocity；
And/or
Relative movement parameters of second spacecraft relative to first spacecraft are measured using Image Acquisition,
In, the relative movement parameters include at least one of：Relative position and relative velocity；Relative angle and relative velocity；Phase
To position, relative angle and relative velocity.
Second aspect, the embodiment of the present invention provide a kind of Spacecraft formation relative orbit determining device, including：
First measurement module, for measure surrounding target object flight Spacecraft formation in the first spacecraft relative to
First kinematic parameter of references object；
First determining module, for according to first kinematic parameter, determining first spacecraft around the target
First orbital tracking of object flight；
Second measurement module, for measuring in the Spacecraft formation the second spacecraft relative to first spacecraft
Second kinematic parameter；
Second determining module, for according to first orbital tracking and second kinematic parameter, determining described the
The second orbital tracking that two spacecrafts fly around the target object；
Third determining module, in conjunction with first orbital tracking and second orbital tracking, determining described the
The average relative light intensity that two spacecrafts are moved relative to first spacecraft.
Optionally, first measurement module, for measuring the first space flight in the Spacecraft formation of lunar flight
First kinematic parameter of the device relative to the earth.
Optionally, first kinematic parameter includes：Position that first spacecraft operation preset duration is passed through and
The speed of corresponding position；
First determining module, for running the position and correspondence that preset duration is passed through according to first spacecraft
Speed at position calculates the first spacecraft instantaneous orbit radical.
Optionally, second kinematic parameter includes：Second spacecraft runs one week relative to first space flight
The relative velocity of the relative position of device；
Second determining module, for according to second kinematic parameter, determining the second spacecraft operation one
Week is relative to the position of the references object and the speed of corresponding position；According to second spacecraft run one week relative to
The position of the references object and the speed of corresponding position calculate the second spacecraft instantaneous orbit radical.
Optionally, second measurement module, is specifically used for：
Relative movement parameters using the second spacecraft described in Radio Measurement relative to first spacecraft, wherein
The relative movement parameters include at least one of：Relative position and relative velocity；Relative angle and relative velocity；Opposite position
It sets, relative angle and relative velocity；
And/or
Relative movement parameters of second spacecraft relative to first spacecraft are measured using Image Acquisition,
In, the relative movement parameters include at least one of：Relative position and relative velocity；Relative angle and relative velocity；Phase
To position, relative angle and relative velocity.
Spacecraft relative orbit provided in an embodiment of the present invention determines method and device, only to partly navigating in Spacecraft formation
Its device carries out telemeasurement relative to references object, and other spacecrafts then by with the space flight that carries out telemeasurement
The measurement of relative movement parameters between device, so as to converse measurement of other spacecrafts relative to references object；So
Reduce telemeasurement, reduce the problem that accuracy is low caused by telemeasurement, while also reducing because remote survey
Power consumption caused by amount is big and calculates the problems such as cumbersome, to which high with measuring accuracy, average relative light intensity prediction is accurate
The characteristics of, while also having the characteristics that realize simple.
Description of the drawings
Fig. 1 is the flow diagram that the first Spacecraft formation relative orbit provided in an embodiment of the present invention determines method；
Fig. 2 is the structural schematic diagram of the first Spacecraft formation relative orbit determining device provided in an embodiment of the present invention；
Fig. 3 is the flow diagram that second of Spacecraft formation relative orbit provided in an embodiment of the present invention determines method；
Fig. 4 is a kind of schematic diagram for measuring the coordinate system of the second kinematic parameter provided in an embodiment of the present invention；
Fig. 5 is a kind of error effects schematic diagram of relative position provided in an embodiment of the present invention；
Fig. 6 is a kind of error effects schematic diagram of relative velocity provided in an embodiment of the present invention.
Specific implementation mode
Technical scheme of the present invention is further elaborated below in conjunction with Figure of description and specific embodiment.
As shown in Figure 1, the present embodiment provides a kind of Spacecraft formation relative orbits to determine method, including：
Step S110：The first spacecraft in the Spacecraft formation of surrounding target object flight is measured relative to references object
The first kinematic parameter；
Step S120：According to first kinematic parameter, determine that first spacecraft flies around the target object
The first orbital tracking；
Step S130：Measure second movement of second spacecraft relative to first spacecraft in the Spacecraft formation
Parameter；
Step S140：According to first orbital tracking and second kinematic parameter, second spacecraft is determined
Around the second orbital tracking of target object flight；
Step S150：In conjunction with first orbital tracking and second orbital tracking, second spacecraft is determined
Average relative light intensity relative to first spacecraft movement.
Spacecraft formation described in the present embodiment may include 2 or 2 or more spacecrafts, in the present embodiment the first boat
Its device and the second spacecraft can refer to any one spacecraft.It is optionally, first spacecraft can be Spacecraft formation
In core spacecraft, the second spacecraft can be other spacecrafts being distributed in beside core spacecraft.The core spacecraft
Usually it is main spacecraft, other spacecrafts can provide the spacecraft of support and/or ancillary service for main spacecraft.
In the present embodiment, Spacecraft formation flies around target object.For example, Spacecraft formation is the satellite of the moon, then
Target object is the moon；If Spacecraft formation is the satellite of the earth, target object is the earth, if spacecraft is defending for Mars
Star, then target object is Mars.References object can be the datum mark for the kinematic parameter for carrying out the first spacecraft in the present embodiment
Place celestial body.The references object can be the earth that the Spacecraft formation of the moon refers to, can also Mars Spacecraft formation
The earth.
It can over the ground be measured by magnetometer etc. in the present embodiment or ground is in face of the remote monitoring of satellite, obtain first
First operating parameter of the spacecraft relative to references object, for example, the first spacecraft around moon motion one week relative to the earth
The speed of each position.The track root of the first spacecraft can be calculated according to any one method according to the first operating parameter
Number, i.e., described first orbital tracking.Orbital tracking (or orbital elements or orbit parameter) is for describing celestial body in its track
One group of parameter of operating status.When referring to that describe celestial body with the classical law of universal gravitation is moved by conic section under normal conditions
Multiple parameters, for example, the parameter of 6 references presented below：
Semi-major axis of orbit a, the semi-major axis of elliptic orbit are not long axis and the arithmetic average of short axle.If circular orbit,
Earth radius is added for orbit altitude.
Orbital eccentricity e, for a kind of measurement of oval flat degree, definition is the distance and long axial length between oval bifocal
The ratio of degree.
Orbit inclination angle i, planetary orbit face the inclination angle of ecliptic plane；It is counterclockwise measured to row from ecliptic plane at ascending node
The angle of star orbital plane.
Right ascension of ascending node Ω, the ecliptic longitude of planetary orbit ascending node.From edge in X-axis (first point of Aries) direction under the line plane
Counterclockwise the earth's core angle of the measurement to ascending node.It is measured eastwards from the first point of Aries, 0 to 360 °.
Argument of perigee ω is measured counterclockwise from ascending node along planetary motion track to perigean angle.It rises and hands over from track
Point is measured along satellite motion direction to perigean angle in orbit plane.It is measured from ascending node along track running direction, 0-
360°。
The mean anomaly of specified epoch, planet correspond to initial time (t0) when the mean anomaly be somebody's turn to do.
The distance of two spacecrafts in same space flight formation is typically closer, then measures the second spacecraft
Relative to the second kinematic parameter of the first spacecraft, do not have to then so using at a distance to the telemeasurement of references object,
The precision that measurement can so be promoted to obtain high-precision second kinematic parameter, and is also saved relative to telemeasurement
The power consumption of measurement.
In the present embodiment can be according to the second kinematic parameter, while calculating the orbital tracking of the second spacecraft, i.e. institute
State the second orbital tracking.
The first orbital tracking and the second orbital tracking are being combined, the average relative orbit root between two spacecrafts is calculated
Number.
In this way, when carrying out average relative light intensity and determining, it is only necessary to determine one or more (i.e. portions during space flight is formed into columns
Point) kinematic parameter of the spacecraft relative to references object, other spacecrafts utilize with relative to the corresponding boat of references object
The relative motion of its device measures, and obtains its kinematic parameter；The problem that precision is low and power consumption is high caused by telemeasurement is reduced, therefore
The determination of average relative light intensity provided by the present application has the characteristics that high certainty of measurement and low in energy consumption.
Optionally, the step S130 may include：Measure the first spacecraft in the Spacecraft formation of lunar flight
The first kinematic parameter relative to the earth.
In the present embodiment, the moon is target object；The earth is references object, i.e. space flight is formed into columns as the moon of around-the-moon flight
Spacecraft formation.
Optionally, first kinematic parameter includes：Position that first spacecraft operation preset duration is passed through and
The speed of corresponding position；The step S120 may include：
The speed that position and corresponding position that preset duration is passed through are run according to first spacecraft, calculates institute
State the first spacecraft instantaneous orbit radical.
For example, speed of first spacecraft around the position that the moon is passed through for a period of time and the position, so as to calculate
Go out the first space flight instantaneous orbit radical.
Optionally, second kinematic parameter includes：Second spacecraft runs one week relative to first space flight
The relative velocity of the relative position of device；The step S140 may include：According to second kinematic parameter, described is determined
Two spacecrafts run one week relative to the position of the references object and the speed of corresponding position；According to second spacecraft
Operation calculates the instantaneous rail of the second spacecraft in one week relative to the position of the references object and the speed of corresponding position
Road radical.
In the present embodiment, relative movement parameters of second spacecraft relative to the first spacecraft will be measured first, so
The first kinematic parameter for combining the first spacecraft afterwards, calculates kinematic parameter of second spacecraft relative to references object, for example,
Calculate kinematic parameter of the second spacecraft during moon space flight is formed into columns relative to the earth；Be then based on the second spacecraft relative to
The kinematic parameter of the earth determines the instantaneous orbit radical of the second spacecraft.
The step S150 may include：According to the instantaneous orbit radical of the first spacecraft and the instantaneous orbit of the second spacecraft
Radical, it may be determined that go out the average relative light intensity between the first spacecraft and the second spacecraft.Average relative light intensity
For the mean value of relative light intensity.
Optionally, the step S130 may include：
Relative movement parameters using the second spacecraft described in Radio Measurement relative to first spacecraft, wherein
The relative movement parameters include at least one of：Relative position and relative velocity；Relative angle and relative velocity；Opposite position
It sets, relative angle and relative velocity；
And/or
Relative movement parameters of second spacecraft relative to first spacecraft are measured using Image Acquisition,
In, the relative movement parameters include at least one of：Relative position and relative velocity；Relative angle and relative velocity；Phase
To position, relative angle and relative velocity.
For example, may include based on Radio Measurement：Using various alternating electromagnetic fields carry out range measurement, angle measurement or
Tachometric survey etc..
Include acquisition image using Image Acquisition measurement, passes through the change of the spacecraft size and position in the picture that are collected
Change, it may be determined that go out the various relative movement parameters such as relative distance, relative angle and the relative velocity between two spacecrafts.Example
Such as, using positioned at the first spaceborne various measuring instruments, for example, radio-instrument and/or camera measure phase
To kinematic parameter.It is located at the second spaceborne various measuring instruments for another example can also utilize, for example, Radio Measurement instrument
Device and/or camera transport work(parameter relatively to measure.
As shown in Fig. 2, the present embodiment provides a kind of Spacecraft formation relative orbit determining devices, including：
First measurement module 110, the first spacecraft phase in Spacecraft formation for measuring the flight of surrounding target object
For the first kinematic parameter of references object；
First determining module 120, for according to first kinematic parameter, determining first spacecraft around the mesh
Mark the first orbital tracking of object flight；
Second measurement module 130, for measuring in the Spacecraft formation the second spacecraft relative to first space flight
Second kinematic parameter of device；
Second determining module 140, it is described for according to first orbital tracking and second kinematic parameter, determining
The second orbital tracking that second spacecraft flies around the target object；
Third determining module 150, it is described in conjunction with first orbital tracking and second orbital tracking, determining
The average relative light intensity that second spacecraft is moved relative to first spacecraft.
First measurement module 110, the first determining module 120, the second measurement module 130, the second determining module 140 and third
Determining module 150 can be program module, and after being executed by processor or processing circuit, aforementioned one or more implementations may be implemented
The function that example provides, so as to the telemeasurement using a spacecraft to references object, and between combination spacecraft
Relative measurement calculates the average relative light intensity between spacecraft, has the characteristics that result is accurate and low in energy consumption.
Optionally, first measurement module 110, for measuring the first boat in the Spacecraft formation of lunar flight
First kinematic parameter of its device relative to the earth.
Optionally, first kinematic parameter includes：Position that first spacecraft operation preset duration is passed through and
The speed of corresponding position；
First determining module 120, for according to first spacecraft run the position passed through of preset duration and
The speed of corresponding position calculates the first spacecraft instantaneous orbit radical.
Optionally, second kinematic parameter includes：Second spacecraft runs one week relative to first space flight
The relative velocity of the relative position of device；
Second determining module 140, for according to second kinematic parameter, determining the second spacecraft operation
One week relative to the position of the references object and the speed of corresponding position；One week is run according to second spacecraft relatively
Speed in the position of the references object and corresponding position calculates the second spacecraft instantaneous orbit radical.
Optionally, second measurement module 130, is specifically used for：It is opposite using the second spacecraft described in Radio Measurement
In the relative movement parameters of first spacecraft, wherein the relative movement parameters include at least one of：Relative position
And relative velocity；Relative angle and relative velocity；Relative position, relative angle and relative velocity；And/or utilize Image Acquisition
Measure relative movement parameters of second spacecraft relative to first spacecraft, wherein the relative movement parameters packet
Include at least one of：Relative position and relative velocity；Relative angle and relative velocity；Relative position, relative angle and opposite
Speed.
Several specific examples are provided below in conjunction with above-mentioned any embodiment：
Example 1：
As shown in figure 3, this example provides a kind of method that the relative orbit of Spacecraft formation determines, it may include：
The first step：Absolute position/speed of A stars (being equivalent to the first spacecraft above-mentioned) initial time is measured by earth station
Degree, obtains absolute position/speed of A stars in a circle, and thus calculate the instantaneous orbit root of A stars in a circle by orbit prediction
Number.
Second step：The relative distance and angle of two spacecrafts are measured by the spacecraft self-contained measuring instrument short time
Measured value, then its estimated value is obtained by relative measurement.It is opposite by the absolute position/speed and spacecraft of A star initial times
The estimated value of distance and angle obtains initial time B stars (being equivalent to the second spacecraft above-mentioned) relative position/speed.Lead to again
It crosses orbit prediction and obtains absolute position/speed of B stars in a circle, and thus calculate the instantaneous orbit radical of B stars in a circle.This
When absolute position and speed be all the position measured using the earth as reference point position and ground speed and speed.
Third walks：The instantaneous relative light intensity of a circle is calculated by the instantaneous orbit radical of A stars and B stars；Finally, by wink
When relative light intensity calculate average relative light intensity.It is simple and practicable which calculates average relative light intensity, can be with
Accurately and reliably determine moon highly elliptic orbit Spacecraft formation relative orbital parameter.
Example 2：
This example provides a kind of moon highly elliptic orbit Spacecraft formation based on short time relative measurement on star with respect to rail
Road determines method, including：
Joint earth station short time absolute orbit is measured determines the big ellipse of the moon with short time relative measurement on star, high-precision
Orbital Space Vehicle formation relative orbit；The short time can be one week time of a spacecraft lunar circumnavigation or several weeks when
Between.
The preliminary orbit radical that measured primary is measured using earth station's short period, a week is obtained by Orbit simulation
The orbital tracking of primary in phase；
Using the information measurement mode of radio distance-measuring and angle measurement camera angle measurement, it is only necessary to which relative measurement is believed in the short period
Breath, the opposite median orbital elements of double star is obtained by relative measurement and correlation computations.
Relative distance, phase in the lower short period absolute orbit orbit determination data of joint earth station precision and short period star
To angle measurement data, high-precision determining moon highly elliptic orbit Spacecraft formation is with respect to median orbital elements.
Example 3：
Relative measurement：
Using the information measurement mode of radio distance-measuring plus angle measurement camera angle measurement, range accuracy is 2m (1 σ), angle measurement accuracy
For 0.02 ° (1 σ).
As shown in figure 4, defining measuring coordinate system OcXcYcZc：Coordinate origin Oc is angle measurement camera photocentre, it is believed that with
Centroid of satellite overlaps, and Xc axis is directed toward optical axis direction, the horizontal direction and vertical direction of Yc axis angle measurement camera imaging corresponding with Zc axis.
Yc constitutes right hand rectangular coordinate system with Zc axis and Xc axis.
Relative measurement uses Extended Kalman filter, calculating process as follows：
Time update equation:
WhereinF (X, t) is following non-linear relative dynamics equation：Wherein, x is in Xc
The position of axis；Y is the position on Yc axis；Z is the position on Zc axis；For in the speed of Xc axis；For the speed on Yc axis
Degree；For the speed of Zc axis；Wherein,Middle T indicates transposition.
Wherein,For orbit angular velocity；For track angular acceleration；For in the component of acceleration of Xc axis；For in Yc axis
Component of acceleration；For in the component of acceleration of Zc axis；μ is gravitational constant；R is spacecraft to the distance of references object, example
Such as, distance of the spacecraft of around-the-moon flight to earth center.
According to the relative status estimated value of last moment, non-linear relative dynamics side is solved by quadravalence Long Gekutafa
Journey (1) obtains the status predication value of current time.
State-transition matrix is as follows in formula
Wherein τ is filtering step-length, and the embodiment of the present invention is selected as 1 second.K=1,2 ... it is filter constant；F is true anomaly.ForTransposed matrix；Qk-1The covariance of procedure activation noise；
Measurement updaue equation：
Pk=(I-KkHk)Pk,k-1 (7)
Wherein, RkFor measurement noise covariance；ZkFor the measured value of the relative position under relative coordinate system, ZkBy as follows
Equation solution；
Wherein, Cc2bFor measuring coordinate system to the transition matrix of satellite body coordinate system, Cb2LVLHFor satellite body coordinate system
To the transition matrix of relative coordinate system.Body coordinate system herein can be the coordinate system of spacecraft itself, usually with spacecraft
Barycenter is the coordinate system of origin；Relative coordinate system herein can be measuring coordinate system OcXcYcZc above-mentioned.
Calculation matrix HkFor：
When near apogee, relative velocity is smaller for satellite transit, and navigation convergence is fast.And satellite transit is attached in perigee
Closely, relative velocity is larger, and navigation convergence is slow.Therefore point nearby carries out in distant for relative measurement selection.
As shown in Figure 5 and Figure 6, it is emulated with existing Matlab softwares, obtains relative position and velocity estimation is missed
Difference is within requiring.Wherein, the relative measurement time can be the predetermined time periods such as 10 minutes.
Relative position, relative velocity can be estimated by above-mentioned relative measurement algorithm, it is contemplated that ground is surveyed tracking system and can be surveyed
Measure the absolute position speed of reference satellite.It can be obtained from the absolute position of satellite and speed by calculating.Two satellites
Absolute position speed is converted into instantaneous orbit radical respectively, and the estimation of instantaneous relative light intensity can be obtained by subtracting each other.Lead to again
Crossing following correlation computations can must be averaged relative light intensity.
Average relative light intensity calculates：
Estimation：
ForEstimation use the method for average.First, two satellite moons are used to absolute under system
Position and speed is converted into six parameters of orbital tracking；Then, an orbital period data are averaged；Finally, two satellites
Median orbital elements make difference and obtain the orbital eccentricity of average relative light intensityThe track of average relative light intensity
Inclination angleThe argument of perigee of average relative light intensityThe right ascension of ascending node of average relative light intensity
With average relative eccentric ratioFor,It is estimated as follows：
E in formulaAAnd eBRespectively represent the orbital eccentricity of A stars and B stars.J indicates data sequence number in an orbital period.N tables
Show the data total number in an orbital period.It is assumed that δ t are the interval duration of data, then N δ t are equal to an orbital period.
Average opposite semi-major axisEstimation：
Known according to relative motion theory, since opposite semi-major axis Δ a deviations exist, as time increase is relatively flat close
Point angle Δ M also constantly increases.The relationship of opposite mean anomaly Δ M and opposite semi-major axis Δ a are as follows：
N is A star orbit angular velocities in formula, and a a are the semi-major axis of A stars.Δ t is time span.
Therefore, Δ a can be estimated indirectly by following formula
In formula, T is 1 orbital period,For the average semi-major axis of A stars.
In order to further increase precision, to the Δ a calculated by (12)est(t) 100 data points are carried out to be averaged, is obtained
Average opposite semi-major axis, is shown below：
Average opposite semi-major axisEstimation：
It estimatesIt is calculatedIt is the average value of the Δ M in an orbital period.Due to the presence of Δ a, Δ
M is changed linearly with Δ a.Therefore it needs to compensate Δ M.Compensation method is as follows
A stars preliminary orbit radical and double star are initially averaged relative orbit in emulation
Radical deviation can be as shown in Table 1 and Table 2：
Table 1：A star preliminary orbit radicals
| Parameter | a | e | i | Ω | ω | M |
| Parameter value | 6451Km | 0.68 | 20deg | 91.7deg | 130deg | 180deg |
Table 2：Initial relative light intensity deviation
The A star location determination precision 6Km (3 σ) that earth station is provided, speed determine that precision is 3m/s (3 σ).It is opposite on star
It is 10 minutes to measure time of measuring.The orbital tracking of two satellites is obtained using moon HPOP dynamics of orbits models in STK, is led to
It crosses and opposite median orbital elements is calculated as with reference to value.Estimated using the average relative light intensity of institute's extracting method of the present invention
As shown in table 3.It can be seen from Table 3 that using the opposite median orbital elements essence of method estimation that the embodiment of the present invention is invented
Degree is very high.
Table 3：Average relative light intensity estimated accuracy
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.Apparatus embodiments described above are merely indicative, for example, the division of the unit, only
A kind of division of logic function, formula that in actual implementation, there may be another division manner, such as：Multiple units or component can combine, or
It is desirably integrated into another system, or some features can be ignored or not executed.In addition, shown or discussed each composition portion
It can be the INDIRECT COUPLING by some interfaces, equipment or unit to divide mutual coupling or direct-coupling or communication connection
Or communication connection, can be electrical, mechanical or other forms.
The above-mentioned unit illustrated as separating component can be or may not be and be physically separated, aobvious as unit
The component shown can be or may not be physical unit, you can be located at a place, may be distributed over multiple network lists
In member；Some or all of wherein unit can be selected according to the actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in various embodiments of the present invention can be fully integrated into a processing module, also may be used
It, can also be during two or more units be integrated in one unit to be each unit individually as a unit；It is above-mentioned
The form that hardware had both may be used in integrated unit is realized, can also be realized in the form of hardware adds SFU software functional unit.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer read/write memory medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes：It is movable storage device, read-only
The various media that can store program code such as memory, random access memory, magnetic disc or CD.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of Spacecraft formation relative orbit determines method, which is characterized in that including：
Measure first movement ginseng of the first spacecraft in the Spacecraft formation of surrounding target object flight relative to references object
Number；
According to first kinematic parameter, the first track root that first spacecraft flies around the target object is determined
Number；
Measure second kinematic parameter of second spacecraft relative to first spacecraft in the Spacecraft formation；
According to first orbital tracking and second kinematic parameter, determine second spacecraft around the target object
Second orbital tracking of flight；
In conjunction with first orbital tracking and second orbital tracking, determine second spacecraft relative to described first
The average relative light intensity of spacecraft movement.
2. according to the method described in claim 1, it is characterized in that,
First fortune of first spacecraft relative to references object in the Spacecraft formation for measuring the flight of surrounding target object
Dynamic parameter, including：
Measure first kinematic parameter of the first spacecraft in the Spacecraft formation of lunar flight relative to the earth.
3. method according to claim 1 or 2, which is characterized in that
First kinematic parameter includes：Position that first spacecraft operation preset duration is passed through and corresponding position
Speed；
It is described according to first kinematic parameter, determine the first track that first spacecraft flies around the target object
Radical, including：
The speed of position and corresponding position that preset duration is passed through is run according to first spacecraft, calculates described the
One spacecraft instantaneous orbit radical.
4. according to the method described in claim 3, it is characterized in that,
Second kinematic parameter includes：Second spacecraft runs one week relative position relative to first spacecraft
The relative velocity at place；
It is described according to first orbital tracking and second kinematic parameter, determine second spacecraft around the target
Second orbital tracking of object flight, including：
According to first orbital tracking and second kinematic parameter, determine second spacecraft run one week relative to
The position of the references object and the speed of corresponding position；
One week is run relative to the position of the references object and the speed of corresponding position according to second spacecraft, is calculated
Go out the second spacecraft instantaneous orbit radical.
5. method according to claim 1 or 2, which is characterized in that
It is described to measure second kinematic parameter of second spacecraft relative to first spacecraft in the Spacecraft formation, packet
It includes：
Relative movement parameters using the second spacecraft described in Radio Measurement relative to first spacecraft, wherein described
Relative movement parameters include at least one of：Relative position and relative velocity；
And/or
Relative movement parameters of second spacecraft relative to first spacecraft are measured using Image Acquisition, wherein institute
It includes at least one of to state relative movement parameters：Relative position and relative velocity.
6. a kind of Spacecraft formation relative orbit determining device, which is characterized in that including：
First measurement module, the first spacecraft in Spacecraft formation for measuring the flight of surrounding target object is relative to reference
First kinematic parameter of object；
First determining module, for according to first kinematic parameter, determining first spacecraft around the target object
First orbital tracking of flight；
Second measurement module, for measuring the second spacecraft in the Spacecraft formation second relative to first spacecraft
Kinematic parameter；
Second determining module, for according to first orbital tracking and second kinematic parameter, determining second boat
The second orbital tracking that its device flies around the target object；
Third determining module, in conjunction with first orbital tracking and second orbital tracking, determining second boat
The average relative light intensity that its device is moved relative to first spacecraft.
7. device according to claim 6, which is characterized in that
First measurement module, for measuring the first spacecraft in the Spacecraft formation of lunar flight relative to the earth
The first kinematic parameter.
8. the device described according to claim 6 or 7, which is characterized in that
First kinematic parameter includes：Position that first spacecraft operation preset duration is passed through and corresponding position
Speed；
First determining module, for running the position and corresponding position that preset duration is passed through according to first spacecraft
The speed at place calculates the first spacecraft instantaneous orbit radical.
9. device according to claim 8, which is characterized in that
Second kinematic parameter includes：Second spacecraft runs one week relative position relative to first spacecraft
The relative velocity at place；
Second determining module, for according to second kinematic parameter, determining that second spacecraft runs a phase
The speed of position and corresponding position for the references object；One week is run relative to described according to second spacecraft
The position of references object and the speed of corresponding position calculate the second spacecraft instantaneous orbit radical.
10. the device described according to claim 6 or 7, which is characterized in that
Second measurement module, is specifically used for：
Relative movement parameters using the second spacecraft described in Radio Measurement relative to first spacecraft, wherein described
Relative movement parameters include at least one of：Relative position and relative velocity；
And/or
Relative movement parameters of second spacecraft relative to first spacecraft are measured using Image Acquisition, wherein institute
It includes at least one of to state relative movement parameters：Relative position and relative velocity.
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