CN109460051A - Track return reenters formula aircraft and communicates attitude control method to star - Google Patents
Track return reenters formula aircraft and communicates attitude control method to star Download PDFInfo
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Abstract
Track return reenters formula aircraft and communicates attitude control method to star, is related to in-orbit section and repeater satellite measurement and control area；Include the following steps: Step 1: establishing the connected coordinate system o of the earth1x1y1z1；According to the longitude L, latitude B and height H of aircraft；The corresponding the earth's core radius vector of aircraft is connected coordinate system o in the earth1x1y1z1It is expressed as red；Step 2: calculating the corresponding half geocentric angle δ in single repeater satellite covering earth region；Step 3: the corresponding the earth's core radius vector of n repeater satellite is connected coordinate system o in the earth1x1y1z1It is expressed as resi；Step 4: choosing the corresponding repeater satellite of aircraft from n repeater satellite；Step 5: adjusting attitude of flight vehicle after choosing repeater satellite, the repeater satellite that carry-on TT&C antenna alignment is chosen is realized；Realize the both-way communication of aircraft and repeater satellite；It is bound repeatedly the invention avoids launch window variation bring and practical flight ballistic deflection bring loses star problem, guarantee in-orbit section of lasting Tianhuangping pumped storage plant ability.
Description
Technical Field
The invention relates to the field of measurement and control of an on-orbit segment and a relay satellite, in particular to a satellite-to-satellite communication attitude control method of an orbit return reentry type aircraft.
Background
The orbit reentry type aircraft comprises a plurality of types such as satellites, space ships, space shuttles, intercontinental missiles and the like, and a typical trajectory is generally divided into three stages, namely an active section, an in-orbit section and a reentry section, wherein the active section and the reentry section generally fly in a domestic aviation area, a measurement and control task is guaranteed by a foundation measurement and control system, and the in-orbit section needs to fly around the earth for a plurality of circles due to the requirement of the flight task, so the development of the foundation measurement and control system can not meet the requirement of the in-orbit section measurement and control task and is mainly shown in the following aspects:
1. the spacecraft measurement and control has a blind area. Because the number of overseas measurement and control stations and ocean measurement ships is small in China, the requirement for high coverage of measurement and control arc sections is difficult to meet.
2. The real-time performance of load data transmission is not high, the load data in a rail section can only be received through a domestic foundation measurement and control station, the timeliness of the data is greatly reduced, and the data may be outdated in some cases.
3. And the emergency measurement and control of the aircraft are difficult to realize.
The relay satellite system is a measurement and control communication system for performing high coverage measurement and control and data relay on medium and low orbit aircrafts by utilizing a geostationary satellite and a ground terminal station, has two functions of tracking and measuring an orbit and data relay, provides a way for remote measurement and remote control and data communication in an orbit section based on a space-based measurement and control technology of the relay satellite, fundamentally solves the problem of low coverage rate of ground measurement and control communication, and also solves the technical problems of high-speed data transmission, multi-target measurement and control communication and the like. However, the problem of two-way communication between the aircraft and the relay satellite needs to be solved by adopting space-based measurement and control, and a communication link can be established and a higher data transmission rate can be obtained only by ensuring that two parties aim at the satellite, namely that communication antennas of the two parties point to each other.
Regarding the satellite-alignment method, the conventional method generates attitude instructions changing with time according to a launch window and trajectory information and binds the attitude instructions into an aircraft, but the method has a large influence with the time and trajectory deviation of the launch window, and particularly when the launch window changes, the bound information needs to be updated correspondingly each time, so that the launch process is complicated.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a satellite-to-satellite communication attitude control method for a rail return re-entry type aircraft, avoids the problems of repeated binding caused by the change of a launching window and satellite loss caused by actual flight trajectory deviation, and ensures the continuous space-based measurement and control capability in a rail section.
The above purpose of the invention is realized by the following technical scheme:
the method for controlling the satellite-to-satellite communication attitude of the orbit returning reentrant aircraft comprises the following steps:
step one, establishing an earth fixed connection coordinate system o1x1y1z1(ii) a Obtaining longitude L, latitude B and height H of the aircraft through measurement; the corresponding geocentric radial of the aircraft is fixedly connected with the earth in a coordinate system o1x1y1z1Is represented by red；
Step two, calculating a half geocentric angle delta corresponding to the earth coverage area of a single relay satellite;
thirdly, the earth center vector diameters corresponding to the n relay satellites are fixedly connected to the earth in a coordinate system o1x1y1z1Is represented by resi(ii) a Wherein n is a positive integer and n is greater than or equal to 1; i is the serial number of each relay satellite, i is a positive integer, and i is more than or equal to 1 and less than or equal to n;
step four, selecting a relay satellite corresponding to the aircraft from the n relay satellites;
fifthly, after the relay satellite is selected, adjusting the attitude of the aircraft to realize that a measurement and control antenna on the aircraft is aligned with the selected relay satellite; and the two-way communication between the aircraft and the relay satellite is realized.
In the above method for controlling the satellite-to-satellite communication attitude of the orbital return re-entry aircraft, in the first step, the earth is fixedly connected with the coordinate system o1x1y1z1The establishing method comprises the following steps: origin o1Is the earth's center; x is the number of1The axis points to the Greenwich meridian in the forward direction; z is a radical of1The axial forward direction is perpendicular to the earth equatorial plane and directed to the north pole; y is1The axial positive direction is determined by the right hand rule.
In the above method for controlling the satellite-to-satellite communication attitude of the orbital return re-entry aircraft, in the first step, the aircraft is fixedly connected to the earth in a coordinate system o1x1y1z1Lower geocentric radius red＝[Xed、Yed、Zed](ii) a Wherein,
in the formula, XedIs redAlong x1A component of the axis;
Yedis redAlong y1A component of the axis;
Zedis redAlong z1A component of the axis;
a is the earth semimajor axis;
e is the first eccentricity of the earth.
In the above method for controlling the satellite-to-satellite communication attitude of the orbital return re-entry aircraft, in the second step, the method for calculating the half geocentric angle δ is as follows:
in the formula, ReIs the earth orbit mean radius;
Hsatto relay satellite altitude.
In the above method for controlling satellite-to-satellite communication attitude of the orbital return re-entry aircraft, in the third step, each relay satellite is fixedly connected to the earth through the coordinate system o1x1y1z1The geocentric radius resi＝[Xesi,Yesi,Zesi]Calculated with reference to the formulas (1) to (3); wherein, XesiIs resiAlong x1A component of the axis; y isesiIs res iAlong y1A component of the axis; zesiIs resiAlong z1The component of the axis.
In the above method for controlling the satellite-to-satellite communication attitude of the orbital return re-entry aircraft, in the fourth step, the method for selecting the relay satellite corresponding to the aircraft comprises:
s1: sequentially calculating the corresponding geocentric radial included angles a of the aircraft and the n relay satellitesesi；
S2: when the center of the earth is the radial included angle aesiAnd when the angle is less than the half geocentric angle delta, selecting the relay satellite.
In the above method for controlling the satellite-to-satellite communication attitude of the orbital return re-entry aircraft, in step four, in S1, the geocentric radial angle aesiThe calculation method comprises the following steps:
in the above method for controlling the satellite-to-satellite communication attitude of the orbital return re-entry aircraft, in the fifth step, the method for adjusting the attitude of the aircraft is as follows:
s1: establishing a projectile coordinate system o2x2y2z2(ii) a Establishing a first transformation matrixAnd a second conversion matrixWherein the first conversion matrix
In the formula, H1Is a first conversion matrixIs determined by the first vector of (a),resfor selected relay satellites, a coordinate system o is fixedly connected on the earth1x1y1z1The geocentric sagittal diameter of (a);
H3is a first conversion matrixA third vector of (2);
H2is a first conversion matrixSecond vector of (H)2＝H3×H1；
Second transformation matrixIn the formula, α represents the measurement and control antenna in the elastic coordinate system o2x2y2z2The pitch pointing angle in the center, β is the measurement and control antenna in the elastic coordinate system o2x2y2z2Yaw pointing angle of;
s2: computing a third transformation matrixThird transformation matrixIn the formula, inv () represents inverting the matrix;
s3: converting the third conversion matrixExpressed in matrix element form as:
in the formula I11Is a third transformation matrixA first row vector first element;
I12is a third transformation matrixA first row vector second element;
I13is a third transformation matrixA first row vector third element;
I21is a third transformation matrixA second row is directed to the first element;
I22is a third transformation matrixA second row is directed to a second element;
I23is a third transformation matrixA second row direction third element;
I31is a third transformation matrixA third row vector first element;
I32is a third transformation matrixA third row vector second element;
I33is a third transformation matrixA third row vector third element;
s4: calculating the fixed coordinate system o of the aircraft on the earth1x1y1z1Is as followsPitch angle to starYaw angle psi and roll angle gamma.
In the above method for controlling the communication attitude of the orbital return re-entry aircraft to the satellite, in the step five S1, the elastic coordinate system o2x2y2z2The establishing method comprises the following steps: origin o2Is the aircraft center of mass; x is the number of2The positive direction of the shaft is to point to the head of the aircraft along the axial direction of the aircraft; y is2The axis being normal to the longitudinal plane of the aircraft and perpendicular to x2A shaft; z is a radical of2The axial positive direction is determined by the right hand rule.
In the above method for controlling the satellite-to-satellite communication attitude of the orbital return reentry vehicle, in step five S4, the vehicle is in a coordinate system o fixed on the earth1x1y1z1Lower opposite star pitch angleThe method for calculating the yaw angle psi and the roll angle gamma comprises the following steps:
ψ＝arcsin(I13)
adjusting the pitch angle of the aircraft toAdjusting the yaw angle to psi and the roll angle to gamma; namely, the alignment of the measurement and control antenna and the selected relay satellite is realized.
Compared with the prior art, the invention has the following advantages:
(1) according to the method, the visibility analysis of the aircraft and the relay satellite is carried out and the visible relay satellite is screened in the orbit section according to the position information of the relay satellite and in combination with the position information calculated by the self navigation system of the aircraft, and the method only needs to bind the relay satellite information in advance, so that the problem of repeated binding when the transmitting window is changed is avoided;
(2) according to the invention, after the visible relay satellite is selected, the satellite attitude command is generated according to the position of the visible relay satellite, the aircraft position information and the antenna pointing information, so that the antenna can be ensured to point the satellite in real time, and the satellite loss problem caused by the fact that the attitude is bound in advance and the actual flight trajectory has deviation is avoided.
Drawings
FIG. 1 is a flow chart of communication attitude control according to the present invention;
FIG. 2 is a schematic diagram of a half-geocentric angle corresponding to a single relay satellite covering an area of the earth in accordance with the present invention;
FIG. 3 is a schematic diagram of a projectile coordinate system according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
the invention provides a satellite-to-satellite communication attitude control method of an orbit return re-entry type aircraft aiming at the measurement and control problem of an on-orbit segment and a relay satellite.
As shown in fig. 1, which is a communication attitude control flow chart, it can be seen that the method for controlling the satellite-to-satellite communication attitude of the orbital return reentry type aircraft includes the following steps:
step one, establishing an earth fixed connection coordinate system o1x1y1z1(ii) a Earth fixed coordinate system o1x1y1z1The establishing method comprises the following steps: origin o1Is the earth's center; x is the number of1The axis points to the Greenwich meridian in the forward direction; z is a radical of1The axial forward direction is perpendicular to the earth equatorial plane and directed to the north pole; y is1The axial positive direction is determined by the right hand rule. Obtaining longitude L, latitude B and height H of the aircraft through measurement; the corresponding geocentric radial of the aircraft is fixedly connected with the earth in a coordinate system o1x1y1z1Is represented by red；
Aircraft is on earth fixed coordinate system o1x1y1z1Lower geocentric radius red＝[Xed、Yed、Zed](ii) a Wherein,
in the formula, XedIs redAlong x1A component of the axis;
Yedis redAlong y1A component of the axis;
Zedis redAlong z1A component of the axis;
a is the earth semimajor axis;
e is the first eccentricity of the earth.
Step two, as shown in fig. 2, a schematic diagram of a half-geocentric angle corresponding to an earth coverage area of a single relay satellite is shown, and as can be known from the diagram, a half-geocentric angle δ corresponding to an earth coverage area of a single relay satellite is calculated;
the calculation method of the half geocentric angle delta comprises the following steps:
in the formula, ReIs the earth orbit mean radius;
Hsatto relay satellite altitude.
Thirdly, the earth center vector diameters corresponding to the n relay satellites are fixedly connected to the earth in a coordinate system o1x1y1z1Is represented by resi(ii) a Each relay satellite is fixedly connected with a coordinate system o on the earth1x1y1z1The geocentric radius resi＝[Xesi,Yesi,Zesi]Measuring to obtain longitude, latitude and height of each relay satellite; calculating with reference to the formula (1) to the formula (3); wherein, XesiIs resiAlong x1A component of the axis; y isesiIs resiAlong y1A component of the axis; zesiIs resiAlong z1The component of the axis. Wherein n is a positive integer and n is greater than or equal to 1; i is the serial number of each relay satellite, i is a positive integer, and i is more than or equal to 1 and less than or equal to n;
step four, selecting a relay satellite corresponding to the aircraft from the n relay satellites; the method for selecting the relay satellite corresponding to the aircraft comprises the following steps:
s1: sequentially calculating the corresponding geocentric radial included angles a of the aircraft and the n relay satellitesesi(ii) a Earth's center radial included angle aesiThe calculation method comprises the following steps:
s2: when the center of the earth is the radial included angle aesiAnd when the angle is less than the half geocentric angle delta, selecting the relay satellite.
Fifthly, after the relay satellite is selected, adjusting the attitude of the aircraft to realize that a measurement and control antenna on the aircraft is aligned with the selected relay satellite; and the two-way communication between the aircraft and the relay satellite is realized.
The method for adjusting the attitude of the aircraft comprises the following steps:
s1: as shown in FIG. 3, a schematic diagram of a projectile coordinate system is shown, and it can be known that a projectile coordinate system o is established2x2y2z2(ii) a Projectile coordinate system o2x2y2z2The establishing method comprises the following steps: origin o2Is the aircraft center of mass; x is the number of2The positive direction of the shaft is to point to the head of the aircraft along the axial direction of the aircraft; y is2The axis being normal to the longitudinal plane of the aircraft and perpendicular to x2A shaft; z is a radical of2The axial positive direction is determined by the right hand rule.
Establishing a first transformation matrixAnd a second conversion matrixWherein the first conversion matrix
In the formula, H1Is a first conversion matrixIs determined by the first vector of (a),resfor selected relay satellites, a coordinate system o is fixedly connected on the earth1x1y1z1The geocentric sagittal diameter of (a);
H3is a first conversion matrixA third vector of (2);
H2is a first conversion matrixSecond vector of (H)2＝H3×H1；
Second transformation matrixIn the formula, α represents the measurement and control antenna in the elastic coordinate system o2x2y2z2The pitch pointing angle in the center, β is the measurement and control antenna in the elastic coordinate system o2x2y2z2Yaw pointing angle of;
s2: computing a third transformation matrixThird transformation matrixIn the formula, inv () represents inverting the matrix;
s3: converting the third conversion matrixExpressed in matrix element form as:
in the formula I11Is a third transformation matrixA first row vector first element;
I12is a third transformation matrixA first row vector second element;
I13is a third transformation matrixA first row vector third element;
I21is a third transformation matrixA second row is directed to the first element;
I22is a third transformation matrixA second row is directed to a second element;
I23is a third transformation matrixA second row direction third element;
I31is a third transformation matrixA third row vector first element;
I32is a third transformation matrixA third row vector second element;
I33is a third transformation matrixA third row vector third element;
s4: calculating the fixed coordinate system o of the aircraft on the earth1x1y1z1Lower opposite star pitch angleYaw angle psi and roll angle gamma. Aircraft is on earth fixed coordinate system o1x1y1z1Lower opposite star pitch angleThe method for calculating the yaw angle psi and the roll angle gamma comprises the following steps:
ψ＝arcsin(I13)
adjusting the pitch angle of the aircraft toAdjusting the yaw angle to psi and the roll angle to gamma; namely, the alignment of the measurement and control antenna and the selected relay satellite is realized.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. The orbit returns and then reentries the aircraft to the star communication attitude control method, characterized by that: the method comprises the following steps:
step one, establishing an earth fixed connection coordinate system o1x1y1z1(ii) a Obtaining longitude L, latitude B and height H of the aircraft through measurement; the corresponding geocentric radial of the aircraft is fixedly connected with the earth in a coordinate system o1x1y1z1Is represented by red；
Step two, calculating a half geocentric angle delta corresponding to the earth coverage area of a single relay satellite;
thirdly, the earth center vector diameters corresponding to the n relay satellites are fixedly connected to the earth in a coordinate system o1x1y1z1Is represented by resi(ii) a Wherein n is a positive integer and n is greater than or equal to 1; i is the serial number of each relay satellite, i is a positive integer, and i is more than or equal to 1 and less than or equal to n;
step four, selecting a relay satellite corresponding to the aircraft from the n relay satellites;
fifthly, after the relay satellite is selected, adjusting the attitude of the aircraft to realize that a measurement and control antenna on the aircraft is aligned with the selected relay satellite; and the two-way communication between the aircraft and the relay satellite is realized.
2. The orbital return re-entry aircraft satellite-to-satellite communication attitude control method according to claim 1, characterized in that: in the first step, the earth is fixedly connected with a coordinate system o1x1y1z1The establishing method comprises the following steps: origin o1Is the earth's center; x is the number of1The axis points to the Greenwich meridian in the forward direction; z is a radical of1The axial forward direction is perpendicular to the earth equatorial plane and directed to the north pole; y is1The axial positive direction is determined by the right hand rule.
3. The orbital return re-entry aircraft satellite-to-satellite communication attitude control method according to claim 2, characterized in that: in the first step, the aircraft is fixedly connected with a coordinate system o on the earth1x1y1z1Lower geocentric radius red＝[Xed、Yed、Zed](ii) a Wherein,
in the formula, XedIs redAlong x1A component of the axis;
Yedis redAlong y1A component of the axis;
Zedis redAlong z1A component of the axis;
a is the earth semimajor axis;
e is the first eccentricity of the earth.
4. The orbital return re-entry aircraft satellite-to-satellite communication attitude control method of claim 3, wherein: in the second step, the calculation method of the half geocentric angle delta comprises the following steps:
in the formula, ReIs the earth orbit mean radius;
Hsatto relay satellite altitude.
5. The orbital return re-entry aircraft satellite-to-satellite communication attitude control method of claim 4, wherein: in the third step, each relay satellite is fixedly connected with a coordinate system o on the earth1x1y1z1The geocentric radius resi＝[Xesi,Yesi,Zesi]Calculated with reference to the formulas (1) to (3); wherein, XesiIs resiAlong x1A component of the axis; y isesiIs resiAlong y1A component of the axis; zesiIs resiAlong z1The component of the axis.
6. The orbital return re-entry aircraft satellite-to-satellite communication attitude control method of claim 5, wherein: in the fourth step, the method for selecting the relay satellite corresponding to the aircraft comprises the following steps:
s1: sequentially calculating aircraft and n relay guardsThe corresponding geocentric radial included angle a of the staresi；
S2: when the center of the earth is the radial included angle aesiAnd when the angle is less than the half geocentric angle delta, selecting the relay satellite.
7. The method of controlling a satellite-to-satellite communication attitude of a orbital return re-entry aircraft of claim 6, wherein: in step four, in S1, the geocentric radial angle aesiThe calculation method comprises the following steps:
8. the orbital return re-entry aircraft satellite-to-satellite communication attitude control method of claim 7, wherein: in the fifth step, the method for adjusting the attitude of the aircraft comprises the following steps:
s1: establishing a projectile coordinate system o2x2y2z2(ii) a Establishing a first transformation matrixAnd a second conversion matrixWherein the first conversion matrix
In the formula, H1Is a first conversion matrixIs determined by the first vector of (a),resfor selected relay satellites, a coordinate system o is fixedly connected on the earth1x1y1z1The geocentric sagittal diameter of (a);
H3is a first conversion matrixA third vector of (2);
H2is a first conversion matrixSecond vector of (H)2＝H3×H1；
Second transformation matrixIn the formula, α represents the measurement and control antenna in the elastic coordinate system o2x2y2z2The pitch pointing angle in the center, β is the measurement and control antenna in the elastic coordinate system o2x2y2z2Yaw pointing angle of;
s2: computing a third transformation matrixThird transformation matrixIn the formula, inv () represents inverting the matrix;
s3: converting the third conversion matrixExpressed in matrix element form as:
in the formula I11Is a third transformation matrixA first row vector first element;
I12is a third transformation matrixA first row vector second element;
I13is a third transformation matrixA first row vector third element;
I21is a third transformation matrixA second row is directed to the first element;
I22is a third transformation matrixA second row is directed to a second element;
I23is a third transformation matrixA second row direction third element;
I31is a third transformation matrixA third row vector first element;
I32is a third transformation matrixA third row vector second element;
I33is a third transformation matrixA third row vector third element;
s4: calculating the fixed coordinate system o of the aircraft on the earth1x1y1z1Lower opposite star pitch angleYaw angle psi and roll angle gamma.
9. The orbital return-reentry vehicle satellite-to-satellite communication attitude control method according to claim 8, characterized in that: in the fifth step S1, the object coordinate system o2x2y2z2The establishing method comprises the following steps: origin o2Is the aircraft center of mass; x is the number of2The positive direction of the shaft is to point to the head of the aircraft along the axial direction of the aircraft; y is2The axis being normal to the longitudinal plane of the aircraft and perpendicular to x2A shaft; z is a radical of2The axial positive direction is determined by the right hand rule.
10. The orbital return re-entry aircraft satellite-to-satellite communication attitude control method of claim 9, wherein: in the fifth step S4, the aircraft is fixedly connected with the earth in the coordinate system o1x1y1z1Lower opposite star pitch angleThe method for calculating the yaw angle psi and the roll angle gamma comprises the following steps:
ψ＝arcsin(I13)
adjusting the pitch angle of the aircraft toAdjusting the yaw angle to psi and the roll angle to gamma; namely, it isAnd realizing the alignment of the measurement and control antenna and the selected relay satellite.
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