CN109484675A - It is a kind of to enter orbit control method using the matched spacecraft orbit of space vector - Google Patents
It is a kind of to enter orbit control method using the matched spacecraft orbit of space vector Download PDFInfo
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- CN109484675A CN109484675A CN201811289789.1A CN201811289789A CN109484675A CN 109484675 A CN109484675 A CN 109484675A CN 201811289789 A CN201811289789 A CN 201811289789A CN 109484675 A CN109484675 A CN 109484675A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
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Abstract
Enter orbit control method using the matched spacecraft orbit of space vector the invention discloses a kind of, comprising the following steps: initialization spacecraft state parameter；Calculate the rotation angle of spacecraft current orbit radical, the earth's core radius vector and current orbit relative to standard track；Obtain being adapted to the standard track velocity vector that current orbit state should have relative to the rotation angle of standard track according to the earth's core radius vector and current orbit；According to the standard track velocity vector and currently practical orbital velocity vector, departure, residual non-uniformity DT, pitch program angle and the yaw program angle of calculating speed vector；Gesture stability and shutdown control are carried out using the residual non-uniformity DT of the calculating, pitch program angle and yaw program angle, is related to orbits controlling technical field.Strong real-time of the present invention, guidance precision is high, and strong to the adjustment capability of track, flight software is simple on spacecraft, and it is low to prepare calculating job requirement to the ground set of data.
Description
Technical field
The present invention relates to orbits controlling technical fields, are specifically related to a kind of utilization matched spacecraft orbit of space vector
Enter orbit control method.
Background technique
The space mission accurately entered the orbit is realized for spacecraft, base level generally uses multi-stage engine to connect, at different levels
The energy deviation of engine can accumulate final stage and enter the orbit section, can produce bigger effect to the enter the orbit program angle control of section of final stage, especially
For spacecraft of the base level using solid engines, engine generally uses depleted shutdown mode for it, engine without
Method may be generated relative to theoretical case bigger according to unused time of current actual conditions adjustment engine
Position and speed deviation, the program angle that final stage is calculated when re-starting metro planning can relative to the amplitude of variation at standardization program angle
Energy can be bigger.Another aspect spacecraft generally can be using interative guidance control mode in order to improve final stage orbit injection accuracy, but passes
The interative guidance mode of system is generally using terminal track as control target, to there are big appearances under the small overload in flight course
The adaptability that state adjusts situation is not strong.
Summary of the invention
The purpose of the invention is to overcome the shortcomings of above-mentioned background technique, a kind of thinking is provided and is simply easily achieved, counted
Calculation amount is little, improves spacecraft final stage orbit injection accuracy, and the spacecraft for realizing larger range gesture stability is matched using space vector
Track enters orbit control method.
The present invention, which provides, a kind of enters orbit control method using the matched spacecraft orbit of space vector, comprising the following steps:
1) spacecraft state parameter, is initialized；
2) the rotation angle of spacecraft current orbit radical, the earth's core radius vector and current orbit relative to standard track, is calculated；
3) it, obtains being adapted to work as front rail relative to the rotation angle of standard track according to the earth's core radius vector and current orbit
The standard track velocity vector that road state should have；
4), according to the standard track velocity vector and currently practical orbital velocity vector, the deviation of calculating speed vector
Amount, and residual non-uniformity DT, pitch program angle and yaw program angle are calculated using the departure of velocity vector；
5), using the residual non-uniformity DT of the calculating, pitch program angle and yaw program angle carry out gesture stability and
Shutdown control.
Based on the above technical solution, spacecraft state parameter described in step 1) includes:
Emit latitude, longitude, elevation, directive, the current flight time, position, speed, with the earth's core radius vector and current orbit
Orbit parameter interpolation table relative to standard track rotation angle change.
Based on the above technical solution, orbital tracking control amount described in step 2) specifically includes that
Semi-major axis of orbit, orbit inclination angle, orbital eccentricity.
Based on the above technical solution, spacecraft is not present in the case of the resonable opinion of standard gauge Dow Jones index described in step 2)
Flight track when any deflection condition, the rotation angle refer to the angle of actual track and standard track.
Based on the above technical solution, described in step 3) with according to the earth's core radius vector and current orbit relative to standard gauge
The standard track velocity vector that the rotation angle in road obtains being adapted to current orbit state to have refers specifically to:
Joined with the earth's core radius vector and current orbit relative to the track of standard track rotation angle change according to what is bound in advance
Number interpolation table, finds the standard track parameter interpolation for being adapted to current orbit state, and standard track speed arrow is calculated
Amount.
Based on the above technical solution, described in step 4) according to the standard track velocity vector with it is currently practical
Orbital velocity vector, calculating speed departure, residual non-uniformity DT, pitch program angle and yaw program angle refer specifically to:
Standard track velocity vector and actual track velocity vector are transformed under same reference frame, calculate three
The velocity deviation amount of coordinate direction calculates residual non-uniformity DT, pitching program according to the velocity deviation amount of three coordinate directions
Angle and yaw program angle.
Based on the above technical solution, gesture stability is carried out using the residual non-uniformity t described in step 5)
It is referred specifically to shutdown control:
If residual non-uniformity DT≤△ T, guidance system stops calculating, the residual non-uniformity calculated according to last time
After the completion of DT and corresponding pitch program angle, yaw program angle are flown, engine is closed；
If residual non-uniformity DT > △ T, return step 1), the guidance for carrying out next cycle calculates.
Based on the above technical solution, initialization spacecraft state ginseng is both needed within the period that each guidance calculates
Number, interpolation calculation, residual non-uniformity DT, pitch program angle and the calculating for yawing program angle, and carry out gesture stability and shutdown
Control.
Compared with prior art, advantages of the present invention is as follows:
A kind of utilization matched spacecraft orbit of space vector provided by the invention enters orbit control method, by spacecraft
The control realization of intermediate flight velocity vector is high-precision to enter the orbit, and method is simply easy to Project Realization, and there is stronger engineering to answer
With value；Compared with traditional Celestial Guidance Scheme, control method strong real-time of the invention, guidance precision is high, the adjustment to track
Ability is strong, and flight software is simple on spacecraft, to the ground set of data prepare calculate job requirement it is low, be suitable for zero-miss guidance and
The space device of big pose adjustment.
Detailed description of the invention
Fig. 1 is being entered the orbit control method flow chart using the matched spacecraft orbit of space vector for the embodiment of the present invention；
Fig. 2 is the lead in track interval diagram processed of the transition track dynamic rotary of the embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is described in further detail.
Embodiment one
Shown in Figure 1, the embodiment of the present invention provides a kind of is entered the orbit control using the matched spacecraft orbit of space vector
Method, comprising the following steps:
1) spacecraft state parameter, is initialized；
2) the rotation angle of spacecraft current orbit radical, the earth's core radius vector and current orbit relative to standard track, is calculated；
3) it, obtains being adapted to work as front rail relative to the rotation angle of standard track according to the earth's core radius vector and current orbit
The standard track velocity vector that road state should have；
4), according to the standard track velocity vector and currently practical orbital velocity vector, the deviation of calculating speed vector
Amount, and residual non-uniformity DT, pitch program angle and yaw program angle are calculated using the departure of velocity vector；
5) gesture stability and shutdown, are carried out using the residual non-uniformity DT of calculating, pitch program angle and yaw program angle
Control.
A kind of utilization matched spacecraft orbit of space vector provided by the invention enters orbit control method, by spacecraft
The control realization of intermediate flight velocity vector is high-precision to enter the orbit, and method is simply easy to Project Realization, and there is stronger engineering to answer
With value；Compared with traditional Celestial Guidance Scheme, control method strong real-time of the invention, guidance precision is high, the adjustment to track
Ability is strong, and flight software is simple on spacecraft, to the ground set of data prepare calculate job requirement it is low, be suitable for zero-miss guidance and
The space device of big pose adjustment.
Embodiment two
Referring to shown in Fig. 1 to Fig. 2, the embodiment of the present invention provides a kind of is entered the orbit using the matched spacecraft orbit of space vector
Control method, comprising the following steps:
1) spacecraft state parameter, is initialized；
Before iterative calculation, needs first to initialize the current state parameter of spacecraft, specifically include that
Emit latitude, longitude, elevation, directive, the current flight time, position, speed, with the earth's core radius vector and current orbit
Orbit parameter interpolation table relative to standard track rotation angle change.
2) the rotation angle of spacecraft current orbit radical, the earth's core radius vector and current orbit relative to standard track, is calculated；
The orbital tracking that current point is calculated according to current spacecraft orbit state parameter, acquires ground in real time by orbital tracking
Heart arrow warp and the rotation angle relative to standard track, wherein orbital tracking control amount specifically includes that semi-major axis of orbit, track
Inclination angle, orbital eccentricity；There is no flight tracks when any deflection condition for spacecraft in the case of the resonable opinion of standard gauge Dow Jones index, and
The influence for always having various bias factors in a practical situation causes practical flight track to deviate standard track；The rotation angle
Refer to the angle of actual track and standard track.
3) it, obtains being adapted to work as front rail relative to the rotation angle of standard track according to the earth's core radius vector and current orbit
The standard track velocity vector that road state should have；
According to bind in advance with the earth's core swear through and two-dimemsional number table relative to the rotation angle interpolation of standard track in look for
It is compared to the standard speed vector of correspondence current the earth's core radius vector and track, and with current practical flight speed, calculating speed
Departure；Different the earth's core radius vectors and track rotation angle have corresponding theoretical orbital velocity vector to correspond, only
When actual track speed reaches or approaches theoretical orbital velocity, spacecraft could accurately enter default transfer orbit；Wherein,
Velocity deviation amount is vector state, including velocity deviation amount size and Orientation.
4), according to the standard track velocity vector and currently practical orbital velocity vector, calculating speed departure, residue
Flight time DT, pitch program angle and yaw program angle；
Standard track velocity vector and actual track velocity vector are transformed under same reference frame, calculate three
The velocity deviation amount of coordinate direction calculates residual non-uniformity DT, pitching program according to the velocity deviation amount of three coordinate directions
Angle and yaw program angle.
5) gesture stability, is carried out using the residual non-uniformity DT and shutdown controls.
Specifically: if residual non-uniformity DT≤△ T, guidance system stops calculating, and calculates according to last time surplus
After the completion of remaining flight time DT and corresponding pitch program angle, yaw program angle are flown, engine is closed；
If residual non-uniformity DT > △ T, return step 1), the guidance for carrying out next cycle calculates.
As shown in Fig. 2, Fig. 2 is the lead in track interval diagram processed of the transition track dynamic rotary of the embodiment of the present invention, with
It is core that elliptic orbit shape and its rotation, which are formed by track race, using the orbit parameter of spacecraft current point as initial value, is considered
The J2 identified flight paths that perturb, mainly include the earth's core radius vector, absolute velocity, position-velocity vector angle, true anomaly
Etc. orbit parameters, detailed process are as follows: according to the current velocity vector of spacecraft and position vector, calculate the earth's core radius vector of current point
And rotation angle of the current orbit relative to standard ellipse track, interpolation determines that corresponding standard is entered the orbit from preset reference track
Velocity vector (including size and Orientation), wherein interpolation section corresponds in Fig. 2Then according to practical speed
Degree vector sum standard enter the orbit velocity vector difference adjustment residual non-uniformity, pitch program angle and yaw program angle.Again more
The initial velocity vector sum position vector of new spacecraft, repeats the above process, and updates final stage residual non-uniformity, pitch program angle
With yaw program angle, when meet the time control require when, even residual non-uniformity DT≤△ T, then guidance system stop calculate,
After the completion of the residual non-uniformity DT of last time calculating and corresponding pitch program angle, yaw program angle flight, close
Close engine；If residual non-uniformity DT > △ T, returns, the guidance for carrying out next cycle is calculated.
A kind of utilization matched spacecraft orbit of space vector provided by the invention enters orbit control method, by spacecraft
The control realization of intermediate flight velocity vector is high-precision to enter the orbit, and method is simply easy to Project Realization, and there is stronger engineering to answer
With value；Compared with traditional Celestial Guidance Scheme, control method strong real-time of the invention, guidance precision is high, the adjustment to track
Ability is strong, and flight software is simple on spacecraft, to the ground set of data prepare calculate job requirement it is low, be suitable for zero-miss guidance and
The space device of big pose adjustment.
Those skilled in the art can carry out various modifications to the embodiment of the present invention and modification, if these modifications and change
For type within the scope of the claims in the present invention and its equivalent technologies, then these modifications and variations are also in protection scope of the present invention
Within.
The prior art that the content being not described in detail in specification is known to the skilled person.
Claims (8)
1. a kind of enter orbit control method using the matched spacecraft orbit of space vector, which comprises the following steps:
1) spacecraft state parameter, is initialized；
2) the rotation angle of spacecraft current orbit radical, the earth's core radius vector and current orbit relative to standard track, is calculated；
3) it, obtains being adapted to current orbit shape relative to the rotation angle of standard track according to the earth's core radius vector and current orbit
The standard track velocity vector that state should have；
4), according to the standard track velocity vector and currently practical orbital velocity vector, the departure of calculating speed vector, and
Residual non-uniformity DT, pitch program angle and yaw program angle are calculated using the departure of velocity vector；
5) gesture stability and shutdown, are carried out using the residual non-uniformity DT of the calculating, pitch program angle and yaw program angle
Control.
2. entering orbit control method using the matched spacecraft orbit of space vector as described in claim 1, which is characterized in that step
It is rapid 1) described in spacecraft state parameter include:
Emit latitude, longitude, elevation, directive, the current flight time, position, speed, opposite with the earth's core radius vector and current orbit
In the orbit parameter interpolation table of standard track rotation angle change.
3. entering orbit control method using the matched spacecraft orbit of space vector as described in claim 1, which is characterized in that step
It is rapid 2) described in orbital tracking control amount specifically include that
Semi-major axis of orbit, orbit inclination angle, orbital eccentricity.
4. entering orbit control method using the matched spacecraft orbit of space vector as described in claim 1, it is characterised in that: step
It is rapid 2) described in flight track when spacecraft is not present any deflection condition in the case of the resonable opinion of standard gauge Dow Jones index, the rotation
Angle refers to the angle of actual track and standard track.
5. entering orbit control method using the matched spacecraft orbit of space vector as claimed in claim 2, which is characterized in that step
It is rapid 3) described in obtain being adapted to current orbit shape relative to the rotation angle of standard track according to the earth's core radius vector and current orbit
The standard track velocity vector that state should have refers specifically to:
It is inserted with the earth's core radius vector and current orbit relative to the orbit parameter of standard track rotation angle change according to what is bound in advance
It is worth table, finds the standard track parameter interpolation for being adapted to current orbit state, and standard track velocity vector is calculated.
6. entering orbit control method using the matched spacecraft orbit of space vector as described in claim 1, which is characterized in that step
It is rapid 4) described according to the standard track velocity vector and currently practical orbital velocity vector, calculating speed departure, residue
Flight time DT, pitch program angle and yaw program angle refer specifically to:
Standard track velocity vector and actual track velocity vector are transformed under same reference frame, three coordinates are calculated
The velocity deviation amount in direction, according to the velocity deviation amount of three coordinate directions calculate residual non-uniformity DT, pitch program angle and
Yaw program angle.
7. entering orbit control method using the matched spacecraft orbit of space vector as described in claim 1, which is characterized in that step
It is rapid 5) described in utilize pitch program angle, yaw program angle and the residual non-uniformity DT of above-mentioned calculating to carry out gesture stability and pass
Machine control refers specifically to:
If residual non-uniformity DT≤△ T, guidance system stops calculating, the residual non-uniformity DT calculated according to last time
And after the completion of corresponding pitch program angle, yaw program angle flight, close engine；
If residual non-uniformity DT > △ T, return step 1), the guidance for carrying out next cycle calculates.
8. entering orbit control method using the matched spacecraft orbit of space vector as claimed in claim 7, it is characterised in that:
Initialization spacecraft state parameter, interpolation calculation, residual non-uniformity DT, pitching journey are both needed in the period that each guidance calculates
The calculating at sequence angle and yaw program angle, and carry out gesture stability and shutdown control.
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| CN201811289789.1A CN109484675B (en) | 2018-10-31 | 2018-10-31 | Spacecraft orbit-in control method by utilizing space vector matching |
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Cited By (3)
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| CN110510155A (en) * | 2019-09-02 | 2019-11-29 | 北京深蓝航天科技有限公司 | In the landing guidance method and the system comprising this method, memory of line interation |
| CN110979737A (en) * | 2019-10-29 | 2020-04-10 | 北京星际荣耀空间科技有限公司 | Method and device for determining power-off time of carrier rocket and carrier rocket |
| CN111881514A (en) * | 2020-07-16 | 2020-11-03 | 北京航天自动控制研究所 | Guidance reconstruction method under engine fault state |
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Cited By (4)
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| CN110510155A (en) * | 2019-09-02 | 2019-11-29 | 北京深蓝航天科技有限公司 | In the landing guidance method and the system comprising this method, memory of line interation |
| CN110979737A (en) * | 2019-10-29 | 2020-04-10 | 北京星际荣耀空间科技有限公司 | Method and device for determining power-off time of carrier rocket and carrier rocket |
| CN111881514A (en) * | 2020-07-16 | 2020-11-03 | 北京航天自动控制研究所 | Guidance reconstruction method under engine fault state |
| CN111881514B (en) * | 2020-07-16 | 2024-04-05 | 北京航天自动控制研究所 | Guidance reconstruction method under engine fault state |
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