CN109765926B - Method, system and device for accurately controlling ascension point and right ascension channel - Google Patents
Method, system and device for accurately controlling ascension point and right ascension channel Download PDFInfo
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Abstract
The invention is suitable for the technical field of satellite launching, and provides a method, a system and a device for accurately controlling the ascension crossing point of a rising intersection point, wherein the control method comprises the steps of acquiring current parameter information of a satellite in real time, wherein the current parameter information comprises a current position, a current speed, a current pitch angle, a current yaw angle, current startup remaining time of a final booster, a current pitch angle change rate and a current yaw angle change rate; judging whether the current starting residual time of the final booster is less than or equal to the preset time or not; if not, calculating correction values of a pitch angle, a yaw angle, the starting residual time of the final booster, the pitch angle change rate and the yaw angle change rate of the satellite according to the acquired current parameter information, and correcting corresponding parameters of the satellite by using the calculated correction values; and if so, keeping the parameters of the satellite unchanged until the final booster is shut down. The control method is simple in implementation process, short in time, low in risk and good in reliability, and the booster cannot be started or stopped.
Description
Technical Field
The invention belongs to the technical field of satellite emission, and particularly relates to a method and a system for accurately controlling a ascension point right ascension.
Background
The satellite is generally mounted on a launch vehicle to launch a human carrier to a predetermined orbit to allow the satellite to perform a predetermined task on the predetermined orbit. The carrier rocket is composed of 2-4 stages of rockets, each stage of the carrier rocket comprises a rocket body structure, a propulsion system and a flight control system, and when the carrier rocket is launched, the satellite can change the running state of the satellite through regulating and controlling the running parameters of each stage of the rocket, such as acceleration, deceleration and the like.
The rising-point right ascension is an important parameter describing a predetermined orbit of the satellite, and the rising-point right ascension deviation is a parameter indicating that the satellite deviates from the predetermined orbit. In the process of satellite launching, how to ensure accurate satellite orbit entering is the key point, namely the right ascension at the ascending intersection point needs to be accurately controlled.
In the prior art, for a scheme of using a liquid rocket to carry a satellite, a last-stage liquid rocket is started and stopped for multiple times to accurately control the rising point right ascension so as to accurately enter the satellite into orbit, and the whole implementation process is complex, long in time, high in risk and poor in reliability.
Disclosure of Invention
The embodiment of the invention provides a method for accurately controlling a rising intersection right ascension, and aims to solve the problem that the reliability of the accurate control of the rising intersection right ascension in the prior art is poor.
The embodiment of the invention is realized in such a way that a method for accurately controlling the ascension point right ascension comprises the following steps:
acquiring current parameter information of the satellite in real time, wherein the current parameter information comprises a current position, a current speed, a current pitch angle, a current yaw angle, current starting residual time of a final booster, a current pitch angle change rate and a current yaw angle change rate;
judging whether the current starting residual time of the final booster is less than or equal to the preset time or not;
if not, calculating correction values of a pitch angle, a yaw angle, the starting residual time of the final booster, the change rate of the pitch angle and the change rate of the yaw angle of the satellite according to the acquired current parameter information and preset satellite orbit entering parameters, and correcting corresponding parameters of the final booster by using the calculated correction values;
if so, keeping the parameters of the final booster unchanged until the final booster is shut down.
Further, the step of calculating corrections of the pitch angle, the yaw angle, the power-on remaining time of the final booster, the pitch angle change rate and the yaw angle change rate of the satellite according to the acquired current parameter information and a preset satellite orbit entering parameter includes:
calculating the target position and the target speed of the satellite when the final booster is shut down according to the acquired current parameter information;
calculating target parameter information of the satellite on the target position according to the target position and the target speed, wherein the target parameter information comprises a geocentric radial, an absolute speed, a local ballistic inclination angle, an orbit inclination angle and a rising intersection right ascension;
calculating the difference values of the geocentric radial, the absolute speed, the local ballistic inclination angle, the orbit inclination angle and the ascension point right ascension with corresponding preset standard values respectively to obtain the deviation values of the geocentric radial, the absolute speed, the local ballistic inclination angle, the orbit inclination angle and the ascension point right ascension; the preset standard value is the preset satellite orbit entering parameter;
and calculating a partial derivative of the target parameter information relative to the current parameter information, and calculating correction quantities of a pitch angle, a yaw angle, the boot residual time of the final booster, a pitch angle change rate and a yaw angle change rate of the satellite according to the calculated deviation quantity and the calculated partial derivative.
Further, the current position, the current speed, the target position, and the target speed are parameter information in the inertial measurement system.
Further, after the step of calculating the target position and the target velocity of the satellite when the final booster is turned off according to the acquired current parameter information, the method further includes:
and converting the target position and the target speed from the inertia system to parameter information under a J2000 system.
Further, the preset time is 3 s.
Further, the final booster uses liquid fuel.
Further, the step of calculating the partial derivative of the target parameter information with respect to the current parameter information comprises:
sequentially calculating the geocentric vector R, the absolute velocity V, the local trajectory inclination angle theta, the track inclination angle i and the ascent point right ascension omega relative to the current pitch angle
The current yaw angle psi40The current starting residual time T of the final booster4The current pitch angle rate of change
And the current yaw rate
Partial derivatives of (a).
Further, the formula for calculating the correction amounts of the pitch angle, the yaw angle, the power-on remaining time of the final booster, the pitch angle change rate and the yaw angle change rate of the satellite according to the calculated deviation amount and the calculated partial derivative is as follows:
wherein Dphi is a correction amount of a pitch angle of the satellite, Dpusi is a correction amount of a yaw angle of the satellite, DDT is a correction amount of a boot remaining time of the final booster, Dphip is a correction amount of a pitch angle change rate of the satellite, Dpusip is a correction amount of a yaw angle change rate of the satellite, Rbz-RpIs the amount of deviation of the earth's center radial from its nominal value, Vbz-VpIs the amount of deviation of the absolute velocity from its standard value, θbz-θpDeviation amount of the local ballistic inclination angle from its standard value, ibz-ipIs the deviation of the track inclination from its standard value, Ωbz-ΩpIs the deviation of the right ascension at the ascending intersection from the standard value thereof, and
The embodiment of the invention also provides a system for accurately controlling the ascension point right ascension, which comprises:
the parameter acquisition module is used for acquiring current parameter information of the satellite in real time, wherein the current parameter information comprises a current position, a current speed, a current pitch angle, a current yaw angle, current startup remaining time of a final booster, a current pitch angle change rate and a current yaw angle change rate;
the time judgment module is used for judging whether the current starting residual time of the final booster is less than or equal to the preset time;
the parameter correction module is used for calculating correction amounts of a pitch angle, a yaw angle, the start-up remaining time of the final booster, a pitch angle change rate and a yaw angle change rate of the satellite according to the acquired current parameter information and a preset satellite orbit entry parameter when judging that the current start-up remaining time of the final booster is not less than or equal to a preset time, and correcting corresponding parameters of the final booster by using the calculated correction amounts;
and the parameter maintaining module is used for maintaining the parameters of the final-stage booster unchanged until the final-stage booster is shut down when the current startup remaining time of the final-stage booster is judged to be less than or equal to the preset time.
The embodiment of the invention also provides an accurate control device for the ascending intersection right ascension, which comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein when the processor runs the computer program, the accurate control device for the ascending intersection right ascension executes the accurate control method for the ascending intersection right ascension.
An embodiment of the present invention further provides a storage medium, which stores a computer program used in the above-mentioned device for accurately controlling a right ascension crossing point, where the computer program is executed by a processor to implement the above-mentioned method for accurately controlling a right ascension crossing point.
The invention achieves the following beneficial effects: in the process of satellite launching, correction values of a pitch angle, a yaw angle, the start-up remaining time of a final booster, the change rate of the pitch angle and the change rate of the yaw angle of the satellite are calculated continuously by using current parameter information of the satellite, the calculated correction values are used for correcting corresponding parameters of the satellite in real time, and when the start-up remaining time of the final booster is less than or equal to preset time, the parameters of the satellite are kept unchanged until the final booster is turned off, so that the right ascension at the ascending intersection point is accurately controlled, the satellite is accurately inserted into the orbit, meanwhile, the change rate of the yaw angle is taken as a correction object, and the right ascension at the ascending intersection point can be more accurately controlled on the premise that the change rate of the yaw angle is corrected, so that the method for accurately controlling the right ascension at the ascending intersection point has the advantages of simple implementation process, no phenomenon of starting and stopping the booster, short time and less risk, the reliability is good.
Drawings
FIG. 1 is a flow chart of a method for precisely controlling the ascension crossing point in one embodiment of the present invention;
FIG. 2 is a flow chart of a method for precisely controlling the ascension crossing point in the second embodiment of the present invention;
FIG. 3 is a block diagram of a system for precisely controlling the ascension intersection right ascension in the third embodiment of the present invention;
fig. 4 is a structural diagram of an apparatus for precisely controlling the ascension crossing point in the fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The existing scheme of using a liquid rocket to carry the satellite generally adopts a last-stage liquid rocket to start and stop for multiple times to realize the accurate orbit entering of the satellite, and has the disadvantages of complex realization process, long time, high risk and poor reliability. Therefore, an object of the present invention is to provide a method and a system for accurately controlling the right ascension at the intersection point, which continuously calculate the correction amount of the parameters during the satellite transmission process and correct the corresponding parameters of the satellite in real time, so as to reduce the time, difficulty and risk of the control of the orbit.
Example one
Referring to fig. 1, a method for precisely controlling a right ascension crossing point according to a first embodiment of the present invention includes steps S01 to S04.
And step S01, acquiring current parameter information of the satellite in real time, wherein the current parameter information comprises a current position, a current speed, a current pitch angle, a current yaw angle, current boot remaining time of the final booster, a current pitch angle change rate and a current yaw angle change rate.
In specific implementation, the precise control method for the right ascension at the ascent point can be started to be executed at the satellite launching moment or at a certain set time in the process of ascent, namely, the current parameter information of the satellite is started to be acquired in real time. The set time is set before the final booster is turned on, and the time from the turning off of the final booster must be longer than the preset time. It should be noted that the final booster is the last booster, and the booster is typically a launch vehicle. The final booster is turned on, meaning that the final booster is activated to continue carrying the satellite after the fuel of the front booster is exhausted. For example, if the satellite adopts a 4-stage carrier rocket, the 4 th-stage carrier rocket is the final booster, and after the 1-3 stages of carrier rockets are sequentially exhausted, the 4 th-stage carrier rocket is started.
It can be understood that, for parameter information such as the current position (navigation position), the current speed, the current pitch angle, the current yaw angle, the current power-on remaining time of the final booster, the current pitch angle change rate, the current yaw angle change rate, and the like, the corresponding sensors pre-installed on the satellite can be adopted to obtain the parameter information in real time. Meanwhile, because the satellite is still mounted on the carrier rocket in the process of executing the step, the current position can be the position for operating the rocket or the position of the satellite.
And step S02, judging whether the current starting residual time of the final booster is less than or equal to the preset time.
It is understood that the remaining time for starting the final booster is the remaining operation time of the final booster, also called the remaining fuel maintaining operation time, and if the remaining time for starting the final booster is 1 minute, the fuel of the final booster is exhausted and the final booster is shut down if the operation is continued for 1 minute according to the current parameters.
When the current power-on remaining time of the final booster is judged to be not less than the preset time, step S03 is executed, and when the current power-on remaining time of the final booster is judged to be not less than the preset time, step S04 is executed.
It should be noted that, in general, when the final-stage booster is required to be turned off, the satellite is in orbit, and if the current parameters of the satellite meet the requirement of accurate orbit entry within a preset time before the final-stage booster is turned off, the satellite can be accurately sent to a predetermined orbit by operating the current parameters, so that when the current power-on remaining time of the final-stage booster is less than or equal to the preset time, the current operating parameters of the final-stage booster only need to be maintained, and when the current power-on remaining time of the final-stage booster is not less than or equal to the preset time, the operating parameters of the final-stage booster need to be corrected in real time.
Step S03, calculating corrections of the pitch angle, the yaw angle, the boot remaining time of the final booster, the change rate of the pitch angle, and the change rate of the yaw angle of the satellite according to the acquired current parameter information and a preset satellite orbit entry parameter, and correcting the corresponding parameter of the final booster by using the calculated corrections.
It can be understood that the current position, the current speed, the current pitch angle, the current yaw angle, the current boot remaining time of the final booster, the current pitch angle change rate and the current yaw angle change rate directly reflect the current operating attitude of the satellite, so that the attitude of the satellite when the final booster is powered off can be calculated according to the current acquired parameter information, and the correction values of the pitch angle, the yaw angle, the pitch angle change rate and the yaw angle change rate of the satellite can be obtained by performing reverse thrust according to the comparison between the attitude and the satellite orbit entry parameter under the condition that the satellite orbit entry parameter (which can be preset) is known, and then the correction values are used for correcting the corresponding parameter of the final booster so that the final booster changes the operating parameter to correct the operating state of the satellite, for example, when the pitch angle of the satellite deviates from 10 °, the final-stage booster can change the air injection amount in the pitch direction to make the pitch angle of the satellite swing back by 10 ° in the opposite direction, so as to complete the correction, and after the operating parameters of the final-stage booster are changed, because the fuel consumption is changed, the remaining boot time of the final-stage booster is changed, so that the correction amount of the remaining boot time of the final-stage booster can be calculated according to the changed operating parameters, so as to redetermine the remaining boot time of the final-stage booster.
And step S04, keeping the parameters of the final booster unchanged until the final booster is shut down.
Wherein, the shutdown of the final booster means that the final booster is automatically shut down under the condition of fuel exhaustion.
In summary, in the method for accurately controlling the ascent point and ascent point right ascent meridian in this embodiment, in the satellite launching process, correction amounts of a pitch angle, a yaw angle, a power-on remaining time of a final booster, a change rate of the pitch angle and a change rate of the yaw angle of the satellite are calculated continuously by using current parameter information of the satellite, corresponding parameters of the satellite are corrected in real time by using the calculated correction amounts, and when the power-on remaining time of the final booster is less than or equal to a preset time, parameters of the satellite are kept unchanged until the final booster is powered off, so that the ascent point and ascent meridian is accurately controlled, and meanwhile, the method also incorporates the change rate of the yaw angle as a correction object, and the ascent point and ascent meridian can be more accurately controlled on the premise that the change rate of the yaw angle is corrected, so that the method for accurately controlling the ascent point and ascent meridian in the present invention has a simple implementation process, and the booster is not started or stopped, so that the time is short, the risk is low and the reliability is good.
Example two
Referring to fig. 2, a method for precisely controlling a right ascension crossing point according to a second embodiment of the present invention includes steps S11 to S19.
Step S11, acquiring the current parameter information of the satellite in real time, wherein the current parameter information comprises the current position, the current speed and the current pitch angle
Current yaw angle psi40The current starting residual time T of the final booster4Current pitch angle rate of change
And current yaw angle rate of change
And the current position and the current speed are parameter information under an inertial measurement system.
Step S12, judging the current power-on remaining time T of the final booster4Whether the time is less than or equal to the preset time.
In this embodiment, the predetermined time is 3s, the satellite is carried by a 4-stage carrier rocket, and the final booster is liquid fuel.
When the current power-on remaining time of the final booster is judged to be not less than the preset time, the steps S13 to S18 are executed, and when the current power-on remaining time of the final booster is judged to be not more than the preset time, the step S19 is executed.
Step S13, calculating a target position and a target velocity of the satellite when the final booster is turned off according to the acquired current parameter information.
It can be understood that, because the current parameter information directly reflects the current operating attitude of the satellite, the pose of the satellite when the satellite continues to operate to the final booster with the current parameter and is shut down, that is, the target position and the target speed when the satellite is shut down, can be calculated according to the currently acquired parameter information.
And step S14, converting the target position and the target speed from the inertia system to the parameter information under the J2000 system.
Since the current position and the current speed are parameter information in a primary inertial system, the target position and the target speed calculated according to the current position and the current speed are also parameter information in the primary inertial system, in order to facilitate subsequent operation, the target position and the target speed are converted from the primary inertial system to the parameter information in the J2000 system, and for specific conversion of coordinates, a coordinate conversion formula between the primary inertial system and the J2000 system can be used for conversion.
Step S15, calculating target parameter information of the satellite on the target position according to the target position and the target speed, wherein the target parameter information comprises a geocentric radial R, an absolute speed V, a local trajectory inclination angle theta, an orbit inclination angle i and a rising point right ascension omega.
Step S16, calculating differences between the centroid radius R, the absolute velocity V, the local trajectory inclination angle θ, the track inclination angle i, and the ascension point Ω and corresponding preset standard values, respectively, to obtain deviation amounts of the centroid radius R, the absolute velocity V, the local trajectory inclination angle θ, the track inclination angle i, and the ascension point Ω.
The preset standard value is a preset satellite orbit parameter and comprises a geocentric radial standard value RpAbsolute velocity standard value VpLocal trajectory inclination angle standard value thetapA track inclination angle standard value ipAnd the standard value omega of the right ascension of the intersection pointp。
Step S17, sequentially calculating the centroidal vector R, the absolute velocity V, the local trajectory inclination angle θ, the orbit inclination angle i, and the ascension point right angle Ω with respect to the current pitch angle
The current yaw angle psi40The current starting residual time T of the final booster4The current pitch angle rate of change
And the current yaw rate
Partial derivatives of (a).
Wherein, the 25 partial derivatives that need to be calculated in this step are respectively:
sagittal axis R and current pitch angle
Partial derivatives of
The sagittal axis R and the current yaw angle psi40Partial derivatives of
The earth center vector passes through R and the current starting residual time T4Partial derivatives of
Rate of change of sagittal axis R and current pitch angle
Partial derivatives of
Rate of change of vector of earth's center through R and current yaw angle
Partial derivatives of
Absolute velocity V and current pitch angle
Partial derivatives of
Absolute velocity V and current yaw angle psi40Partial derivatives of
Absolute speed V and current boot remaining time T4Partial derivatives of
Rate of change of absolute velocity V and current pitch angle
Partial derivatives of
Absolute velocity V and current yaw rate
Partial derivatives of
Local trajectory inclination angle theta and current pitch angle
Partial derivatives of
Local ballistic inclination angle theta and current yaw angle psi40Partial derivatives of
Local trajectory inclination angle theta and current startup remaining time T4Partial derivatives of
Rate of change of local trajectory inclination angle theta and current pitch angle
Partial derivatives ofNumber of
Local ballistic dip angle theta and current yaw rate
Partial derivatives of
Track inclination angle i and current pitch angle
Partial derivatives of
Track inclination angle i and current yaw angle psi40Partial derivatives of
Track inclination angle i and current startup remaining time T4Partial derivatives of
Rate of change of track inclination i and current pitch angle
Partial derivatives of
Track inclination angle i and current yaw rate
Partial derivatives of
And
elevation crossing right ascension omega and current pitch angle
Partial derivatives ofNumber of
Elevation crossing right ascension omega and current yaw angle psi40Partial derivatives of
Rising intersection right ascension omega and current boot remaining time T4Partial derivatives of
Rate of change of elevation crossing right ascension omega and current pitch angle
Partial derivatives of
Rate of change of elevation crossing right ascension channel omega and current yaw angle
Partial derivatives of
And step S18, calculating correction values of the pitch angle, the yaw angle, the boot residual time of the final booster, the change rate of the pitch angle and the change rate of the yaw angle of the satellite according to the calculated deviation amount and the calculated partial derivative, and correcting corresponding parameters of the final booster by using the calculated correction values.
Wherein, according to the calculated deviation amount and the calculated partial derivative, the formula for calculating the correction amounts of the pitch angle, the yaw angle of the satellite, the boot remaining time of the final booster, the change rate of the pitch angle and the change rate of the yaw angle is as follows:
wherein Dphi is the correction of the pitch angle of the satellite, and Dpusi is the correction of the satelliteA correction amount of yaw angle, DDT is a correction amount of a boot remaining time of the final booster, Dphip is a correction amount of a change rate of pitch angle of the satellite, Dpusip is a correction amount of a change rate of yaw angle of the satellite, Rbz-RpIs the amount of deviation of the earth's center radial from its nominal value, Vbz-VpIs the amount of deviation of the absolute velocity from its standard value, θbz-θpDeviation amount of the local ballistic inclination angle from its standard value, ibz-ipIs the deviation of the track inclination from its standard value, Ωbz-ΩpIs the deviation of the right ascension at the ascending intersection from the standard value thereof, and
And step S19, keeping the parameters of the final booster unchanged until the final booster is shut down.
EXAMPLE III
Referring to fig. 3, a system for accurately controlling a rising-crossing-point right ascension according to a third embodiment of the present invention is shown, and includes:
the parameter obtaining module 11 is configured to obtain current parameter information of the satellite in real time, where the current parameter information includes a current position, a current speed, a current pitch angle, a current yaw angle, a current boot remaining time of the final booster, a current pitch angle change rate, and a current yaw angle change rate;
the time judgment module 12 is configured to judge whether the current startup remaining time of the final booster is less than or equal to a preset time;
a parameter correction module 13, configured to calculate correction amounts of a pitch angle, a yaw angle, a boot remaining time of the final booster, a change rate of the pitch angle, and a change rate of the yaw angle of the satellite according to the acquired current parameter information and a preset satellite orbit entry parameter when it is determined that the current boot remaining time of the final booster is not less than a preset time, and correct corresponding parameters of the final booster by using the calculated correction amounts;
and the parameter maintaining module 14 is configured to maintain the parameters of the final-stage booster unchanged until the final-stage booster is turned off when it is determined that the current power-on remaining time of the final-stage booster is less than or equal to the preset time.
Furthermore, in this embodiment, the parameter correction module 13 may be further configured to calculate a target position and a target speed of the satellite when the final booster is turned off according to the obtained current parameter information; then, calculating target parameter information of the satellite on the target position according to the target position and the target speed, wherein the target parameter information comprises a geocentric radial, an absolute speed, a local ballistic inclination angle, an orbit inclination angle and a rising intersection right ascension; then respectively calculating the difference values of the geocentric vector diameter, the absolute speed, the local ballistic inclination angle, the orbit inclination angle and the ascent point with corresponding preset standard values to obtain deviation values of the geocentric vector diameter, the absolute speed, the local ballistic inclination angle, the orbit inclination angle and the ascent point; and finally, calculating a partial derivative of the target parameter information relative to the current parameter information, and calculating correction quantities of a pitch angle, a yaw angle, the starting residual time of the final booster, the pitch angle change rate and the yaw angle change rate of the satellite according to the calculated deviation quantity and the calculated partial derivative.
Wherein the current position, the current speed, the target position and the target speed are parameter information under an inertial measurement system.
Furthermore, in this embodiment, the parameter correction module 13 may be further configured to convert the target position and the target speed from the inertia system to the parameter information in the J2000 system, and then calculate the deviation, the partial derivative and the correction.
Wherein the preset time is 3 s.
Wherein, the final booster adopts liquid fuel.
Furthermore, in this embodiment, the parameter modification module 13 may further calculate the centroidal vector R, the absolute velocity V, the local trajectory inclination angle θ, the track inclination angle i, and the ascent point ascent Ω sequentially, and respectively correspond to the current pitch angle
The current yaw angle psi40The current starting residual time T of the final booster4The current pitch angle rate of change
And the current yaw rate
Partial derivatives of (a).
In this embodiment, the formula for calculating the correction amounts of the pitch angle, the yaw angle, the power-on remaining time of the final booster, the pitch angle change rate and the yaw angle change rate of the satellite according to the calculated deviation amount and the calculated partial derivative is as follows:
wherein Dphi is a correction amount of a pitch angle of the satellite, Dpusi is a correction amount of a yaw angle of the satellite, DDT is a correction amount of a boot remaining time of the final booster, Dphip is a correction amount of a pitch angle change rate of the satellite, Dpusip is a correction amount of a yaw angle change rate of the satellite, Rbz-RpIs the amount of deviation of the earth's center radial from its nominal value, Vbz-VpIs the amount of deviation of the absolute velocity from its standard value, θbz-θpDeviation amount of the local ballistic inclination angle from its standard value, ibz-ipIs the deviation of the track inclination from its standard value, Ωbz-ΩpIs the deviation of the right ascension at the ascending intersection from the standard value thereof, and
Example four
Referring to fig. 4, a precise control device for ascending intersection right ascension according to a fourth embodiment of the present invention includes a processor 10, a memory 20, and a computer program 30 stored in the memory and executable on the processor, where when the processor 10 executes the computer program 30, the precise control device for ascending intersection right ascension performs the precise control method for ascending intersection right ascension.
The present embodiment also provides a storage medium on which a computer program 30 used in the above-described apparatus for accurately controlling a ascension crossing point is stored, which program, when executed by a processor, implements the above-described method for accurately controlling a ascension crossing point.
The storage medium may be, but is not limited to, ROM/RAM, magnetic disk, optical disk, etc.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A method for accurately controlling the ascension crossing point right ascension channel comprises the following steps:
acquiring current parameter information of a satellite in real time, wherein the current parameter information comprises a current position, a current speed, a current pitch angle, a current yaw angle, current starting residual time of a final booster, a current pitch angle change rate and a current yaw angle change rate;
judging whether the current starting residual time of the final booster is less than or equal to the preset time or not;
if not, calculating correction values of a pitch angle, a yaw angle, the starting residual time of the final booster, the change rate of the pitch angle and the change rate of the yaw angle of the satellite according to the acquired current parameter information and preset satellite orbit entering parameters, and correcting corresponding parameters of the final booster by using the calculated correction values;
if so, keeping the parameters of the final booster unchanged until the final booster is shut down.
2. The method of claim 1, wherein the step of calculating corrections for the pitch angle, the yaw angle, the power-on remaining time of the final thrusters, the pitch angle change rate and the yaw angle change rate of the satellite according to the acquired current parameter information and the preset satellite orbit entering parameters comprises:
calculating the target position and the target speed of the satellite when the final booster is shut down according to the acquired current parameter information;
calculating target parameter information of the satellite on the target position according to the target position and the target speed, wherein the target parameter information comprises a geocentric radial, an absolute speed, a local ballistic inclination angle, an orbit inclination angle and a rising intersection right ascension;
calculating the difference values of the geocentric radial, the absolute speed, the local ballistic inclination angle, the orbit inclination angle and the ascension point right ascension with corresponding preset standard values respectively to obtain the deviation values of the geocentric radial, the absolute speed, the local ballistic inclination angle, the orbit inclination angle and the ascension point right ascension; the preset standard value is the preset satellite orbit entering parameter;
and calculating a partial derivative of the target parameter information relative to the current parameter information, and calculating correction quantities of a pitch angle, a yaw angle, the boot residual time of the final booster, a pitch angle change rate and a yaw angle change rate of the satellite according to the calculated deviation quantity and the calculated partial derivative.
3. The method as claimed in claim 2, wherein the current position, the current velocity, the target position and the target velocity are parameter information in the inertial system, and the method further comprises, after the step of calculating the target position and the target velocity of the satellite when the final booster is turned off according to the obtained current parameter information:
and converting the target position and the target speed from the inertia system to parameter information under a J2000 system.
4. The method for precisely controlling the ascension threshold at the intersection according to claim 1, wherein the predetermined time is 3 s.
5. The method for precisely controlling the ascension point right ascension according to claim 1, wherein the final booster uses a liquid fuel.
6. The method as claimed in claim 2, wherein the step of calculating the partial derivative of the target parameter information with respect to the current parameter information comprises:
sequentially calculating the geocentric vector R, the absolute velocity V, the local trajectory inclination angle theta, the track inclination angle i and the ascent point right ascension omega relative to the current pitch angle
The current yaw angle psi40The current starting residual time T of the final booster4The current pitch angle rate of change
And the current yaw rate
Partial derivatives of (a).
7. The method for accurately controlling the ascension point right ascension according to claim 6, wherein corrections of the pitch angle, the yaw angle, the power-on remaining time of the final thrusters, the pitch angle change rate and the yaw angle change rate of the satellite are calculated based on the calculated deviation amount and the calculated partial derivative according to the following formula:
wherein Dphi is a correction amount of a pitch angle of the satellite, Dpusi is a correction amount of a yaw angle of the satellite, DDT is a correction amount of a boot remaining time of the final booster, Dphip is a correction amount of a pitch angle change rate of the satellite, Dpusip is a correction amount of a yaw angle change rate of the satellite, Rbz-RpIs the amount of deviation of the earth's center radial from its nominal value, Vbz-VpIs the amount of deviation of the absolute velocity from its standard value, θbz-θpDeviation amount of the local ballistic inclination angle from its standard value, ibz-ipIs the deviation of the track inclination from its standard value, Ωbz-ΩpIs the deviation of the right ascension at the ascending intersection from the standard value thereof, and
and (4) forming an invertible matrix by all the calculated partial derivatives.
8. An accurate control system for ascending crossing right ascension, comprising:
the parameter acquisition module is used for acquiring current parameter information of the satellite in real time, wherein the current parameter information comprises a current position, a current speed, a current pitch angle, a current yaw angle, current startup remaining time of a final booster, a current pitch angle change rate and a current yaw angle change rate;
the time judgment module is used for judging whether the current starting residual time of the final booster is less than or equal to the preset time;
the parameter correction module is used for calculating correction amounts of a pitch angle, a yaw angle, the start-up remaining time of the final booster, a pitch angle change rate and a yaw angle change rate of the satellite according to the acquired current parameter information and a preset satellite orbit entry parameter when judging that the current start-up remaining time of the final booster is not less than or equal to a preset time, and correcting corresponding parameters of the final booster by using the calculated correction amounts;
and the parameter maintaining module is used for maintaining the parameters of the final-stage booster unchanged until the final-stage booster is shut down when the current startup remaining time of the final-stage booster is judged to be less than or equal to the preset time.
9. An apparatus for precisely controlling ascending-intersection right ascension, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the apparatus for precisely controlling ascending-intersection right ascension performs the method for precisely controlling ascending-intersection right ascension according to any one of claims 1 to 7.
10. A storage medium storing a computer program used in the apparatus for precisely controlling a rising-intersection right ascension according to claim 9, wherein the computer program is executed by a processor to implement the method for precisely controlling a rising-intersection right ascension according to any one of claims 1 to 7.
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