CN110758775A - Multi-pulse area hovering method based on asteroid surface observation - Google Patents
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Abstract
The invention relates to a multi-pulse area hovering method based on asteroid surface observation, and belongs to the technical field of aerospace. The invention discloses a multi-pulse area hovering method based on asteroid surface observation, which considers the asteroid irregular attraction and the sunlight pressure perturbation and designs a hovering orbit meeting the constraint of the asteroid surface hovering area based on a targeting method; the fuel consumption optimization is used as a performance index, and the obtained hovering track has the minimum total speed increment under the constraint of specific correction duration; the method has the advantages of small required speed increment, less pulse applying times, wide application range and capability of meeting hovering area constraints of different sizes, and is suitable for hovering orbit design under the constraint condition of the hovering area on the surface of the asteroid.
Description
Technical Field
The invention relates to a multi-pulse region hovering method based on asteroid surface observation, in particular to a multi-pulse region hovering method considering initial state errors and asteroid irregular gravity influence, belongs to the technical field of aerospace, and is suitable for multi-pulse region hovering orbit design of a detector under the constraint of a certain range on the asteroid surface.
Background
Asteroid surface hovering detection is a very important stage for observing the asteroid surface, and hovering detection means that a detector detects on an orbit, the relative position of which with a target asteroid is kept unchanged or the detector moves only in a very small range. Considering that a strict fixed-point observation position is not required for an actual observation task, the regional hovering application prospect of the asteroid surface is wide and easy to realize. In the hovering detection stage, the detector utilizes the infrared camera to determine the surface temperature of the asteroid, the detector is ensured to safely operate in a close range of the asteroid, the characteristic points on the surface of the asteroid are observed in detail, and the hovering orbit design is crucial in order to ensure the safety and the observation effect of the detector in the hovering detection task execution process.
The design of the regional hovering orbit in the prior art [1 ] (see Zhou Hai Pan. regional relative hovering orbit design and control [ J ]. Nanyang institute of technology academy of technology, 2015) proposes an orbit optimization design method for realizing relative hovering by using single-pulse control, which can realize the design of a single-pulse hovering orbit from a boundary to a boundary in a specified hovering area, but has a maximum flight time limit during relative motion between any two points in the area, and a detector moves without a reference point in the hovering area.
In the prior art [ 2 ] (see the president of paniculate swallowwort root, the same family of information, the korean tide, and the like. J ] relative motion control simulation research on continuous low-thrust hovering configuration [ J ]. computer simulation, 2019), a control strategy for realizing hovering by using multiple continuous constant low-thrust is provided, a constant-thrust multi-arc-segment control strategy meeting regional hovering constraint is designed according to a Gaussian perturbation equation of an orbit element based on a relative motion model of the relative orbit element, the method can effectively realize regional hovering of a mission spacecraft relative to a target spacecraft, but the control time of the method in the hovering time accounts for more than half of the total time, the control thrust acceleration is too small, and the method is difficult to realize.
Disclosure of Invention
The invention aims to provide a multi-pulse region hovering method based on asteroid surface observation, which is based on a pulse control method, realizes the region hovering orbit design of a detector under the constraint of a certain range of the asteroid surface, and has the advantages of small required speed increment, less control times and easy realization of the method.
The purpose of the invention is realized by the following technical scheme:
the invention discloses a multi-pulse area hovering method based on asteroid surface observation, which comprises the following steps of:
the method comprises the following steps: and establishing a minor planet body coordinate system, and establishing a kinetic equation by considering the influence of the gravity of the minor planet and the sunlight pressure.
The centroid of the target asteroid is taken as the origin of coordinates, the equatorial plane of the asteroid is taken as an XY plane, the X axis points to the specific direction of the surface of the asteroid, the Z axis is in right-hand relation with the X axis and the Y axis, and the Z axis points upwards along the rotation axis of the asteroid.
The position vector of the detector under the asteroid system is rB＝[x,y,z]TVelocity vector is vB＝[vx,vy,vz]TThen, the motion equation of the detector under the asteroid system is as follows:
wherein x, y and z are three-axis position components of the detector under the minor planet body coordinate system respectively, and vx,vy,vzThe three-axis velocity components of the detector under the minor planet body coordinate system are respectively, omega is the minor planet self-rotation angular velocity vector, aastIs the minor planet gravitational acceleration vector of that position, aSRPThe acceleration vector is perturbed by the sunlight pressure on the detector.
And establishing a gravitational field of the small planet by adopting a polyhedral model. Then there isExpressing the equation of motion as a scalar can be derived:
wherein U is asteroid potential energy, aSRPx、aSRPyAnd aSRPzThe three-axis components of the sunlight pressure perturbation force in the minor planet body coordinate system are respectively.
Step two: selecting a center point of the hovering area according to the task requirement, wherein the center point is set as rtarDetermining the radius of the hovering area and the minimum hovering duration T with the radius of the hovering area being rhof。
In the hovering stage of the area based on the asteroid surface observation, the detector needs to investigate and screen target points of subsequent tasks such as landing sampling and the like, and the thermal infrared camera needs to be used for determining the asteroid surface temperature to ensure the operation safety of the detector in the asteroid close range, so the center point of the hovering area is generally selected to be above the most concerned position point of the asteroid surface in the task and is set as rtarThe size of the hovering area is determined by comprehensively considering factors such as the geographic environment near a target point, the height of the detector from the asteroid surface, the size of the angle of view of a camera carried by the detector and the like according to task requirements, the hovering area is generally selected to be ten meters to hundred meters, and if the radius of the hovering area of the asteroid surface is determined to be rho, the movable range of the detector is determined to be centered at rtarA sphere of radius p, which can be expressed as
|rB-rtar|≤ρ (4)
Hovering duration T required by detector at taskfThe internal demand time meets the space position requirement determined by the above formula.
Step three: giving the initial speed of the detector, and integrating the initial speed to the boundary of the hovering area in the minor planet body coordinate system kinetic equation from the center position of the hovering area to obtain the initial correction time t11And a corresponding pre-correction state X (t)11)。
Given the initial time t of the detector0Velocity v at target location point 00＝[vx0,vy0,vz0]Then the initial state of the detector is X0＝[rtar,v0]', the dynamic equation in the minor planet body coordinate system based on the initial stateThe distance rho between the position of the detector and the central point of the target hovering area is calculated in real time by integrationt. Influenced by the relative speed of the initial hovering point and the irregular gravitational field of the asteroid, the detector gradually deviates from the central point of the hovering area, possibly reaches the boundary of the hovering area along with the time, and is set at the moment t11The detector drifts to the hover region boundary for the first time, at which time ptRho, and the state before detector correction is denoted as X (t)11)。
Step four: after the boundary of the hovering area is reached for the first time, the correction transfer time is given, pulse control is applied by adopting a targeting method, the minimum speed increment is taken as a performance index, the boundary correction pulse with the optimal fuel consumption is determined, and the detector reaches the central position of the hovering area.
The detector state at the boundary is X (t)11) Giving a corrected transfer time tmAnd correcting the pulse maneuver Deltav, the corrected terminal state r of the detector can be obtainedf1。
The pulse correction orbit is designed by adopting a targeting method, and a targeting equation of the regional hovering problem based on asteroid surface observation is established as
F＝rf1-rtar(5)
At this time, the correction problem is converted into a solution problem of a nonlinear equation system, and the detector is expected to be at the moment t1＝t11+tmReacquires the hover region center position rtar. Meanwhile, considering the limitation of propellant carried by the detector, the optimal fuel consumption is selected as a performance index, namely, the pulse motor with the minimum speed increment is selected as a control correction amount under the condition of sufficient target hitting times, and the pulse motor is recorded as delta v1。
Step five: and repeating the third step and the fourth step, and determining the time from the center point to the boundary of the hovering area and the pulse maneuver.
The first pulse modification makes the detector at t1＝t11+tmThe moment of time reaches the hovering area center point r from the hovering area boundarytarWhen the detector state is marked as X (t)1)＝[rtar,v1]. At this time | v1|≠0，There is still a relative velocity of the detector and the asteroid and therefore will continue to deviate from the desired hover point, and when the hover region boundary is reached again, the next correction pulse is applied using the targeting method.
Recording the ith slave hovering area center position rtarThe time length for reaching the boundary of the hovering area is ti1I-th arrival at rtarAt a time tiI-th time from hover region boundary back to rtarThe desired pulse maneuver is Δ vi。
Step six: and determining the required number of pulse maneuvers to be applied and the corresponding optimal total pulse speed increment size according to the minimum required hovering duration of the task.
First i times when the detector reaches the center point r of the hovering areatarIs ti
The task requires a hover time period of TfWhen t isi-1＜TfAnd t isi＞TfWhen the region hovers to meet the task requirement, the total speed increment required by the region hovering is
And obtaining the region hovering orbit based on the asteroid surface observation.
The invention discloses a multi-pulse area hovering method based on asteroid surface observation, which considers the asteroid irregular attraction and the sunlight pressure perturbation and designs a hovering orbit meeting the constraint of the asteroid surface hovering area based on a targeting method. And the fuel consumption optimization is taken as a performance index, and the obtained hovering track has the minimum total speed increment under the constraint of specific correction duration. The method has the advantages of small required speed increment, less pulse applying times, wide application range and capability of meeting hovering area constraints of different sizes, and is suitable for hovering orbit design under the constraint condition of the hovering area on the surface of the asteroid.
Has the advantages that:
1. according to the multi-pulse area hovering method based on asteroid surface observation disclosed by the invention, because only whether the position of the detector reaches the boundary of the hovering area is judged, and only the pulse speed increment is applied to the boundary to correct the orbit, the required engine switching times are less, and the hovering area constraints with different radiuses can be met.
2. The invention discloses a multi-pulse area hovering method based on asteroid surface observation, which is characterized in that a pulse correction orbit with the minimum speed increment is obtained by using a targeting method when the hovering area boundary is reached every time, so that the total speed increment required by the method is small.
3. The invention discloses a multi-pulse area hovering method based on asteroid surface observation, which considers asteroid irregular shape gravitational perturbation and sunlight pressure perturbation and uses a targeting method to enable a detector to reach the center point of a hovering area for many times, so that the method has wide application range.
Drawings
FIG. 1 is a flow chart of a multi-pulse region hovering method based on asteroid surface observation according to the present invention;
FIG. 2 is a schematic design diagram of a multi-pulse region hovering method based on asteroid surface observation according to the present invention;
FIG. 3 is a three-dimensional diagram of a multi-pulse region hovering orbit of the present invention based on asteroid surface observation;
FIG. 4 is an XY plane diagram of a five-region hovering orbit of the multi-pulse region hovering method based on asteroid surface observation according to the present invention;
FIG. 5 is a graph showing the distance variation from the center position of a detector in the hovering process in the step five of the multi-pulse area hovering method based on the asteroid surface observation in the invention.
Detailed Description
For a better understanding of the objects and advantages of the present invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
Example 1:
as shown in fig. 1, the multi-pulse area hovering method based on asteroid surface observation disclosed by the present invention, taking asteroid Nereus as an example, gives the following examples including the following steps:
the method comprises the following steps: and establishing a minor planet body coordinate system, and establishing a kinetic equation by considering the influence of the gravity of the minor planet and the sunlight pressure.
The mass center of the asteroid Nereus is taken as the origin of coordinates, the equatorial plane of the Nereus is taken as an XY plane, the X axis points to the position point on the equator which is farthest away from the mass center of the asteroid, and the Z axis, the X axis and the Y axis are in a right-hand relationship and point upwards along the rotation axis of the Nereus.
Let the position vector of the detector under the minor planet Nereus system be rB＝[x,y,z]TVelocity vector is vB＝[vx,vy,vz]TAnd the motion equation of the detector under the asteroid Nereus system is as follows:
where ω is the asteroid Nereus rotation angular velocity vector, aastIs the minor planet gravitational acceleration vector of that position, aSRPThe acceleration is perturbed by the sunlight pressure on the detector.
And establishing a gravitational field of the minor planet Nereus by adopting a polyhedral model. Then there is
Expressing the equation of motion as a scalar can be derived:
wherein, aSRPx、aSRPyAnd aSRPzThe three-axis components of the sunlight pressure perturbation force in the minor planet Nereus body coordinate system are respectively.
Selecting a pendant according to task requirementsA center point of the parking area, the center point is rtarDetermining the radius of the hovering area and the minimum hovering duration T with the radius of the hovering area being rhof。
In the hovering stage of the asteroid Nereus surface area, the detector needs to investigate and screen target points of subsequent tasks such as landing sampling and the like, and the surface temperature of the asteroid needs to be determined by utilizing a thermal infrared camera to ensure the operation safety of the detector in the short-distance range of the asteroid, wherein the central point of the hovering area is selected to be above the landing point of the asteroid surface and is selected to be rtar＝[1.5,1.8,1.2]km, radius of hovering area ρ 200m, the movable range of the detector is determined as being centered at rtarA sphere of radius p, which can be expressed as
|rB-rtar|≤ρ (4)
Hovering duration T required by detector at taskfThe space position requirement determined by the above formula is satisfied at the moment of need within 2 h.
Step three: giving the initial speed of the detector, and integrating the initial speed to the boundary of the hovering area in the minor planet body coordinate system kinetic equation from the center position of the hovering area to obtain the initial correction time t11And a corresponding pre-correction state X (t)11)。
Given the initial time t of the detector0Speed deviation v at target position point of 00＝[0.05,0.02,-0.03]m/s, then the initial state of the detector is X0＝[rtar,v0]' integrating the initial state in a minor planet body coordinate system kinetic equation, and calculating the distance rho between the position of the detector and the central point of the target hovering area in real timet. Influenced by the state error of the initial hovering point and the irregular gravitational field of the asteroid, the detector gradually deviates from the central point of the hovering area and possibly reaches the boundary of the hovering area along with the time, and at the moment t111201.5s the first time the detector drifts to the hover region boundary, at which time ρtρ 200m, and the detector state X (t)11)＝[1.67669,1.88623,1.16332,2.57e-04,1.01e-04,-3.1e-05]。
Step four: after the boundary of the hovering area is reached for the first time, the correction transfer time is given, pulse control is applied by adopting a targeting method, the minimum speed increment is taken as a performance index, the boundary correction pulse with the optimal fuel consumption is determined, and the detector reaches the central position of the hovering area.
The detector state at the boundary is X (t)11) Giving a corrected transfer time tm1000s and a corrected pulse maneuver initial value Δ v ═ 1,1]m/s, the corrected terminal state r of the detector can be obtainedf1。
The pulse correction orbit is designed by adopting a target practice method, and a target practice equation for the problem of hovering of the surface area of the asteroid Nereus is established as
F＝rf1-rtar(5)
At this time, the correction problem is converted into a solution problem of a nonlinear equation system, and the detector is expected to be at the moment t1＝t11+tm2201.5s again reaches the hover region center position rtar＝[1.5,1.8,1.2]And km. Meanwhile, considering the limitation of propellant carried by the detector, the optimal fuel consumption is selected as a performance index, namely, the pulse motor with the minimum speed increment is selected as a control correction quantity under the condition of sufficient target hitting times, and the first minimum speed pulse is obtained as delta v1＝[-0.510,-0.024,0.019]m/s。
Step five: and repeating the third step and the fourth step, and determining the time from the center point to the boundary of the hovering area and the pulse maneuver.
The first pulse modification makes the detector at t1＝t11+tmTime instant 2201.5s from the hovering area boundary to the hovering area center point rtar＝[1.5,1.8,1.2]km, in which the detector state is denoted X (t)1)＝[rtar,v1]. At this time | v1If | not equal to 0, the detector and the minor planet Nereus still have relative speeds and therefore will continue to deviate from the desired hover point, and when the hover region boundary is reached again, the next correction pulse is applied using the targeting method.
Recording the ith slave hovering area center position rtarThe time length for reaching the boundary of the hovering area is ti1I-th arrival at rtarAt a time tiI th time from the suspensionStopping zone boundary back to rtarThe optimum velocity pulse required is Δ vi。
Step six: and determining the required number of pulse maneuvers to be applied and the corresponding optimal total pulse speed increment size according to the minimum required hovering duration of the task.
The first 4 times that the detector reaches the center point r of the hovering areatar＝[1.5,1.8,1.2]The total duration of km is t3
The task requires a hover time period of Tf＝2h，t3＜TfAnd t is4＞TfWhen the region hovers to meet the task requirement, the total speed increment required by the region hovering is
The parameters for each pulse modification are shown in table 1.
TABLE 1 parameters for pulse correction per time
| Number of maneuvers | Time (h) | x(m/s) | y(m/s) | z(m/s) | Maneuver size (m/s) |
| 1 | 0.334 | -0.463 | -0.319 | 0.068 | 0.566 |
| 2 | 0.967 | -0.139 | -0.512 | -0.080 | 0.537 |
| 3 | 1.729 | -0.461 | -0.118 | 0.130 | 0.493 |
Fig. 3 and 4 show three-dimensional and XY plan views of the hovering orbit of the region satisfying the task constraint and having the minimum total velocity increment, and fig. 5 shows a distance change curve between a detector and the center point of the hovering region in the region hovering process, so that it can be seen that the multi-pulse region hovering method based on asteroid surface observation disclosed by the invention has strong reliability, the designed hovering orbit is smooth, and the convergence of the design method is good.
The above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (1)
1. A multi-pulse area hovering method based on asteroid surface observation comprises the following steps:
the method comprises the following steps: establishing a minor planet body coordinate system, and establishing a kinetic equation by considering the influence of the gravity of the minor planet and the sunlight pressure;
the centroid of the target asteroid is taken as the origin of coordinates, the equatorial plane of the asteroid is taken as an XY plane, the X axis points to the specific direction of the surface of the asteroid, the Z axis is in right-hand relation with the X axis and the Y axis, and the Z axis points upwards along the rotation axis of the asteroid; the position vector of the detector under the asteroid system is rB＝[x,y,z]TVelocity vector is vB＝[vx,vy,vz]TThen, the motion equation of the detector under the asteroid system is as follows:
wherein x, y and z are three-axis position components of the detector under the minor planet body coordinate system respectively, and vx,vy,vzThe three-axis velocity components of the detector under the minor planet body coordinate system are respectively, omega is the minor planet self-rotation angular velocity vector, aastIs the minor planet gravitational acceleration vector of that position, aSRPPerturbing an acceleration vector for sunlight pressure received by a detector;
establishing a gravitational field of a small planet by adopting a polyhedral model; then there is
Expressing the equation of motion as a scalar:
wherein U is asteroid potential energy, aSRPx、aSRPyAnd aSRPzAre respectively provided withThe three-axis component of the sunlight pressure perturbation force in the minor planet body coordinate system is shown;
step two: selecting a center point of the hovering area according to the task requirement, wherein the center point is set as rtarDetermining the radius of the hovering area and the minimum hovering duration T with the radius of the hovering area being rhof；
In the hovering stage of the area based on the asteroid surface observation, the detector needs to investigate and screen target points of subsequent tasks such as landing sampling and the like, and the thermal infrared camera needs to be used for determining the asteroid surface temperature to ensure the operation safety of the detector in the asteroid close range, so the center point of the hovering area is generally selected to be above the most concerned position point of the asteroid surface in the task and is set as rtarThe size of the hovering area is determined by comprehensively considering factors such as the geographic environment near a target point, the height of the detector from the asteroid surface, the size of the angle of view of a camera carried by the detector and the like according to task requirements, the hovering area is generally selected to be ten meters to hundred meters, and if the radius of the hovering area of the asteroid surface is determined to be rho, the movable range of the detector is determined to be centered at rtarA sphere of radius ρ, denoted rB-rtar|≤ρ (4)
Hovering duration T required by detector at taskfThe internal demand time meets the space position requirement determined by the formula;
step three: giving the initial speed of the detector, and integrating the initial speed to the boundary of the hovering area in the minor planet body coordinate system kinetic equation from the center position of the hovering area to obtain the initial correction time t11And a corresponding pre-correction state X (t)11)；
Given the initial time t of the detector0Velocity v at target location point 00＝[vx0,vy0,vz0]Then the initial state of the detector is X0＝[rtar,v0]' integrating the initial state in a minor planet body coordinate system kinetic equation, and calculating the distance rho between the position of the detector and the central point of the target hovering area in real timet(ii) a Influenced by the existence of relative speed at initial hovering point and the irregular gravitational field of asteroidWill gradually deviate from the center point of the hovering area and reach the boundary of the hovering area along with the time, which is set at the moment t11The detector drifts to the hover region boundary for the first time, at which time ptRho, and the state before detector correction is denoted as X (t)11)；
Step four: after the boundary of the hovering area is reached for the first time, giving correction transfer time, applying pulse control by adopting a targeting method, determining a boundary correction pulse with optimal fuel consumption by taking the minimum speed increment as a performance index, and enabling the detector to reach the central position of the hovering area;
the detector state at the boundary is X (t)11) Giving a corrected transfer time tmAnd correcting the pulse maneuver Deltav to obtain the corrected terminal state r of the detectorf1；
The pulse correction orbit is designed by adopting a targeting method, and a targeting equation of the regional hovering problem based on asteroid surface observation is established as
F＝rf1-rtar(5)
At this time, the correction problem is converted into a solution problem of a nonlinear equation system, and the detector is expected to be at the moment t1＝t11+tmReacquires the hover region center position rtar(ii) a Meanwhile, considering the limitation of propellant carried by the detector, the optimal fuel consumption is selected as a performance index, namely, the pulse motor with the minimum speed increment is selected as a control correction amount under the condition of sufficient target hitting times, and the pulse motor is recorded as delta v1；
Step five: repeating the third step and the fourth step, and determining the time from the center point to the boundary of the hovering area and the pulse maneuver each time;
the first pulse modification makes the detector at t1＝t11+tmThe moment of time reaches the hovering area center point r from the hovering area boundarytarWhen the detector state is marked as X (t)1)＝[rtar,v1](ii) a At this time | v1If | ≠ 0, the detector and the asteroid still have relative speed, so that the detector can continuously deviate from the expected suspension point, and when the boundary of the hovering area is reached again, the next correction pulse is applied by using a targeting method;
remember the ith fromHovering area center position rtarThe time length for reaching the boundary of the hovering area is ti1I-th arrival at rtarAt a time tiI-th time from hover region boundary back to rtarThe desired pulse maneuver is Δ vi；
Step six: determining the number of times of pulse maneuvers required to be applied and the corresponding optimal total pulse speed increment according to the minimum hovering duration required by the task;
first i times when the detector reaches the center point r of the hovering areatarIs ti
The task requires a hover time period of TfWhen t isi-1＜TfAnd t isi＞TfWhen the region hovers to meet the task requirement, the total speed increment required by the region hovering is
And obtaining the region hovering orbit based on the asteroid surface observation.
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