CN111679592A - Spacecraft pursuit and escape game closed-loop semi-physical simulation system and method - Google Patents
Spacecraft pursuit and escape game closed-loop semi-physical simulation system and method Download PDFInfo
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Abstract
The invention discloses a spacecraft escape pursuit game closed-loop semi-physical simulation system which comprises a relative measurement simulation subsystem, a satellite-borne GNC simulation subsystem, a closed-loop operation control subsystem and a relative kinematics simulation subsystem. According to the parallel simulation principle, the relative measurement simulation subsystem, the satellite-borne GNC simulation subsystem and the relative kinematics simulation subsystem form a parallel closed-loop operation overall system, so that the time synchronization relationship in simulation is more coordinated, the time delay is reduced, and the mutual influence among navigation, guidance and calculation loop sections can be reflected through the simulation result; the simulation system introduces a real measurement link, a guidance link and a satellite-borne calculation link, and is relatively pure mathematical simulation, so that the confidence coefficient is higher; compared with physical simulation, the method has low cost and simple implementation; in addition, the simulation system adopts independent parallelization processing for spacecraft orbit natural motion and pursuit game maneuver, so that the simulation is more vivid.
Description
Technical Field
The invention relates to the technical field of spacecraft orbit control, in particular to a spacecraft escape pursuit game closed-loop semi-physical simulation system and method.
Background
With the development and maturity of rendezvous and docking technology in major countries in the world, in-orbit spacecrafts in China currently face the threats of being approached, captured and even manipulated. Particularly, when both the spacecrafts can apply autonomous tracking maneuver or evading maneuver, a situation of space pursuing dynamic game can be formed. Under the background, the problem of the spacecraft pursuit and escape game also becomes a hotspot problem of academic research, and a series of navigation, guidance and control algorithms supporting the spacecraft to develop the orbit pursuit and escape game are correspondingly developed, and the algorithms comprise a non-cooperative target lateral angle relative navigation algorithm, an improved sight line guidance algorithm, a differential game guidance algorithm and the like. However, a set of experimental system for checking effectiveness of a spacecraft pursuit game navigation and guidance algorithm is still lacked at present, and particularly the experimental system capable of simulating the whole closed-loop process of the spacecraft pursuit game is capable of being used. Because the problem of spacecraft orbit pursuit is a complex process of comprehensive communication, navigation, control, calculation and movement, the cost, the risk and the period for carrying out pursuit game physical simulation in a real space environment are high, and a ground semi-physical simulation system is urgently needed for simulating a key navigation link, a guidance link, a satellite-borne calculation link and a formed closed loop process in a spacecraft pursuit game and testing the effect of a relevant core algorithm of the orbit pursuit game. However, no closed-loop semi-physical simulation system for spacecraft escape pursuit gaming is found in the prior published documents.
Disclosure of Invention
The invention provides a closed-loop semi-physical simulation system and method for a spacecraft pursuit and escape game, which are used for overcoming the defects that the prior art does not have a method for simulating keys in the spacecraft pursuit and escape game and detecting a core algorithm and the like.
In order to achieve the above object, the present invention provides a spacecraft pursuit escape game closed loop semi-physical simulation system, which comprises:
the relative measurement simulation subsystem is used for simulating a measurement environment in space and carrying out information acquisition on the escape spacecraft model and the tracking spacecraft model by a measurement means to obtain the relative state of the escape spacecraft model and the tracking spacecraft model, and transmitting the relative state to the satellite-borne GNC simulation subsystem and the closed-loop operation control subsystem; the relative state comprises the distance between the image and the escape spacecraft model and the distance between the escape spacecraft model and the tracking spacecraft model and the inclination angles of the escape spacecraft model and the tracking spacecraft model;
the satellite-borne GNC simulation subsystem is used for carrying out filtering iteration by using a navigation filtering algorithm according to the relative state to obtain six-dimensional state information including a relative position and a relative speed, obtaining control quantities of a tracking spacecraft model and an escape spacecraft model by using an pursuit game maneuvering algorithm according to the six-dimensional state information, converting the control quantities into a first control instruction and sending the first control instruction to the closed-loop operation control subsystem;
the closed-loop operation control subsystem is used for integrating the natural motion of the spacecraft orbit according to the relative state to generate a second control instruction, summing the first control instruction and the second control instruction to obtain a comprehensive instruction, resolving the comprehensive instruction to obtain a position speed, an attitude angle and an attitude angular speed of an escape spacecraft model and a tracking spacecraft model, and sending the position speed, the attitude angle and the attitude angular speed to the relative kinematics simulation subsystem;
the relative kinematics simulation subsystem is used for driving the escape spacecraft model and the tracking spacecraft model to move according to the position speed, the attitude angle and the attitude angular speed;
the closed-loop operation control subsystem is respectively in bidirectional electrical connection with the relative measurement simulation subsystem, the satellite-borne GNC simulation subsystem and the relative kinematics simulation subsystem, and the relative measurement simulation subsystem, the satellite-borne GNC simulation subsystem and the relative kinematics simulation subsystem form a parallel closed-loop operation integral system.
In order to achieve the purpose, the invention also provides a spacecraft pursuit escape game closed-loop semi-physical simulation method, which utilizes the spacecraft pursuit escape game closed-loop semi-physical simulation system to carry out simulation.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the spacecraft escape pursuit game closed-loop semi-physical simulation system provided by the invention, the relative measurement simulation subsystem, the satellite-borne GNC simulation subsystem and the relative kinematics simulation subsystem form a parallel closed-loop operation overall system according to a parallel simulation principle, so that the time synchronization relationship in simulation is more coordinated, the time delay is reduced, and the mutual influence among navigation, guidance and calculation loop sections can be reflected through a simulation result.
2. The spacecraft pursuit escape game closed-loop semi-physical simulation system provided by the invention introduces a real measurement link, a guidance link and a satellite-borne calculation link, and has higher confidence coefficient compared with pure mathematical simulation; compared with physical simulation, the method has low cost and simple implementation.
3. The spacecraft pursuit game closed-loop semi-physical simulation system provided by the invention adopts independent parallelization processing on the natural motion of the orbit of the spacecraft and the pursuit game maneuver, and can ensure that the spacecraft model can keep a free drifting state instead of stopping motion in the simulation by the parallelization design under the condition that no maneuver instruction or maneuver planning has time delay, and the simulation is more vivid because the spacecraft model is consistent with the actual space.
4. The spacecraft pursuit escape game closed-loop semi-physical simulation system provided by the invention can be well used for verifying a spacecraft navigation and guidance algorithm so as to carry out spacecraft pursuit escape game closed-loop semi-physical simulation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a general architecture diagram of a spacecraft pursuit escape game closed-loop semi-physical simulation system provided by the invention;
FIG. 2 is a schematic diagram of the spacecraft pursuit escape game closed-loop semi-physical simulation system provided by the invention;
FIG. 3 is a schematic diagram of closed-loop operation of a spacecraft pursuit escape game closed-loop semi-physical simulation system provided by the invention;
FIG. 4 is a block diagram of a nine degree of freedom relative motion platform;
FIG. 5 is a block diagram of an escape spacecraft model and a tracking spacecraft model employed in the present invention;
FIG. 6 is a diagram of the arrangement of marker points on the escape spacecraft model and the tracking spacecraft model according to the present invention;
FIG. 7 is a time synchronization relationship diagram of a measurement link, a motion link and a planning calculation link in the spacecraft pursuit escape game closed-loop semi-physical simulation system provided by the invention;
FIG. 8a is a graph showing the results of the R-bar relative distance filtering experiment in example 1;
FIG. 8b is a graph showing the results of the R-bar relative velocity filtering experiment in example 1;
FIG. 8c is a graph showing the results of the V-bar relative distance filtering experiment in example 1;
FIG. 8d is a graph showing the results of the V-bar relative velocity filtering experiment in example 1;
FIG. 8e is a graph showing the results of the H-bar relative distance filtering experiment in example 1;
FIG. 8f is a graph showing the results of the H-bar relative distance filtering experiment in example 1;
FIG. 9a is a graph showing the results of the game experiment for the relative distance R-bar in example 2;
FIG. 9b is a graph showing the results of the game experiment of the relative speed of R-bar in example 2;
FIG. 9c is a graph showing the results of the game experiment for the relative V-bar distance in example 2;
FIG. 9d is a graph showing the result of the game experiment of the V-bar relative velocity in embodiment 2;
FIG. 9e is a graph showing the results of the game experiment for the relative H-bar distance in example 2;
fig. 9f is a graph showing the results of the game experiment of the relative speed of H-bar in example 2.
Description of the symbols of the drawings: 1: a translational motor in X direction; 2: a Y-direction translation motor; 3: the escape simulation end rotates the motor around the Y axis; 4: tracking the simulation end to rotate the motor around the Y axis; 5: marking points; 51: far-field mark points; 52: and (4) marking points in the near field.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a spacecraft pursuit and escape game closed-loop semi-physical simulation system which utilizes a nine-degree-of-freedom relative motion platform of a laboratory to drive an escape spacecraft model and a tracking spacecraft model. The nine-degree-of-freedom relative motion platform is shown in figure 4, one end of the nine-degree-of-freedom relative motion platform is a tracking simulation end, a tracking spacecraft model is installed on the tracking simulation end, the translation of the X axis of the platform in relative motion is controlled, the maximum speed is 0.5m/s, and the maximum acceleration is 0.05m/s 2; the other end is an escape simulation end, a tracking spacecraft model is installed on the escape simulation end, the translation of a YOZ plane of the platform in relative motion is controlled, the maximum speed is 0.4m/s, and the maximum acceleration is 0.05m/s 2; in addition, the relative motion platform with nine degrees of freedom further comprises a guide rail, a motor, a communication cable, a base and the like. The nine-degree-of-freedom relative motion platform can provide position translation of 3 degrees of freedom and posture rotation of 3 degrees of freedom for tracking a spacecraft model and an escape spacecraft model, the allowed maximum rotation angle is +/-30 degrees, and the maximum rotation angular speed is 5 degrees/s.
The escaping spacecraft model and the tracking spacecraft model are both shown in fig. 5, and image acquisition equipment and measurement equipment are mounted on the escaping spacecraft model and the tracking spacecraft model, wherein the mounting positions of the image acquisition equipment are the central axes of the escaping spacecraft model and the tracking spacecraft model, the central line of the front bottom line and the central line of the front side line respectively.
When the distance between the tracking spacecraft model and the escaping spacecraft model is longer, the imaging of the target in the image acquisition equipment is a light spot or a bright spot; and when the distance is close, the target presents a general outline in the image acquisition device. Therefore, two sets of optical mark points are installed on the escaping spacecraft model, and are respectively suitable for the situations of a near field and a far field, as shown in fig. 6.
The invention provides a spacecraft pursuit escape game closed-loop semi-physical simulation system, as shown in figures 1-3, comprising:
(1) the relative measurement simulation subsystem is used for simulating a measurement environment in space and carrying out information acquisition on the escape spacecraft model and the tracking spacecraft model by a measurement means to obtain the relative state of the escape spacecraft model and the tracking spacecraft model, and transmitting the relative state to the satellite-borne GNC simulation subsystem and the closed-loop operation control subsystem; the relative state comprises the distance between the image and the escape spacecraft model and the distance between the escape spacecraft model and the tracking spacecraft model and the inclination angles of the escape spacecraft model and the tracking spacecraft model;
the images are acquired by image acquisition equipment arranged on the spacecraft model;
the distance between the escaping spacecraft model and the tracking spacecraft model is acquired by a laser range finder arranged on the spacecraft model;
the dip angles of the escape spacecraft model and the tracking spacecraft model are acquired by an angle measuring instrument arranged on the spacecraft model.
(2) The system comprises a satellite-borne GNC (navigation, guidance and control) simulation subsystem, a closed-loop operation control subsystem and a tracking and escaping spacecraft model simulation subsystem, wherein the satellite-borne GNC simulation subsystem is used for carrying out filtering iteration by using a navigation filtering algorithm according to a relative state to obtain six-dimensional state information including a relative position and a relative speed, obtaining the control quantity of the tracking spacecraft model and the escaping spacecraft model by using a pursuit game maneuvering algorithm according to the six-dimensional state information, converting the control quantity into a first control instruction and sending the first control instruction to the closed-loop operation control subsystem;
the control quantity is the variation quantity of the tracking spacecraft model and the escaping spacecraft model on the position speed, the attitude angle and the attitude angular speed.
The function of the satellite-borne GNC simulation subsystem is completed on a simulated satellite-borne machine, and the calculation in the satellite-borne GNC simulation subsystem is carried out on a chip of a satellite-borne computer.
(3) The closed-loop operation control subsystem is used for integrating the natural motion of the spacecraft orbit according to the relative state to generate a second control instruction, adding the first control instruction and the second control instruction to obtain a comprehensive instruction, resolving the comprehensive instruction to obtain the position velocity, attitude angle and attitude angular velocity of an escape spacecraft model and a tracking spacecraft model, and sending the position velocity, attitude angle and attitude angular velocity to the relative kinematics simulation subsystem;
the solution includes six-degree-of-freedom dynamics solution, attitude kinematics solution and relative motion solution.
(4) The relative kinematics simulation subsystem is used for driving the escape spacecraft model and the tracking spacecraft model to move according to the position speed, the attitude angle and the attitude angular speed;
the relative kinematics simulation subsystem mainly realizes the functions of the relative motion platform through nine degrees of freedom.
The closed-loop operation control subsystem is respectively in bidirectional electric connection with the relative measurement simulation subsystem, the satellite-borne GNC simulation subsystem and the relative kinematics simulation subsystem, and the relative measurement simulation subsystem, the satellite-borne GNC simulation subsystem and the relative kinematics simulation subsystem form a parallel closed-loop operation integral system.
In order to make the time synchronization relationship of each subsystem more coordinated in the simulation process and reduce the time delay, a measurement link, a motion link and a planning calculation link are mutually parallel when the whole system is designed and operated in a closed loop, and at tkNode to tk+1Fig. 7 shows a time synchronization relationship among the links in one frame of the node. At the same time, in order to make relative movement of nine degrees of freedomThe continuity of the platform motion is better, in a parallel simulation experiment, the simulation step length is set to be delta t, and the measurement period is set to be delta tzWith a period of movement Δ tmThe three should satisfy the following synchronization relationship: Δ t ≧ Δ tm＞＞ΔtzThe former inequality can take equal signs, and in order to ensure that the measurement data is close to the simulation node, the measurement frequency needs to be high enough relative to the simulation step length.
In one embodiment, the spacecraft pursuit-escape game closed-loop semi-physical simulation system further comprises a platform comprehensive monitoring subsystem for monitoring the closed-loop operation overall system.
The function of the platform comprehensive monitoring subsystem is to monitor simulation data, monitor video of a test site and display inversion of simulation motion of the nine-degree-of-freedom relative motion platform. The simulation data monitoring comprises the monitoring of simulation attitude data of a spacecraft model, the monitoring of simulation position data of the spacecraft model and the monitoring of simulation relative position and speed of the spacecraft model. When the simulation process is abnormal or exceeds the limit at any place, the platform comprehensive monitoring subsystem sends a stop instruction in time to terminate the simulation process.
In another embodiment, the relative measurement simulation subsystem includes an optical environment simulation module and a measurement module;
the optical environment simulation module is used for simulating an actual space environment comprising a starry sky background and a ground shadow shield; the simulation of the starry sky background needs to use static scene simulation of starry sky pictures, and meanwhile, LED light sources with different powers need to be used for simulating star brightness. For stars with large position dynamic changes, such as the sun, a movable light source is adopted for approximate simulation.
The measurement module is used for measuring the distance between the escaping spacecraft model and the tracking spacecraft model and the inclination angles of the escaping spacecraft model and the tracking spacecraft model in real time through the measurement equipment in the environment provided by the optical environment simulation module, and acquiring images of the escaping spacecraft model and the tracking spacecraft model in real time through the image acquisition equipment.
In this embodiment, the image capturing device is a camera with model a5131MG75, the resolution is 1280 × 1024, the frame rate is 75fps, the optical size is 1/2 ″, the pixel size is 4.8 μm, and the lens model is: MH 0620S. The effective focal length is 6mm, the relative aperture is F2.0, the horizontal field angle is 60.8 degrees, the vertical field angle is 42.7 degrees, the distortion rate is less than 0.1 percent, the minimum object distance is 0.1M, the interface is C-Mount, and the filter interface M is 25.5 multiplied by P0.5.
The measuring device comprises a laser range finder and an inclinometer. The laser range finder has the model of SLD-C30, the measuring range of 0.15m-30m, the measuring precision of 2mm and the output interface of RS 485. The type of an inclinometer in the measuring equipment is SCA126V, the measuring angle range is from-60 degrees to +60 degrees, the resolution is 0.01, the absolute accuracy is 0.08, the response time is 0.02S, and an output interface RS485 is adopted.
In a next embodiment, the on-board GNC simulation subsystem includes an image processing module, a navigation filtering module, and a maneuver planning module;
the image processing module is used for processing the image to obtain an angle measurement of the image acquisition equipment; the angle measurement is the angle when the image acquisition equipment acquires the image.
The navigation filtering module is used for carrying out filtering iteration by using a navigation filtering algorithm according to the angle measurement and the distance between the escape spacecraft model and the tracking spacecraft model to obtain six-dimensional state information including relative positions and relative speeds;
and the maneuvering planning module is used for acquiring the control quantity of the tracking spacecraft model and the escape spacecraft model by utilizing a pursuit game maneuvering algorithm according to the six-dimensional state information, converting the control quantity into a first control instruction and sending the first control instruction to the closed-loop operation control subsystem.
In this embodiment, the computation in the satellite-borne GNC simulation subsystem is performed on a chip of a satellite-borne computer, in this embodiment, a TMS320C6000 series DSP chip is used for data processing, the main frequency is 300MHZ, peripheral devices of the system are integrated on a PCB backplane, and the peripheral devices include an LCD interface (display terminal), an external extension (DSP extension slot), a program download and online debugging interface (JATG), a power interface, a network communication interface (Ethnernet), and a UART serial port.
In a certain embodiment, the image processing module processes the image, and the specific process of obtaining the angle measurement of the image acquisition device is as follows:
acquiring an image;
extracting a gray matrix of the image, searching a suspected mark point in the gray matrix, and matching the suspected mark point with an actual mark point to obtain a mark point position in the image;
and (4) solving the reverse geometric relation of the mark point positions according to the camera imaging principle to obtain the angle measurement of the image acquisition equipment. The calculation reversely obtains the angle measurement corresponding to the marker point in the image acquisition equipment through the corresponding proportional relation between the length and the width of the image and the field angle of the camera.
In a certain embodiment, the navigation filtering algorithm loaded in the navigation filtering module is one of kalman filtering, extended kalman filtering, unscented kalman filtering, and a filtering algorithm under eccentric installation of the camera.
In another embodiment, the escape game maneuver algorithm loaded in the maneuver planning module is one of a proportional guidance law, an optimal guidance law, and a derivative game guidance law.
The invention also provides a spacecraft escape pursuit game closed-loop semi-physical simulation method, which utilizes the spacecraft escape pursuit game closed-loop semi-physical simulation system to carry out simulation.
In a certain embodiment, the spacecraft escape pursuit game closed-loop semi-physical simulation method comprises the following steps:
101: setting a scaling factor of the simulation system according to the similarity principle;
102: converting the actual initial positions and postures of the escaping spacecraft and the tracking spacecraft into initial positions and postures of an escaping spacecraft model and a tracking spacecraft model in a simulation system according to the scaling factors, and driving the escaping spacecraft model and the tracking spacecraft model to move to the initial positions and postures;
103: simulating a measuring environment and a measuring means in the space by using a relative measurement simulation subsystem to acquire information of an escape spacecraft model and a tracking spacecraft model, and acquiring state information of the escape spacecraft model and the tracking spacecraft model;
filtering iteration is carried out through a navigation filtering algorithm by using a satellite-borne GNC simulation subsystem according to the state information to obtain six-dimensional state information including relative positions and relative speeds, control quantities of a tracking spacecraft model and an escape spacecraft model are obtained through a pursuit game maneuvering algorithm according to the six-dimensional state information, and the control quantities are converted into first control instructions;
integrating the natural motion of the spacecraft orbit according to the relative state by using a closed-loop operation control subsystem to generate a second control instruction, adding the first control instruction and the second control instruction to obtain a comprehensive instruction, and resolving the comprehensive instruction to obtain a position velocity, an attitude angle and an attitude angular velocity of an escape spacecraft model and a tracking spacecraft model;
driving an escape spacecraft model and tracking the spacecraft model to move according to the position speed, the attitude angle and the attitude angular speed by using a relative kinematics simulation subsystem;
and the closed-loop operation control subsystem is used for driving the relative measurement simulation subsystem, the satellite-borne GNC simulation subsystem and the relative kinematics simulation subsystem to enable the escape spacecraft model and the tracking spacecraft model to continue to move, so that the closed-loop semi-physical simulation of the pursuit and escape game of the spacecraft is realized.
In a certain embodiment, for step 101, the step of setting a scaling factor of the simulation system according to the similarity principle includes:
001: in order to achieve the purpose that the track game control ground experimental process is completely similar to the space real process and further achieve the purpose of process reproduction, the ground verification experimental model and the space prototype system need to meet the requirements of time similarity, motion similarity, geometric similarity, force similarity and the like. For a similar system, the similarity criterion holds the same value at both the corresponding point and the corresponding time. Namely, according to the similar pi theorem, the similarity criterion in the game process of obtaining the measurement process of the relative measurement simulation subsystem and the relative kinematics simulation subsystem is as follows:
(πi)p＝(πi)m,i＝1,2,3,...,k-r (1)
in the formula, piiIs a variable; k is the number of all variables in the system; r is the basic dimension number of the system; subscript p is the prototype system; subscript m is a moduleA type system;
002: according to the measuring process and the game process, the scaling factor of the variable is defined as the ratio of the model system variable to the prototype system variable:
in the formula, λfScaling factor which is variable f; subscript p is the prototype system; subscript m is a model system;
through analysis, the measuring process and the game process involve three basic dimensions: time, length and quality.
003: defining a scaling factor lambda of three basic dimensions of time, length and mass according to step 002t、λxnAnd λmI.e. by
And
using lambdat、λxnAnd λmAnd obtaining a relation formula which is satisfied by the scaling factors of other variables through a similar criterion:
in the formula, λv，λa，λω，λαRespectively representing the speed, the acceleration, the angular speed and the scaling factor corresponding to the angular acceleration; lambda [ alpha ]JThe scaling factor is corresponding to the rotational inertia; lambda [ alpha ]μIs the scaling factor corresponding to the gravity constant.
In this embodiment, when actually designing the scaling factor, the scaling factor should satisfy the following design criteria at the same time:
the selection of the scaling factor ensures that the distance scale after scaling is within the three-dimensional scale range of the relative kinematics simulation subsystem;
the selection of the scaling factor ensures that the maneuvering capability of the scaled spacecraft is within the range of the movement capability of the relative kinematics simulation subsystem;
the selection of the scaling factor meets the requirements of the escape spacecraft model and the motion display effect of the tracking spacecraft model.
Example 1
The embodiment mainly aims to verify the effect of the navigation filtering algorithm loaded by the navigation filtering module in the spacecraft pursuit game closed-loop semi-physical simulation system provided by the invention.
In this embodiment, the navigation filtering algorithm loaded by the navigation filtering module is kalman filtering.
(1) Parameter configuration
Setting the scaling factor of the experiment: the length scaling factor is 10000 and the time scaling factor is 1. Tracking initial orbit number [ a, e, i, omega, f of spacecraft]＝[7020137.0m，0.0001°，33°，18°，12°，13.2°]And a, e, i, omega and f are respectively a semi-major axis, eccentricity, an orbit inclination angle, a rising intersection declination, a perigee angular distance and a true perigee angle, and the initial relative state of the escaping spacecraft is as follows: [ x, y, z, v ]x,vy,vz]＝[65000m，-1000m，4000m，-26m/s，8m/s，-11m/s]，x,y,z,vx,vy,vzThe total experimental time is 400s, the experimental simulation step length is 0.5s, and the measurement frequency is 50 Hz. The covariance matrix of the initial error is:
(2) extended Kalman Filter to be tested
The state equation and observation equation of the pursuit escape game system can be written as follows after dispersion:
in the formula, state quantity
x, y, z being three coordinate axesThe relative position of the two or more of the three or more of the,
is the corresponding relative velocity; observed quantity zk＝[r,α,β]TR, α is the distance, pitch angle and yaw angle of the escaping spacecraft model relative to the tracking spacecraft model, k is the simulation node, f (-) and h (-) are the state equation and observation equation, u (-) andp(xk-1) To track the control quantities of the spacecraft model; u. ofE(xk-1) The control quantity of the escaping spacecraft model is; w and v are process noise and observation noise, respectively.
The observation equation satisfies:
in the formula, r and α are the distance, pitch angle and yaw angle of the escaping spacecraft model relative to the tracking spacecraft model respectively,
x, y, z are relative positions on three coordinate axes.
In order to apply the extended Kalman filtering to the nonlinear system, the nonlinear observation system needs to be approximated, the extended Kalman filtering performs Taylor expansion on f and h, a first-order term is taken, and a state transition matrix phi is obtainedkAnd an observation matrix Hk。
In the formula, the symbols have the same meanings as those in the formulae (4) and (5).
Further, a filtered state update equation can be obtained:
in the formula (I), the compound is shown in the specification,
is the state estimation value of the k-1 node;
is a predicted state estimate for the k node; phikIs a state transition matrix; qkIs a process noise covariance matrix;
an estimation error covariance matrix for the k-1 node;
an estimated error covariance matrix for the predicted k-node;
is the observed value of the predicted k node.
A filtered metrology update equation can then be derived:
wherein the "+" and "-" signs are measured after updating and before updating, respectively;
is the state estimation value of the k node; z is a radical ofkIs the state estimation value of the k node;
an estimation error covariance matrix for the k node; i is an identity matrix; rkMeasuring a noise covariance matrix; kkIs the Kalman gain; the other symbols have the same meaning as in equation (8).
Derived from filtering algorithms
The value of (1) is six-dimensional state information containing relative position and relative speed after the spacecraft model is subjected to filtering processing.
(3) Results of the experiment
The results of the spatial non-cooperative target navigation filtering experiment are respectively displayed in terms of position, speed, acceleration, position error, speed error and acceleration error in the V-bar direction, the H-bar direction and the R-bar direction, as shown in fig. 8a to 8 f. As can be seen from the figure, navigation filtering is carried out on the space non-cooperative target through Kalman filtering (classical filtering algorithm), the convergence speed is high, and the precision is high. Meanwhile, the error analysis shows that the filtering error has non-Gaussian characteristic due to the introduction of a real measuring link.
Example 2
The embodiment mainly aims to verify the effect of the pursuit game maneuvering algorithm loaded by the maneuvering planning module in the spacecraft pursuit game closed-loop semi-physical simulation system provided by the invention.
In this embodiment, the navigation filtering algorithm loaded by the navigation filtering module is a differential game guidance law.
(1) Parameter configuration
Setting the scaling factor of the experiment: the length scaling factor is 1000 and the time scaling factor is 20. At the initial moment, tracking the spacecraft near the escape spacecraft by 5km on a circular orbit with the height of 400km by the escape spacecraft, wherein the two sides are about to start the game with the duration as long. Relative state [ x, y, z, v ] of two spacecraft models in virtual moving point LVLH coordinate systemx,vy,vz]＝[250m,-5000m,-200m,0m/s,0m/s,0m/s]，x,y,z,vx,vy,vzThe position and the speed on the x, y and z axes of the LVLH coordinate system are respectively. The configuration of the simulation parameters is shown in Table 1, and the experimental results are shown in FIGS. 9a to 9 f.
Table 1 escape pursuit game simulation experiment parameter configuration
(2) Differential game guidance law to be checked
The relative state of the two spacecraft models satisfies the following equation of motion:
wherein x (t) is the relative state quantity of two spacecrafts, uPAnd uEThe momentum of a tracking spacecraft model and the momentum of an escape spacecraft model are respectively; a and B are coefficient matrixes in a relative motion equation, and assuming that the angular velocity of the reference track is omega, the values of the two are satisfied:
the pay functions for the two spacecraft models in the differential countermeasure are defined as (subscripts P and E denote the tracking spacecraft model and the escape spacecraft model, respectively):
in the formula, Q, RP，RERespectively, the weight coefficient in the payment function, JPAnd JEPayment functions of a tracking spacecraft model and an escape spacecraft model are respectively.
According to the maximum and minimum value principle, the optimal control law can be obtained:
in the formula, KPAnd KEFeedback gains of a tracking spacecraft and an escape spacecraft are respectively obtained; p is a Riccati matrix, and other symbols have the same meanings as the formulas (10) and (11).
In simulation experiments, the continuous escape pursuit gaming system needs to be discretized into:
in the formula, k is a simulation node; the other symbols have the same meaning as in equation (10).
Further, the solution of the optimum control amount may be discretized into:
in the formula (I), the compound is shown in the specification,
the value is the filtered estimate of node k; the other symbols correspond to the values of the variables at node k in equation (12).
(3) Results of the experiment
As can be seen from fig. 9a to 9f, the matching degree of the semi-physical simulation track and the mathematical simulation track is better on the whole, and the two spacecraft models reach a rendezvous state with the relative velocity and the position close to zero after 100 seconds, which illustrates that the feasibility of developing the orbit pursuit game in space based on the differential game rendezvous guidance method is higher, and the expected game effect can be basically achieved. Through careful comparison, the track error on the x axis (R-bar direction) is slightly larger than that on the y axis (V-bar direction) and the z axis (H-bar direction), and the peak values of the speed curves on the y axis (V-bar direction) and the z axis (H-bar direction) are slightly larger than that of the theoretical curve, so that the result difference between mathematical simulation and semi-physical simulation is reflected. Finally, it should be noted that, in order to avoid collision between two spacecraft models on a nine-degree-of-freedom relative motion platform, a safety distance of 30cm is preset in simulation, and the game is finished when reaching the safety distance.
In general, the process of the invention for verifying the effectiveness of the navigation and guidance algorithm in the process of spacecraft pursuit is demonstrated by examples 2 and 3.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a spacecraft pursues and flees game closed loop semi-physical simulation system which characterized in that includes:
the relative measurement simulation subsystem is used for simulating a measurement environment in space and carrying out information acquisition on the escape spacecraft model and the tracking spacecraft model by a measurement means to obtain the relative state of the escape spacecraft model and the tracking spacecraft model, and transmitting the relative state to the satellite-borne GNC simulation subsystem and the closed-loop operation control subsystem; the relative state comprises the distance between the image and the escape spacecraft model and the distance between the escape spacecraft model and the tracking spacecraft model and the inclination angles of the escape spacecraft model and the tracking spacecraft model;
the satellite-borne GNC simulation subsystem is used for carrying out filtering iteration by using a navigation filtering algorithm according to the relative state to obtain six-dimensional state information including a relative position and a relative speed, obtaining control quantities of a tracking spacecraft model and an escape spacecraft model by using an pursuit game maneuvering algorithm according to the six-dimensional state information, converting the control quantities into a first control instruction and sending the first control instruction to the closed-loop operation control subsystem;
the closed-loop operation control subsystem is used for integrating the natural motion of the spacecraft orbit according to the relative state to generate a second control instruction, summing the first control instruction and the second control instruction to obtain a comprehensive instruction, resolving the comprehensive instruction to obtain a position speed, an attitude angle and an attitude angular speed of an escape spacecraft model and a tracking spacecraft model, and sending the position speed, the attitude angle and the attitude angular speed to the relative kinematics simulation subsystem;
the relative kinematics simulation subsystem is used for driving the escape spacecraft model and the tracking spacecraft model to move according to the position velocity, the attitude angle and the attitude angular velocity;
the closed-loop operation control subsystem is respectively in bidirectional electrical connection with the relative measurement simulation subsystem, the satellite-borne GNC simulation subsystem and the relative kinematics simulation subsystem, and the relative measurement simulation subsystem, the satellite-borne GNC simulation subsystem and the relative kinematics simulation subsystem form a parallel closed-loop operation integral system.
2. The spacecraft escape pursuit gaming closed loop semi-physical simulation system of claim 1, wherein the simulation system further comprises a platform integrated monitoring subsystem for monitoring the closed loop operational integrated system.
3. The spacecraft escape pursuit gaming closed loop semi-physical simulation system of claim 1, wherein the relative measurement simulation subsystem comprises an optical environment simulation module and a measurement module;
the optical environment simulation module is used for simulating an actual space environment comprising a starry sky background and a ground shadow shield;
the measurement module is used for measuring the distance between the escaping spacecraft model and the tracking spacecraft model and the inclination angles of the escaping spacecraft model and the tracking spacecraft model in real time through the measurement equipment in the environment provided by the optical environment simulation module, and acquiring the images of the escaping spacecraft model and the tracking spacecraft model in real time through the image acquisition equipment.
4. The spacecraft escape pursuit gaming closed-loop semi-physical simulation system of claim 1, wherein the on-board GNC simulation subsystem comprises an image processing module, a navigation filtering module, and a maneuver planning module;
the image processing module is used for processing the image to obtain an angle measurement of the image acquisition equipment;
the navigation filtering module is used for carrying out filtering iteration by using a navigation filtering algorithm according to the angle measurement and the distance between the escape spacecraft model and the tracking spacecraft model to obtain six-dimensional state information including relative positions and relative speeds;
and the maneuvering planning module is used for acquiring the control quantity of the tracking spacecraft model and the escape spacecraft model by utilizing a pursuit game maneuvering algorithm according to the six-dimensional state information, converting the control quantity into a first control instruction and sending the first control instruction to the closed-loop operation control subsystem.
5. The spacecraft escape pursuit game closed-loop semi-physical simulation system of claim 4, wherein the image processing module processes the image to obtain the angle measurement of the image acquisition device by:
acquiring the image;
extracting a gray matrix of the image, searching a suspected mark point in the gray matrix, and matching the suspected mark point with an actual mark point to obtain a mark point position in the image;
and (4) solving the reverse geometric relation of the mark point positions according to the camera imaging principle to obtain the angle measurement of the image acquisition equipment.
6. The spacecraft escape pursuit game closed-loop semi-physical simulation system of claim 4, wherein the navigation filter algorithm loaded in the navigation filter module is one of Kalman filtering, extended Kalman filtering, unscented Kalman filtering and a filter algorithm under eccentric installation of a camera.
7. The spacecraft escape pursuit game closed-loop semi-physical simulation system of claim 4, wherein the escape pursuit game maneuver algorithm loaded in the maneuver planning module is one of a proportional guidance law, an optimal guidance law and a differential countermeasure guidance law.
8. A spacecraft escape pursuit game closed-loop semi-physical simulation method is characterized in that the spacecraft escape pursuit game closed-loop semi-physical simulation system of any one of claims 1-7 is applied, and the simulation method comprises the following steps:
setting a scaling factor of the simulation system according to a similarity principle;
converting the actual initial positions and postures of the escaping spacecraft and the tracking spacecraft into initial positions and postures of an escaping spacecraft model and a tracking spacecraft model in the simulation system according to the scaling factors, and driving the escaping spacecraft model and the tracking spacecraft model to move to the initial positions and postures;
simulating a measuring environment and a measuring means in the space by using a relative measurement simulation subsystem to acquire information of an escape spacecraft model and a tracking spacecraft model, and acquiring state information of the escape spacecraft model and the tracking spacecraft model;
filtering iteration is carried out through a navigation filtering algorithm by using a satellite-borne GNC simulation subsystem according to the state information to obtain six-dimensional state information including relative positions and relative speeds, control quantities of a tracking spacecraft model and an escape spacecraft model are obtained through an pursuit game maneuvering algorithm according to the six-dimensional state information, and the control quantities are converted into first control instructions;
integrating the natural motion of the spacecraft orbit according to the relative state by using a closed-loop operation control subsystem to generate a second control instruction, adding the first control instruction and the second control instruction to obtain a comprehensive instruction, and resolving the comprehensive instruction to obtain a position speed, an attitude angle and an attitude angular speed of an escape spacecraft model and a tracking spacecraft model;
driving an escape spacecraft model and a tracking spacecraft model to move according to the position speed, the attitude angle and the attitude angular speed by using a relative kinematics simulation subsystem;
and driving the relative measurement simulation subsystem, the satellite-borne GNC simulation subsystem and the relative kinematics simulation subsystem by using a closed-loop operation control subsystem to enable the escape spacecraft model and the tracking spacecraft model to continue to move, so that the closed-loop semi-physical simulation of the spacecraft escape pursuit game is realized.
9. The spacecraft escape pursuit game closed-loop semi-physical simulation method according to claim 8, wherein the step of setting the scaling factor of the simulation system according to the similarity principle comprises the steps of:
according to the similar pi theorem, the similarity criterion in the game process of obtaining the measurement process of the relative measurement simulation subsystem and the relative kinematics simulation subsystem is as follows:
(πi)p＝(πi)m,i＝1,2,3,...,k-r (1)
in the formula, piiIs a variable; k is the number of all variables in the system; r is the basic dimension number of the system; subscript p is the prototype system; subscript m is a model system;
according to the measuring process and the game process, the scaling factor of the variable is defined as the ratio of the model system variable to the prototype system variable:
in the formula, λfScaling factor which is variable f; subscript p is the prototype system; subscript m is a model system;
scaling factor lambda for defining three basic dimensions of time, length and qualityt、
And λmUsing said lambdat、
And λmAnd obtaining a relation formula which is satisfied by the scaling factors of other variables through the similarity criterion:
in the formula, λv，λa，λω，λαRespectively representing the speed, the acceleration, the angular speed and the scaling factor corresponding to the angular acceleration; lambda [ alpha ]JThe scaling factor is corresponding to the rotational inertia; lambda [ alpha ]μIs the scaling factor corresponding to the gravity constant.
10. The spacecraft escape pursuit game closed-loop semi-physical simulation method according to claim 9, wherein the scaling factor simultaneously satisfies the following design criteria:
the selection of the scaling factor ensures that the distance scale after scaling is within the three-dimensional scale range of the relative kinematics simulation subsystem;
the selection of the scaling factor ensures that the maneuvering capability of the scaled spacecraft is within the range of the movement capability of the relative kinematics simulation subsystem;
the selection of the scaling factor meets the requirements of the escape spacecraft model and the motion display effect of the tracking spacecraft model.
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