CN111806729A - Non-freezing orbit multi-satellite positioning formation design method considering arch wire rotation - Google Patents
Non-freezing orbit multi-satellite positioning formation design method considering arch wire rotation Download PDFInfo
- Publication number
- CN111806729A CN111806729A CN202010779432.2A CN202010779432A CN111806729A CN 111806729 A CN111806729 A CN 111806729A CN 202010779432 A CN202010779432 A CN 202010779432A CN 111806729 A CN111806729 A CN 111806729A
- Authority
- CN
- China
- Prior art keywords
- performance
- formation
- positioning
- satellite
- arch wire
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/242—Orbits and trajectories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
The invention provides a design method for unfrozen orbit multi-satellite positioning formation considering arch wire rotation, which increases the constraint of multi-satellite common-view performance on the basis of radar or communication signal positioning performance, and adopts a performance envelope corresponding to one-circle rotation of an arch wire as a performance constraint condition to design the multi-satellite positioning formation aiming at the problem of unfrozen orbit arch wire rotation. The invention fully considers the space configuration form of the multi-satellite formation with the optimal positioning performance, adopts the description method of the minimum envelope sphere to increase the common-view performance constraint, uses the performance envelope corresponding to one circle of rotation of the arch wire as the constraint condition of the positioning performance and the common-view performance, avoids the condition that the performance of the formation satellite is attenuated due to the rotation of the arch wire so as to need to carry out orbit control, saves fuel and ensures that the multi-satellite positioning formation is more beneficial to the engineering realization.
Description
Technical Field
The invention relates to the technical field of satellite signal positioning, in particular to a non-freezing orbit multi-satellite positioning formation design method considering arch wire rotation. In particular to a four-satellite positioning formation configuration design method which can be used for realizing formation configuration design during signal time frequency difference positioning through four satellites.
Background
The existing signal positioning means can not meet the positioning requirements of wider latitude, wider view field, higher precision and shorter time, and must integrate the technical advantages of various positioning systems, thereby providing the interferometer + four-star time frequency difference positioning system.
The three-star scheme is difficult to maintain the optimal positioning configuration at the full latitude for a long time, when a satellite reaches a high-latitude area, the situation of three-star collineation is gradually formed, the high-precision positioning range is sharply reduced, the four-star scheme needs to solve the problem, and the four-star has a certain base line at any latitude through the small-eccentricity flying-around configuration, so that the high-precision positioning is realized.
Under the influence of perturbation factors such as earth non-spherical gravity and the like, the argument of the near place of the non-frozen orbit satellite periodically drifts to generate rotation of the arch wire, so that the positioning performance and the common vision performance are influenced.
The method disclosed at present is not completely suitable for the four-star formation configuration design problem which needs to be solved by the patent of the invention, and patent document CN109085586A (application number: CN201810860789.6) discloses a four-star different-plane formation configuration, but the four stars have a track inclination angle difference, which can cause a larger track plane perturbation difference for a long-base line formation configuration and is not beneficial to long-term stability; an e/i vector design method for InSAR satellite formation configuration (Shanghai navigation sky, 2011,28(5)8-13) introduces a two-star formation configuration design, but the method for directly optimizing a plurality of configuration parameters is popularized to four stars, so that the optimization efficiency is low, and the problem of rotation of an arch line is not considered.
The invention provides a design method for unfrozen orbit multi-satellite positioning formation considering an arch wire, which fully considers a multi-satellite formation space configuration form with optimal positioning performance, adopts a description method of a minimum envelope sphere to increase common-view performance constraint, uses a performance envelope corresponding to one circle of rotation of the arch wire as a constraint condition of the positioning performance and the common-view performance, avoids the condition that orbit control is needed due to the attenuation of the performance of formation satellites caused by the rotation of the arch wire, and enables the multi-satellite positioning formation to be more beneficial to engineering realization. Compared with a method for directly optimizing configuration parameters or track numbers, the method reduces the number of configuration parameters to be optimized and improves configuration optimization efficiency by analyzing the relationship between the configuration parameters and spatial relative motion, enhances the positioning capability of narrow-beam target signals by adding common view performance constraints, considers the influence of the rotation of the arch wires on the positioning performance and the common view performance, and has important significance for improving the high-precision positioning capability of the signals.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a non-freezing orbit multi-satellite positioning formation design method considering arch wire rotation.
The invention provides a non-freezing orbit multi-satellite positioning formation design method considering arch wire rotation, which comprises the following steps:
determining formation configuration parameters to be optimized by considering a multi-satellite formation space configuration form with optimal positioning performance, and simultaneously taking positioning performance and common view performance envelope corresponding to one rotation of an arch wire as performance constraint conditions;
the formation space configuration form is as follows:
the adopted formation scheme is that three auxiliary stars fly around the main star, the flying center coincides with the main star, wherein the in-plane configuration size and the out-of-plane configuration size of the auxiliary star 1 and the auxiliary star 2 are the same, the relative eccentricity vector phase angles are also the same, namely the auxiliary stars are symmetrically distributed on two sides of the orbit plane of the main star, and the auxiliary star 3 flies around the orbit plane of the main star.
Preferably, the method comprises the following steps:
step S1: determining a constraint condition;
step S2: selecting formation configuration optimization parameters;
step S3: traversing the rotation of the arch wire and obtaining a performance envelope;
step S4: traversing the optimized parameter combination and obtaining a corresponding performance index;
step S5: determining formation configuration parameters according to the performance indexes;
step S6: and correcting formation configuration parameters.
Preferably, the step S1:
determining a precision-preserving positioning area constraint condition related to signal positioning performance;
a co-view performance constraint described in terms of a minimum envelope sphere size is determined.
Preferably, the step S2:
and reducing the number of parameters to be optimized, wherein the selected optimization parameters are 4 parameters of the in-plane configuration size and the out-of-plane configuration size of the auxiliary star 1, the in-plane configuration size of the auxiliary star 3 and the difference between the eccentricity vector phase angles of the auxiliary star 1 and the auxiliary star 3.
Preferably, the step S3:
and simplifying the rotation change of the arch line into periodic traversal of the eccentricity vector phase angle of the satellite 1, so as to obtain the performance envelope corresponding to one-circle rotation of the arch line, including the precision-preserving positioning area and the minimum envelope sphere size.
Preferably, the precision-guaranteed positioning area is:
and carrying out grid subdivision on the detectable earth surface range of the main satellite at a certain moment, calculating the positioning accuracy of the formation satellite to the central point of each grid, and adding the grid areas meeting the positioning accuracy to obtain the precision-guaranteed positioning area.
Preferably, the minimum envelope sphere size:
and solving the minimum value of the diameter of the envelope sphere containing four stars by using the position of a certain instantaneous four stars and a constrained nonlinear multivariate function optimization method, and taking the minimum value as the size of the minimum envelope sphere.
Preferably, the step S4:
and primarily selecting the range of the parameters to be optimized according to the constraint conditions, determining subdivision grids of the parameters to be optimized, and forming different configuration parameter combinations, so that all combinations are traversed, and corresponding performance indexes are obtained.
Preferably, the step S5:
and screening the positioning performance and the common-view performance indexes corresponding to all configuration parameter combinations by the determined constraint conditions, comparing the performance of the configuration parameter combinations meeting the positioning performance constraint and the common-view performance constraint, and obtaining the optimal configuration parameter of the positioning performance, the optimal configuration parameter of the common-view performance and the comprehensive optimal configuration parameter under a certain weight proportion according to the requirement.
Preferably, the step S6:
to avoid the risk of collision of secondary star 1 with secondary star 2, the flying centers of the two stars are offset.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention fully considers the space configuration form of the multi-satellite formation with the optimal positioning performance, adopts the description method of the minimum envelope sphere to increase the common-view performance constraint, uses the performance envelope corresponding to one circle of rotation of the arch wire as the constraint condition of the positioning performance and the common-view performance, avoids the condition that the performance of the formation satellite is attenuated due to the rotation of the arch wire so as to need to carry out orbit control, saves fuel and ensures that the multi-satellite positioning formation is more beneficial to the engineering realization.
2. Compared with the method for directly optimizing configuration parameters or the number of tracks, the method reduces the number of configuration parameters to be optimized by analyzing the relationship between the configuration parameters and the space relative motion, improves the configuration optimization efficiency, enhances the positioning capability of narrow beam target signals by adding the common view performance constraint, simultaneously considers the positioning performance and the common view performance influence caused by the rotation of the arch lines in the formation configuration design, avoids the frequent track control after the track, and saves the fuel. The method can be used for multi-satellite positioning formation design, and the formation configuration which can meet the positioning performance and the common view performance constraint in the rotation process of the arch wire is obtained through optimization by reducing the number of configuration parameters to be optimized, so that the method has important significance for improving the high-precision positioning capability of signals.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of the implementation steps provided by the present invention.
Fig. 2 is a schematic diagram of a four-star formation configuration provided by the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a non-freezing orbit multi-satellite positioning formation design method considering arch wire rotation, which comprises the following steps:
determining formation configuration parameters to be optimized by considering a multi-satellite formation space configuration form with optimal positioning performance, and simultaneously taking positioning performance and common view performance envelope corresponding to one rotation of an arch wire as performance constraint conditions;
the formation space configuration form is as follows:
the adopted formation scheme is that three auxiliary stars fly around the main star, the flying center coincides with the main star, wherein the in-plane configuration size and the out-of-plane configuration size of the auxiliary star 1 and the auxiliary star 2 are the same, the relative eccentricity vector phase angles are also the same, namely the auxiliary stars are symmetrically distributed on two sides of the orbit plane of the main star, and the auxiliary star 3 flies around the orbit plane of the main star.
Specifically, the method comprises the following steps:
step S1: determining a constraint condition;
step S2: selecting formation configuration optimization parameters;
step S3: traversing the rotation of the arch wire and obtaining a performance envelope;
step S4: traversing the optimized parameter combination and obtaining a corresponding performance index;
step S5: determining formation configuration parameters according to the performance indexes;
step S6: and correcting formation configuration parameters.
Specifically, the step S1:
determining a precision-preserving positioning area constraint condition related to signal positioning performance;
a co-view performance constraint described in terms of a minimum envelope sphere size is determined.
Specifically, the step S2:
and reducing the number of parameters to be optimized, wherein the selected optimization parameters are 4 parameters of the in-plane configuration size and the out-of-plane configuration size of the auxiliary star 1, the in-plane configuration size of the auxiliary star 3 and the difference between the eccentricity vector phase angles of the auxiliary star 1 and the auxiliary star 3.
Specifically, the step S3:
and simplifying the rotation change of the arch line into periodic traversal of the eccentricity vector phase angle of the satellite 1, so as to obtain the performance envelope corresponding to one-circle rotation of the arch line, including the precision-preserving positioning area and the minimum envelope sphere size.
Specifically, the precision-guaranteed positioning area is:
and carrying out grid subdivision on the detectable earth surface range of the main satellite at a certain moment, calculating the positioning accuracy of the formation satellite to the central point of each grid, and adding the grid areas meeting the positioning accuracy to obtain the precision-guaranteed positioning area.
Specifically, the minimum envelope sphere size:
and solving the minimum value of the diameter of the envelope sphere containing four stars by using the position of a certain instantaneous four stars and a constrained nonlinear multivariate function optimization method, and taking the minimum value as the size of the minimum envelope sphere.
Specifically, the step S4:
and primarily selecting the range of the parameters to be optimized according to the constraint conditions, determining subdivision grids of the parameters to be optimized, and forming different configuration parameter combinations, so that all combinations are traversed, and corresponding performance indexes are obtained.
Specifically, the step S5:
and screening the positioning performance and the common-view performance indexes corresponding to all configuration parameter combinations by the determined constraint conditions, comparing the performance of the configuration parameter combinations meeting the positioning performance constraint and the common-view performance constraint, and obtaining the optimal configuration parameter of the positioning performance, the optimal configuration parameter of the common-view performance and the comprehensive optimal configuration parameter under a certain weight proportion according to the requirement.
Specifically, the step S6:
to avoid the risk of collision of secondary star 1 with secondary star 2, the flying centers of the two stars are offset.
The practical problem to be solved by the invention is to design a multi-satellite formation, so that a time-frequency difference comprehensive positioning system formed by the multi-satellite formation always meets certain requirements on positioning performance and common view performance under the condition of considering the rotation of an arch wire, thereby reducing track control and saving fuel.
The present invention will be described more specifically below with reference to preferred examples.
Preferred example 1:
an embodiment of the present invention will be described with reference to fig. 1.
1. Determining constraints
As shown in fig. 2, for the formation of a four-satellite positioning formation, the positioning performance is necessarily considered, determining a constraint condition of the positioning performance is beneficial to reducing the subsequent formation configuration parameter screening work, and it can be known from relevant knowledge that the larger the formation size is, the more beneficial to achieving high-precision positioning performance is, but for a narrow-beam target signal, when the formation size is too large, a situation that the signal cannot be captured by four satellites at the same time may occur, and then four-satellite time-frequency difference positioning cannot be performed, so a constraint condition of the co-view performance needs to be increased, and considering that a target signal beam may come from any direction of a satellite formation, therefore, the requirement of the formation size on the beam co-view is specified by using the minimum envelope sphere diameter, and the smaller the minimum envelope sphere diameter is, the better the four-satellite co-view performance is.
The relative position relation of the four stars is considered to be periodically changed along with the latitude argument, the rotation of the arch line can be caused by factors such as the perturbation of the earth's non-spherical gravity, and the corresponding relation between the relative position of the four stars and the latitude argument is also periodically changed. Therefore, when designing the formation configuration, it is necessary to ensure that the positioning performance and the common view performance constraint are always satisfied during the configuration changes along with the latitude and the arch line rotation.
The positioning performance constraint condition adopted by the invention is the minimum value of the instantaneous coverage area of the positioning precision, the performance constraint condition is the maximum value of the minimum enveloping sphere diameter, the statistics of the maximum values comprises the performance changes of two dimensions, one is changed along with the latitude argument, and the other is changed along with the rotation of the arch line.
2. Selecting formation configuration optimization parameters
In flying formation, the configuration of the secondary star relative to the primary star can be determined by semi-major axis deviation Delta a, in-plane configuration dimension P and relative eccentricity vector phase angle thetaFPlane external configuration size S and relative dip angle vector phase angle
The tangential fly-around center offset is expressed by l six configuration parameters. Wherein the semimajor axis deviation Delta a of two stars is defined as
Δa＝a-a0(1)
Wherein the content of the first and second substances,
a represents the orbit semi-major axis of the satellite
a0Orbit semi-major axis representing the principal star
The subscript "0" indicates the number of orbits of the main star, and the relative eccentricity vector and the relative inclination vector are defined as
Wherein the content of the first and second substances,
Δ e represents the relative eccentricity vector
e represents the eccentricity of the satellite
Omega represents the argument of the apogee of the secondary star
e0Indicating eccentricity of the main star
ω0Representing the argument of the perigee of the principal star
ΔexRepresenting the first component of the relative eccentricity vector
ΔeySecond component representing relative eccentricity vector
e denotes the modulus of the relative eccentricity vector
θFRepresenting relative eccentricity vector phase angle
Δ i represents a relative inclination vector
i denotes the orbital inclination of the satellite
i0Showing orbital inclination of the main star
Omega represents the ascension point of the parabasan
Ω0The right ascension point of the principal star
ΔixRepresenting the first component of the relative tilt vector
ΔiyRepresenting a second component of the relative tilt vector
i denotes the modulus of the relative inclination vector
The in-plane topography dimension P and the out-of-plane topography dimension S are defined as
P＝a0·e (4)
S＝a0·i (5)
The tangential fly-around center offset l is defined as
l＝a0·[ω+M-(ω0+M0)+(Ω-Ω0)cos i0](6)
Wherein the content of the first and second substances,
m represents the mean and near point angle of the secondary star
M0Mean angle of approach representing the dominant star
The subscripts "1", "2" and "3" are used to distinguish the configuration parameters of the three satellites. From the configuration parameters, each secondary star has 6 configuration parameters relative to the primary star, for the four-star positioning formation configuration, the number of formation configuration parameters to be determined is 18, and if the 18 parameters are directly optimized, the calculation amount is very large, and the number of parameters to be optimized needs to be reduced.
According to the orbit perturbation influence, in order to keep the relative stability of the four-star configuration, the orbit period and the orbit out-of-plane perturbation force are required to be the same, so the orbit semi-major axis and the orbit inclination angle of each star are required to be the same, and the delta a is defined by the former configuration parametersiIs equal to 0 and
or 270 °, where i ═ 1,2, 3.
Representing the relative dip angle vector phase angles of the satellites 1,2 and 3; Δ aiIndicating the semimajor axis deviation of the minor stars 1,2,3 from the major star.
Under the influence of perturbation factors such as earth non-spherical gravity and the like, the argument of the near place periodically drifts to generate rotation of the arch wire, so that the positioning performance and the common vision performance are influenced. Under the condition of small eccentricity, the drift velocity mainly depends on the semimajor axis and the inclination angle of the trackIn correlation, as the formation configuration adopts the design of the same orbit semi-major axis and the orbit inclination angle, the drift speeds of the argument of the perigee of the four satellites are approximately the same, and when the main satellite is a circular orbit, the eccentricity ratio vector phase angle theta in the formation configuration parametersFThe drift velocity of the arc line is approximately the same, so that the influence of the rotation of the arc line on the positioning performance and the common view performance can be simulated by traversing the eccentricity vector, the performance constraint is always met in the rotation process of the arc line, and the frequent track control after the track can be avoided.
According to the research result of the relative positions of the four stars and the time-frequency difference positioning performance, when the ground projection of the main star is at the center of a triangle formed by the ground projections of the three auxiliary stars, the positioning performance is optimal, but due to the influence of orbital dynamics, the ideal optimal configuration cannot be always kept when the three auxiliary stars fly around, so the following formation configuration scheme is considered: three auxiliary stars fly around the main star, the flying centers of the auxiliary stars coincide with the main star, wherein the in-plane configuration size and the out-of-plane configuration size of the auxiliary star 1 and the auxiliary star 2 are the same, the relative eccentricity vector phase angles are also the same, namely the auxiliary stars are symmetrically distributed on two sides of the orbit plane of the main star, Sat3 flies around the orbit plane of the main star, so that the triangle formed by the three auxiliary stars always keeps an isosceles triangle, the main star is projected on the middle line of the bottom side of the triangle, and under the condition of considering non-spherical gravitational perturbation, the theta of the three auxiliary stars is coincident with the theta of the main starFThe drift velocity is approximately consistent, and the symmetry of the configuration is ensured. .
Under the four-star formation configuration scheme, formation configuration parameters meet the following relationship
Wherein
P2Represents the in-plane configuration size of the subgasket 2;
S1showing the dimensions of the planar outer configuration of the satellite 1
S2The dimensions of the outside of the plane representing the minor star 2
S3The dimensions of the outside of the plane representing the satellite 3
l1Representing the tangential flying-around center offset of the satellite 1
l2Representing the tangential flying-around centre offset of the satellite 2
l3Representing the amount of tangential fly-around centre offset of satellite 3
θF1、θF2、θF3Respectively representing the relative eccentricity vector phase angles of the subgasket 1, the subgasket 2 and the subgasket 3
Therefore, when the phase angles of the eccentricity vectors of the three subsategories are regarded as the amount of change in rotation with the arch line, the in-plane configuration dimension P of the subsatellite 11Planar outer configuration dimension S1In-plane configuration dimension P of minor star 33And the difference Delta theta between the eccentricity vector phase angles of the subgingle 1 and the subgingle 3FAfter the four parameters are determined, the remaining configuration parameters of the three subsategories except the phase angle of the eccentricity vector are determined, so that the four parameters are selected as the parameters to be optimized.
3. Traverse the rotation of the arch wire and obtain a performance envelope
For a certain group of optimized parameter combination, the rest configuration parameters of three subsategories except the eccentricity vector phase angle can be determined, and the rotation change of the arch line is simplified into the eccentricity vector phase angle theta of the subsategorite 1F1For each thetaF1The values of (3) can be combined with equation (7) to obtain all configuration parameters. The number of the orbits of a group of main stars (including a semi-major axis, eccentricity, orbit inclination angle, argument of near place, ascension of ascending intersection point, horizontal and near point angle and the like) is selected, and the number of the orbits of three auxiliary stars can be obtained according to the formation configuration parameter definitions of the formulas (1) - (6), and the process is conventional, and redundant description is not needed in the invention.
Obtaining the position and speed data of the four stars by adopting orbit recursion according to the obtained number of the orbits of the four stars, obtaining the positioning performance and the common view performance of each instant within the latitude range of the task demand by calculation, wherein the positioning performance is represented by the precision-preserving positioning area, the common view performance is represented by the size of the minimum envelope sphere, and the common view performance is represented by changing the thetaF1The value of (D) is changed within 0-360 degrees, the performance envelope corresponding to one revolution of the arch line can be obtained.
The calculation method for the precision-preserving positioning area comprises the steps of carrying out grid subdivision on the detectable earth surface range of a certain instantaneous main satellite, calculating the positioning precision of the formation satellite for the central point of each grid, and adding the grid areas meeting the positioning precision.
The minimum enveloping sphere size calculation method is to solve the minimum enveloping sphere diameter value containing four stars by utilizing the position of a certain instantaneous four stars and adopting a constrained nonlinear multivariate function optimization method.
4. Traversing the optimized parameters and obtaining corresponding performance indexes
Traversing the selected 4 configuration parameters in a certain range to form different configuration parameter combinations, and performing the 3 rd step of calculation on each configuration parameter combination to obtain the positioning performance and the common view performance index corresponding to each configuration parameter combination.
5. Determining formation configuration parameters based on performance indicators
And screening the positioning performance and the common-view performance indexes corresponding to all configuration parameter combinations by the determined constraint conditions, comparing the performance of the configuration parameter combinations meeting the positioning performance constraint and the common-view performance constraint, and obtaining the optimal configuration parameter of the positioning performance, the optimal configuration parameter of the common-view performance and the comprehensive optimal configuration parameter under a certain weight proportion according to the requirement.
6. Formation configuration parameter correction
According to the formation configuration scheme and the relative motion model law, when the satellite runs to a latitude argument of 90 degrees or 270 degrees, three auxiliary satellites are located in the orbit plane of the main satellite, the positions of Sat1 and Sat2 are approximately overlapped, the flying centers of Sat1 and Sat2 are offset for avoiding collision risks, meanwhile, the offset is not too large for considering the symmetry of the configuration, and the formation configuration scheme and the relative motion model law are comprehensively determined according to the size of the configuration obtained in the front and the space safety requirement.
The above description is that of the specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Preferred example 2:
a design method for multi-satellite positioning formation of a non-freezing orbit by considering arch wire rotation fully considers a multi-satellite formation space configuration form with optimal positioning performance, determines formation configuration parameters to be optimized, and simultaneously takes the positioning performance and the co-vision performance envelope corresponding to one circle of arch wire rotation as performance constraint conditions, so that the multi-satellite positioning formation configuration is more beneficial to engineering realization. The invention comprises the following steps: determining constraint conditions, selecting formation configuration optimization parameters, traversing arch wire rotation to obtain performance envelopes, traversing optimization parameter combinations to obtain corresponding performance indexes, determining formation configuration parameters according to the performance indexes, and correcting the formation configuration parameters.
The adopted formation scheme is that three auxiliary stars fly around the main star, the flying centers of the auxiliary stars coincide with the main star, the in-plane configuration size and the out-plane configuration size of the auxiliary star 1 and the auxiliary star 2 are the same, the relative eccentricity vector phase angles are also the same, namely the auxiliary stars are symmetrically distributed on two sides of the orbit plane of the main star, and the auxiliary star 3 flies around the orbit plane of the main star.
In addition to determining the precision-preserving localization area constraint associated with signal localization performance, a co-view performance constraint described in terms of minimum envelope sphere size is added.
The number of parameters to be optimized is reduced, and the selected optimization parameters are 4 parameters including the in-plane configuration size and the out-of-plane configuration size of the subgasket 1, the in-plane configuration size of the subgasket 3 and the difference between the eccentricity vector phase angles of the subgasket 1 and the subgasket 3.
And simplifying the rotation change of the arch line into periodic traversal of the eccentricity vector phase angle of the satellite 1, so as to obtain the performance envelope corresponding to one-circle rotation of the arch line, including the precision-preserving positioning area and the minimum envelope sphere size.
And carrying out grid subdivision on the detectable earth surface range of the main satellite at a certain moment, calculating the positioning accuracy of the formation satellite to the central point of each grid, and adding the grid areas meeting the positioning accuracy to obtain the precision-guaranteed positioning area.
And solving the minimum value of the diameter of the envelope sphere containing four stars by using the position of a certain instantaneous four stars and a constrained nonlinear multivariate function optimization method, and taking the minimum value as the size of the minimum envelope sphere.
And primarily selecting the range of the parameters to be optimized according to the constraint conditions, determining subdivision grids of the parameters to be optimized, and forming different configuration parameter combinations, so that all combinations are traversed, and corresponding performance indexes are obtained.
To avoid the risk of collision of secondary star 1 with secondary star 2, the flying centers of the two stars are offset.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A non-freezing orbit multi-satellite positioning formation design method considering arch wire rotation is characterized by comprising the following steps:
determining formation configuration parameters to be optimized by considering a multi-satellite formation space configuration form with optimal positioning performance, and simultaneously taking positioning performance and common view performance envelope corresponding to one rotation of an arch wire as performance constraint conditions;
the formation space configuration form is as follows:
the adopted formation scheme is that three auxiliary stars fly around the main star, the flying center coincides with the main star, wherein the in-plane configuration size and the out-of-plane configuration size of the auxiliary star 1 and the auxiliary star 2 are the same, the relative eccentricity vector phase angles are also the same, namely the auxiliary stars are symmetrically distributed on two sides of the orbit plane of the main star, and the auxiliary star 3 flies around the orbit plane of the main star.
2. The method for designing a non-frozen orbit multi-satellite positioning formation considering arch wire rotation according to claim 1, comprising:
step S1: determining a constraint condition;
step S2: selecting formation configuration optimization parameters;
step S3: traversing the rotation of the arch wire and obtaining a performance envelope;
step S4: traversing the optimized parameter combination and obtaining a corresponding performance index;
step S5: determining formation configuration parameters according to the performance indexes;
step S6: and correcting formation configuration parameters.
3. The non-frozen orbit multi-satellite positioning formation design method considering arch wire rotation according to claim 2, wherein the step S1:
determining a precision-preserving positioning area constraint condition related to signal positioning performance;
a co-view performance constraint described in terms of a minimum envelope sphere size is determined.
4. The non-frozen orbit multi-satellite positioning formation design method considering arch wire rotation according to claim 2, wherein the step S2:
and reducing the number of parameters to be optimized, wherein the selected optimization parameters are 4 parameters of the in-plane configuration size and the out-of-plane configuration size of the auxiliary star 1, the in-plane configuration size of the auxiliary star 3 and the difference between the eccentricity vector phase angles of the auxiliary star 1 and the auxiliary star 3.
5. The non-frozen orbit multi-satellite positioning formation design method considering arch wire rotation according to claim 2, wherein the step S3:
and simplifying the rotation change of the arch line into periodic traversal of the eccentricity vector phase angle of the satellite 1, so as to obtain the performance envelope corresponding to one-circle rotation of the arch line, including the precision-preserving positioning area and the minimum envelope sphere size.
6. The method for designing unfrozen orbit multi-satellite positioning formation considering arch wire rotation according to claim 5, wherein the precision-guaranteed positioning area is as follows:
and carrying out grid subdivision on the detectable earth surface range of the main satellite at a certain moment, calculating the positioning accuracy of the formation satellite to the central point of each grid, and adding the grid areas meeting the positioning accuracy to obtain the precision-guaranteed positioning area.
7. The non-frozen orbit multi-satellite positioning formation design method considering arch wire rotation according to claim 5, wherein the minimum envelope sphere size is:
and solving the minimum value of the diameter of the envelope sphere containing four stars by using the position of a certain instantaneous four stars and a constrained nonlinear multivariate function optimization method, and taking the minimum value as the size of the minimum envelope sphere.
8. The non-frozen orbit multi-satellite positioning formation design method considering arch wire rotation according to claim 2, wherein the step S4:
and primarily selecting the range of the parameters to be optimized according to the constraint conditions, determining subdivision grids of the parameters to be optimized, and forming different configuration parameter combinations, so that all combinations are traversed, and corresponding performance indexes are obtained.
9. The non-frozen orbit multi-satellite positioning formation design method considering arch wire rotation according to claim 2, wherein the step S5:
and screening the positioning performance and the common-view performance indexes corresponding to all configuration parameter combinations by the determined constraint conditions, comparing the performance of the configuration parameter combinations meeting the positioning performance constraint and the common-view performance constraint, and obtaining the optimal configuration parameter of the positioning performance, the optimal configuration parameter of the common-view performance and the comprehensive optimal configuration parameter under a certain weight proportion according to the requirement.
10. The non-frozen orbit multi-satellite positioning formation design method considering arch wire rotation according to claim 2, wherein the step S6:
to avoid the risk of collision of secondary star 1 with secondary star 2, the flying centers of the two stars are offset.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010779432.2A CN111806729B (en) | 2020-08-05 | 2020-08-05 | Non-freezing orbit multi-satellite positioning formation design method considering arch wire rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010779432.2A CN111806729B (en) | 2020-08-05 | 2020-08-05 | Non-freezing orbit multi-satellite positioning formation design method considering arch wire rotation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111806729A true CN111806729A (en) | 2020-10-23 |
| CN111806729B CN111806729B (en) | 2021-08-24 |
Family
ID=72863662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010779432.2A Active CN111806729B (en) | 2020-08-05 | 2020-08-05 | Non-freezing orbit multi-satellite positioning formation design method considering arch wire rotation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111806729B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114460952A (en) * | 2022-01-17 | 2022-05-10 | 上海卫星工程研究所 | Double-satellite cooperative orbit transfer method and system for initializing orbit tracing configuration |
| CN115292805A (en) * | 2022-07-04 | 2022-11-04 | 上海交通大学 | SAR imaging multi-satellite formation step-by-step decoupling design method with uniformly distributed baselines |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080237399A1 (en) * | 2007-03-29 | 2008-10-02 | Caplin Glenn N | Satellites and satellite fleet implementation methods and apparatus |
| CN107065930A (en) * | 2017-06-01 | 2017-08-18 | 上海航天控制技术研究所 | A kind of strict regression orbit control method of Complex Constraints |
| CN107450578A (en) * | 2017-07-26 | 2017-12-08 | 中国人民解放军空军工程大学 | A kind of satellite group rail design method around the flight of geo-synchronous orbit satellite distribution common rail |
| CN108382608A (en) * | 2018-01-31 | 2018-08-10 | 上海航天控制技术研究所 | It is a kind of freely to reconstruct and the earth observation Nano satellite group system of synergistic observation |
| CN108820251A (en) * | 2018-03-28 | 2018-11-16 | 上海宇航系统工程研究所 | A kind of solar sail aircraft constellation systems for geomagnetic tail detection |
| CN109085586A (en) * | 2018-08-01 | 2018-12-25 | 北京空间飞行器总体设计部 | A kind of four star Helix formation configurations can provide stable long-short baselines |
-
2020
- 2020-08-05 CN CN202010779432.2A patent/CN111806729B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080237399A1 (en) * | 2007-03-29 | 2008-10-02 | Caplin Glenn N | Satellites and satellite fleet implementation methods and apparatus |
| CN107065930A (en) * | 2017-06-01 | 2017-08-18 | 上海航天控制技术研究所 | A kind of strict regression orbit control method of Complex Constraints |
| CN107450578A (en) * | 2017-07-26 | 2017-12-08 | 中国人民解放军空军工程大学 | A kind of satellite group rail design method around the flight of geo-synchronous orbit satellite distribution common rail |
| CN108382608A (en) * | 2018-01-31 | 2018-08-10 | 上海航天控制技术研究所 | It is a kind of freely to reconstruct and the earth observation Nano satellite group system of synergistic observation |
| CN108820251A (en) * | 2018-03-28 | 2018-11-16 | 上海宇航系统工程研究所 | A kind of solar sail aircraft constellation systems for geomagnetic tail detection |
| CN109085586A (en) * | 2018-08-01 | 2018-12-25 | 北京空间飞行器总体设计部 | A kind of four star Helix formation configurations can provide stable long-short baselines |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114460952A (en) * | 2022-01-17 | 2022-05-10 | 上海卫星工程研究所 | Double-satellite cooperative orbit transfer method and system for initializing orbit tracing configuration |
| CN115292805A (en) * | 2022-07-04 | 2022-11-04 | 上海交通大学 | SAR imaging multi-satellite formation step-by-step decoupling design method with uniformly distributed baselines |
| CN115292805B (en) * | 2022-07-04 | 2023-06-02 | 上海交通大学 | SAR imaging multi-star formation step-by-step decoupling design method with uniform baseline distribution |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111806729B (en) | 2021-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109240322B (en) | Satellite formation implementation method for ground-oriented ultra-wide imaging | |
| CN111806729B (en) | Non-freezing orbit multi-satellite positioning formation design method considering arch wire rotation | |
| CN111924133B (en) | Formation configuration design method and system suitable for high-precision three-dimensional positioning of aerial signals | |
| US8930130B2 (en) | Method for constructing a trajectory of an aircraft by state vector | |
| CN112713922A (en) | Visibility rapid forecasting algorithm of multi-beam communication satellite | |
| CN113310496B (en) | Method and device for determining moon-earth transfer track | |
| CN110471432B (en) | Method and device for satellite formation configuration and storage medium | |
| CN105892487A (en) | Unmanned plane 8-shaped track control method | |
| CN111998855B (en) | Geometric method and system for determining space target initial orbit through optical telescope common-view observation | |
| CN112629543A (en) | Orbit planning method for large elliptical orbit and small-inclination-angle circular orbit | |
| CN112269394A (en) | Aircraft path point tracking guidance method | |
| CN111460614B (en) | Method for midway correction of earth-moon L2 point transfer orbit | |
| WO2020240824A1 (en) | Satellite constellation formation system, satellite constellation formation method, satellite constellation, and ground equipment | |
| CN113568442A (en) | Satellite alignment control system and method | |
| JP7068765B2 (en) | Satellite constellation formation system, satellite constellation formation method, satellite constellation formation program, and ground equipment | |
| CN111541477A (en) | Method and device for suppressing internal frequency interference of low-orbit constellation system | |
| CN113155125B (en) | INS/GNSS global integrated navigation method for large aircraft | |
| JP7068764B2 (en) | Satellite constellation formation system, satellite constellation formation method, satellite constellation, deorbit method, debris recovery method, and ground equipment | |
| CN112130147A (en) | Imaging wave position determination method based on sea and land target position information | |
| CN110440791A (en) | A kind of airborne radar rcs measurement route design method and apparatus | |
| CN111547274A (en) | Spacecraft high-precision autonomous target forecasting method | |
| CN118092502B (en) | Analysis track prediction method and system based on perturbation and homolunar theory | |
| Zhao et al. | Aircraft Route Planning and Local Dynamic Obstacle Avoidance | |
| CN116208230B (en) | Satellite autonomous data transmission rapid judgment and task parameter calculation method | |
| CN113108786B (en) | Long-endurance rotary inertial navigation/satellite combined navigation method considering flight reliability |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |