CN112093079B - Method for capturing in-orbit precise orbit based on strict regression orbit space trajectory network - Google Patents
Method for capturing in-orbit precise orbit based on strict regression orbit space trajectory network Download PDFInfo
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Abstract
The invention discloses an in-orbit fine track capturing method based on a strict regression orbit space track network, which comprises the following steps of: processing data corresponding to the reference track sampling points; determining an in-orbit state, and preliminarily matching the in-orbit state with the reference track sampling point; correcting the reference time of the reference track sampling point; determining the track parameter deviation, and determining the in-track fine track capture in a successive target control mode. The method can solve the problem that the deviation between the spacecraft and the reference orbit is large due to the emission date, the emission time or the orbit entering precision when the spacecraft is actually emitted into the orbit, and the novel method aims at the data processing of the sampling point of the reference orbit; determining preliminary matching with a reference track sampling point according to the actual state of launching into the rail; accurately correcting the reference time of the reference track sampling point; determining track parameter deviation, determining the procedures of track-in precise track capture in a successive target control mode and the like, and realizing the track-in precise track capture of a strict regression track space trajectory network.
Description
Technical Field
The invention relates to the technical application field of spacecraft engineering, in particular to an in-orbit fine orbit capturing method based on a strict regression orbit space trajectory network.
Background
Accurate target track capture of in-orbit belongs to the field of track control. Traditional in-orbit capture only has targets such as target orbit number, substellar point trajectory, and the like, or a combination of the two. The near earth polar orbit can relate to the orbit and have good sun synchronization characteristic and freezing characteristic. And then a strict regression orbit and a corresponding reference orbit sampling point can be optimally designed around the regression cycle of the spatial trajectory revisit. The reference track sampling points have a well-defined time stamp and can be used repeatedly periodically. When the target orbit is actually launched into the orbit, the deviation exists between the spacecraft and the reference orbit caused by factors such as launching time, launching time or incidence precision, and the like, and the target orbit which is launched into the orbit needs to be accurately captured and controlled by the attitude and orbit control system aiming at the reference orbit. Aiming at the goal, the method for capturing the orbit entering precise orbit of the space orbit network of the return orbit of the attitude and orbit control system has no published patent or thesis and other research results.
Disclosure of Invention
The invention aims to provide an in-orbit fine-orbit capture method based on a strict regression orbit space trajectory network, which can solve the problem of large deviation between a spacecraft and a reference orbit caused by launching time, launching time or in-orbit precision when the spacecraft is actually launched into the orbit.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an in-orbit fine track capture method based on a strict regression orbit space trajectory network comprises the following steps:
processing data corresponding to the reference track sampling points;
determining an in-orbit state, and preliminarily matching the in-orbit state with the reference track sampling point;
correcting the reference time of the reference track sampling point;
determining the track parameter deviation, and determining the in-track fine track capture in a successive target control mode.
Optionally, the data processing specifically includes:
the data includes time epochs corresponding to the reference orbit sampling points, WGS84 ground fixation positions, velocity PVref，WGS84The time interval between two adjacent sampling points is T, and the dimension is second, so that the time of the M +1 th reference track sampling point in the regression period can be expressed as T from the initial timeM+1＝t0+ M × T; using PVref，WGS84Determining the lifting rail state of the rail by using the WGS84 ground fastening Z axis speed Vz of each group of points, wherein the Vz is larger than O, namely the lifting rail is used, and otherwise, the lifting rail is used;
the WGS84 ground fixation position and speed of a reference track sampling point are converted into geographic latitude and longitude, the dimension is degree, and a time epoch is converted into the Julian century.
Optionally, WGS84 ground fastening position, velocity PV of reference orbit sampling pointref，WGS84The method can be repeatedly used in a cross-period mode, the duration of each regression period is K days, and therefore the time of the Mth reference track sampling point in the Nth regression period is tN，M+1＝t0+N*K*86400+M*T。
Optionally, the method further comprises:
converting the WGS84 and WGS84 geofixation positions and the WGS 8932 geofixation speeds corresponding to the sampling points into geographic longitude and latitude corresponding to the sampling points;
converting the time epochs corresponding to the sampling points to julian century numbers corresponding to the sampling points.
Optionally, the determining the track entering state, and the preliminary matching between the track entering state and the reference track sampling point specifically includes:
according to the actual on-orbit state, the telemetering data of a GNSS measurement subsystem is used, the telemetering data comprises the position, the speed and the time epoch of the ground fixed system of the WGS84, and the PV can be fixed in the WGS84 according to the number of julian century corresponding to the time epochGNSS，WGS84(tGNSS) And J2000.0 inertial system PVGNSS，J2000(tGNSS) Coordinate conversion is carried out between the two parts;
according to the geographic longitude and latitude of the satellite orbit entry point, the geographic longitude difference and the latitude difference of each point of the orbit entry point and the reference orbit sampling point can be calculated; and considering physical significance, preferably considering the minimum longitude difference of the polar orbit, sequencing the longitude differences in an ascending order by using a bubbling method, and determining the sampling point sequence number of the preliminarily matched reference orbit by combining the ascending and descending orbit state of the orbit entry point and the ascending and descending orbit state of the sampling point of the reference orbit.
Optionally, the correcting the reference time of the reference track sampling point specifically includes:
time t from GNSS telemetry employedGNSSSwitching to the julian century tjc;
correcting the reference time of the reference track sampling point, and recording the initial julian century number tjc to be determined0And the epoch corresponds to julian century number tjc (i), i is 1, 2.; according to the analysis, the reference track sampling point target point and the group G determined by the bivariate optimization of the geography longitude and latitude can be primarily corrected by utilizing a time difference formula, and the following formula is specifically adopted for calculation:
tjc-tjcO＝tjc(G)-tjc(1)
tjc0＝tjc-tjc(G)+tjc(1)
compensating a time correction term corresponding to the latitude difference delta phi on the basis of the optimization of the longitude difference delta lambda; using PVGNSS，WGS84(tGNSS) The Z-axis coordinate system of (a) is used as a criterion for determining the lifting rail, dt is sign (V)z) Δ φ/n, the angular velocity n dimension of the track is taken as °/s; initial julian century numeric value tjc*＝tjc0+dt/86400/36525。
Compared with the prior art, the invention has at least one of the following advantages:
the method can solve the problem that the deviation between the spacecraft and the reference orbit is large due to the emission date, the emission time or the orbit entering precision when the spacecraft is actually emitted into the orbit, and the novel method aims at the data processing of the sampling point of the reference orbit; determining preliminary matching with a reference track sampling point according to the actual state of launching into the rail; accurately correcting the reference time of the reference track sampling point; determining track parameter deviation, determining the procedures of track-in precise track capture in a successive target control mode and the like, and realizing the track-in precise track capture of a strict regression track space trajectory network.
Drawings
FIG. 1 is a flow chart of an in-orbit fine track capture method of a strict regression orbit spatial trajectory network of the present invention;
FIG. 2 is a diagram of the trajectory of the subsatellite points of a strict regression space trajectory network;
FIG. 3 is a cross-cycle reuse pattern of reference track sampling points;
fig. 4 is a schematic diagram of reference time correction in the track entry state.
Detailed Description
The method, system and computer readable storage medium for fine track acquisition based on strict regression orbit spatial trajectory network proposed by the present invention are further described in detail with reference to fig. 1 to 4 and the following detailed description. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise scale for the purpose of facilitating and distinctly aiding in the description of the embodiments of the present invention. To make the objects, features and advantages of the present invention comprehensible, reference is made to the accompanying drawings. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any structural modification, ratio relationship change or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or field device that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or field device. Without further limitation, the use of the phrase "including a. -. said" defining element does not exclude the presence of other like elements in the process, method, article, or field device that includes the element.
The first embodiment is as follows:
referring to fig. 1-4, the present embodiment provides a method for capturing a fine track of an input track based on a strict regression trajectory space network, including:
processing data corresponding to the reference track sampling points;
determining an in-orbit state, and preliminarily matching the in-orbit state with the reference track sampling point;
correcting the reference time of the reference track sampling point;
determining the track parameter deviation, and determining the in-track fine track capture in a successive target control mode.
Optionally, the data processing specifically includes:
the data includes time epochs corresponding to the reference orbit sampling points, WGS84 ground fixation positions, velocity PVref，WGS84The time interval between two adjacent sampling points is T, and the dimension is second, so that the time of the M +1 th reference track sampling point in the regression period can be expressed as T from the initial timeM+1＝t0+ M × T; using PVref，WGS84The WGS84 ground speed of each set of points is measured by the Z axis velocity Vz, and the rail lifting/lowering state is determined, where Vz > O is rail lifting and vice versa rail lowering, as shown in table 1.
Table 1 sample points file schematic of a reference orbit for a strict regression (K7, T360 s)
| Serial number | Time of day (UTc) | x(m) | y(m) | z(m) | vx(m/sec) | vy(m/sec) | vz(m/sec) | |
| 1 | 2015-10-1 0:00:00 | -1037494.414 | -22744.541 | 7032718.877 | 23.025886 | 7489.848729 | 27.619816 | Lifting rail |
| 2 | 2015-10-1 0:06:00 | -887189.639 | 2635564.34 | 6544026.004 | 606.755402 | 6955.661302 | -2710.142437 | Falling rail |
| 3 | 2015-10-1 0:12:00 | -482532.617 | 4908295.718 | 5127636.487 | 1050.694745 | 5415.057586 | -5064.514326 | Falling rail |
| …… | …… | …… | …… | …… | …… | …… | …… | …… |
| 1679 | 2015-10-7 23:48:00 | -513005 | -4930833 | 5100987 | -1014.57 | 5394.654 | 5095.89 | Lifting rail |
| 1680 | 2015-10-7 23:54:00 | -903516 | -2663106 | 6530086 | -561.511 | 6944.934 | 2748.659 | Lifting rail |
The WGS84 geofixation position and speed of the reference track sampling point are converted into geographic latitude and longitude, the dimension is degree, and the time epoch is converted into julian century, as shown in table 2.
TABLE 2 geographical latitude and longitude corresponding to reference orbit sample points
| Serial number | Time of day (UTC) | Longitude λ ((°) | Latitude phi (°) | Epoch corresponding to julian |
| 1 | 2015-10-1 0:00:00 | 181.255869412007 | 81.6060427872241 | tjc(1) |
| 2 | 2015-10-1 0:06:00 | 108.604378894362 | 66.9769480629013 | tjc(2) |
| 3 | 2015-10-1 0:12:00 | 95.6146836547562 | 46.1143757428823 | tjc(3) |
| …… | …… | …… | …… | …… |
| 1679 | 2015-10-7 23:48:00 | 264.060302446096 | 45.8175814140601 | tjc(1679) |
| 1680 | 2015-10-7 23:54:00 | 251.259385684510 | 66.7007286258507 | tjc(1680) |
Optionally, WGS84 ground fastening position, velocity PV of reference orbit sampling pointref，WGS84Can spanThe period is repeatedly used, the duration of each regression period is K days, and therefore the time of the Mth reference track sampling point in the Nth regression period is tN，M+1＝t0+N*K*86400+M*T。
Optionally, the method further comprises:
converting the WGS84 and WGS84 geofixation positions and the WGS 8932 geofixation speeds corresponding to the sampling points into geographic longitude and latitude corresponding to the sampling points;
converting the time epochs corresponding to the sampling points to julian century numbers corresponding to the sampling points.
Optionally, the determining the track entering state, and the preliminary matching between the track entering state and the reference track sampling point specifically includes:
according to the actual on-orbit state, the telemetering data of a GNSS measurement subsystem is used, the telemetering data comprises the position, the speed and the time epoch of the ground fixed system of the WGS84, and the PV can be fixed in the WGS84 according to the number of julian century corresponding to the time epochGNSS，WGS84(tGNSS) and J2000.0 inertial system PVGNSS，J2000(tGNSS) Coordinate conversion is carried out between the two parts;
according to the geographic longitude and latitude of the satellite orbit entry point, the geographic longitude difference and the latitude difference of each point of the orbit entry point and the reference orbit sampling point can be calculated. Considering the physical significance, the polar orbit is preferably considered to have the smallest longitude difference, the longitude differences are sorted in an ascending order by using a bubbling method, and meanwhile, the ascending and descending rail states of the orbit entry point are combined with the ascending and descending rail states of the reference orbit sampling point, so as to determine the sampling point sequence number of the reference orbit which is preliminarily matched, as shown in table 3.
TABLE 3 optimization using deviation of in-track and reference track sampling points
Optionally, the correcting the reference time of the reference track sampling point specifically includes:
time t from GNSS telemetry employedGNSSSwitching to the julian century tjc;
correction ginsengRecording the initial Ru-John century number to be determined tjc according to the reference time of the track sampling point0And the epoch corresponds to the number tjc (i) of julian century, i.e., 1, 2. According to the analysis, the reference track sampling point target point and the group G determined by the bivariate optimization of the geography longitude and latitude can be primarily corrected by utilizing a time difference formula, and the following formula is specifically adopted for calculation:
tjc-tjcO＝tjc(G)-tjc(1)
tjc0＝tjc-tjc(G)+tjc(1)
and compensating a time correction term corresponding to the latitude difference delta phi on the basis of the longitude difference delta lambda optimization. Using PVGNSS，WGS84(tGNSS) The Z-axis coordinate system of (a) is used as a criterion for determining the lifting rail, dt is sign (V)z) Δ φ/n, the angular velocity n dimension of the track is taken as °/s; initial julian century numeric value tjc*＝tjc0+dt/86400/36525。
The determining of the track parameter deviation and the determining of the in-track fine track capture in the successive target control mode comprises the following steps:
after determining the initial julian century number tjc of the reference time, the following two types of data processing are carried out:
fixed position and speed PV of telemetering epochs tjc and WGS84GNSS，WGS84(tGNSS) → J2000.O inertial system position and velocity PVGNSS，J2000(tGNSS) → J2000.0 inertia system orbit transient root OEGNSS，shun→ J2000.0 inertia system orbital flat root OEGNSS，ping；
Acquiring track parameters of the target track, and fixing the position and the speed PV of the WGS84 combined with the sampling point of the target reference track based on the time tjc and the target point group serial number N → the time tjc + N T/86400/36525 of the sampling point of the target reference trackref，WGS84(N) → J2000.0 inertial system position, velocity PVref，J2000J2000.0 inertial system orbit transient root OE of (N) → target orbitref，shunJ2000.0 inertial series orbital plane root OE → target orbitalref，ping；
In combination with OEGNSS，pingAnd OEref，pingPerforming track control, and performing successive target track capture controlRepeating the above control operation to approach the target orbit, namely, obtaining a successive target control form.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (3)
1. An in-orbit fine track capture method based on a strict regression orbit space trajectory network is characterized by comprising the following steps:
processing data corresponding to the reference orbit sampling points, wherein the data comprises time epochs corresponding to the reference orbit sampling points, a WGS84 ground fixation position and velocity PVref，WGS84；
Determining an in-orbit state, and preliminarily matching the in-orbit state with the reference track sampling point;
correcting the reference time of the reference track sampling point;
determining track parameter deviation, and determining in-track fine track capture in a successive target control mode;
wherein the determining the on-track state and the preliminary matching of the on-track state and the reference track sampling point comprise:
according to the actual on-orbit state, the telemetering data of a GNSS measurement subsystem is used, the telemetering data comprises the position, the speed and the time epoch of the ground fixed system of the WGS84, and the PV can be fixed in the WGS84 according to the number of julian century corresponding to the time epochGNSS，WGS84(tGNSS) And J2000.0 inertial system PVGNSS，J2000(tGNSS) Coordinate conversion is carried out between the two parts;
calculating the geographical longitude difference and the latitude difference of each point of the orbit entering point and the reference orbit sampling point according to the geographical longitude and latitude of the satellite orbit entering point; and considering physical significance, preferably considering the minimum longitude difference of the polar orbit, sequencing the longitude differences in an ascending order by using a bubbling method, and determining the sampling point sequence number of the preliminarily matched reference orbit by combining the ascending and descending orbit state of the orbit entry point and the ascending and descending orbit state of the sampling point of the reference orbit.
2. The method of claim 1, wherein the data processing specifically comprises:
the time interval between two adjacent sampling points is T, and the dimension is second, so that the time of the M +1 th reference track sampling point in the regression period can be expressed as T from the initial timeM+1＝t0+ M × T; using PVref，WGS84Determining the lifting rail state of the rail by using the WGS84 ground fastening Z axis speed Vz of each group of points, wherein the Vz is more than 0, namely the lifting rail is used, and otherwise, the lifting rail is used;
the WGS84 ground fixation position and speed of a reference track sampling point are converted into geographic latitude and longitude, the dimension is degree, and a time epoch is converted into the Julian century.
3. The method of claim 2 wherein the WGS84 ground fixation position, velocity PV, of a reference orbit sampling pointref，WGS84The method can be repeatedly used in a cross-period mode, the duration of each regression period is K days, and therefore the time of the Mth reference track sampling point in the Nth regression period is tN，M+1＝t0+N*K*86400+M*T。
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