CN113086250A - Monthly transfer track correction method based on engineering constraints - Google Patents
Monthly transfer track correction method based on engineering constraints Download PDFInfo
- Publication number
- CN113086250A CN113086250A CN202110272097.1A CN202110272097A CN113086250A CN 113086250 A CN113086250 A CN 113086250A CN 202110272097 A CN202110272097 A CN 202110272097A CN 113086250 A CN113086250 A CN 113086250A
- Authority
- CN
- China
- Prior art keywords
- parameter
- track
- preset
- correction
- entry point
- 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
- 238000012937 correction Methods 0.000 title claims abstract description 131
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000012546 transfer Methods 0.000 title claims abstract description 26
- 238000000926 separation method Methods 0.000 claims abstract description 25
- 230000007704 transition Effects 0.000 claims abstract description 8
- 238000010586 diagram Methods 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 239000000523 sample Substances 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Remote Sensing (AREA)
- Pure & Applied Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computational Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Software Systems (AREA)
- Databases & Information Systems (AREA)
- Algebra (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Operations Research (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses a monthly transfer track correction method based on engineering constraints, which comprises the following steps: and determining the correction speed increment according to the track state of the monthly transition track at a certain moment and the target requirement of the re-entry point. The method combines a full-target strategy, an offset strategy and a reduced-order strategy, adopts the full-target strategy for the first midway correction of a monthly transfer orbit, adopts a pre-offset strategy for the second midway correction, adopts the reduced-order strategy for the third midway correction, realizes the aim of single control on the full target of a reentry point state, reduces the influence of a separation process, control residual error and the like on the reentry point, and realizes the stable convergence of the reentry state under the condition of error in actual flight. The application solves the technical problem that the transfer track correction method in the prior art cannot meet the actual correction requirement.
Description
Technical Field
The application relates to the technical field of detector tracks, in particular to a monthly transfer track correction method based on engineering constraints.
Background
The probe needs to transfer the orbit back to the earth via a predetermined month in the lunar sampling return task. The detector is influenced by various error factors such as a monthly transfer residual error, a rail measuring error, a rail control execution error, a separation speed error and the like in the monthly return flight process, and the actual flight orbit of the detector necessarily deviates from the scheduled monthly transfer orbit gradually. Therefore, in order to ensure that the probe can still transit the track to the re-entry point according to the predetermined month under the error condition, it is necessary to make corrections during the transit flight so that it can satisfy the terminal constraints required by the return mission.
At present, the process of the correction method of the detector in the transfer flight process is as follows: during the process of transferring the orbit to fly according to the preset month, the detector generally arranges a plurality of corrections, for example, 3 times, but during the actual flying process, a part of the correction process is generally cancelled according to specific orbit parameters and control execution conditions, and the single midway correction generally meets three constraint conditions of the terminal by adjusting three direction components of the orbit transfer time speed. With the rapid development of the lunar exploration technology, higher requirements are put on a detector, and more return task constraint conditions, such as reentry angle, height, inclination angle and landing point in the reentry orbit, need to be met simultaneously for single correction of a lunar transition orbit, and the influence caused by the separation process needs to be compensated simultaneously. Therefore, the transfer orbit correction method of the prior art cannot satisfy the actual correction requirement.
Disclosure of Invention
The technical problem that this application was solved is: aiming at the problem that the prior transfer orbit correction method can not meet the actual correction requirement, the application provides a monthly transfer orbit correction method based on engineering constraints, in the scheme provided by the embodiment of the application, when a detector reaches a preset first correction time in the movement process of transferring an orbit according to a preset month, a first orbit parameter corresponding to the first correction time is determined according to a preset initial orbit parameter, then a parameter of a preset re-entry point is calculated according to the first orbit parameter, the first orbit parameter is adjusted according to the parameter of the re-entry point until the adjusted first orbit parameter enables the parameter of the re-entry point to meet the preset constraint condition, wherein the preset constraint condition comprises a re-height constraint condition, a fixed connection point inclination angle constraint condition, a re-entry angle constraint condition and an included angle constraint condition between a re-entry point fixed connection system position vector and an orbit plane normal direction, namely, the pose parameters at the first correction moment are adjusted by adopting a four-to-four full-target strategy during the first correction, so that the precise aiming of the re-entry point state by single control is realized, and a good condition is provided for the rapid approaching convergence of the control target.
In a first aspect, an embodiment of the present application provides a monthly transition track correction method based on engineering constraints, where the method includes:
acquiring the time information of the movement of the detector in real time in the process that the detector transfers the track movement according to a preset month;
when the time information is preset first correction time, determining a first track parameter corresponding to the first correction time according to a preset initial track parameter obtained by measuring a track, and calculating a parameter of a preset re-entry point according to the first track parameter, wherein the first track parameter comprises position and speed, and the parameter of the re-entry point comprises the height of the re-entry point, a fixed connection system inclination angle, a re-entry angle and an included angle between a landing point fixed connection system position vector and a track surface normal direction;
and adjusting the first track parameter according to the parameter of the reentry point until the adjusted first track parameter enables the parameter of the reentry point to meet a preset constraint condition, and controlling the detector to move according to the adjusted first track parameter, wherein the preset constraint condition comprises a reentry point height constraint condition, a fixed connection system inclination angle constraint condition, a reentry angle constraint condition and an included angle constraint condition between a reentry point fixed connection system position vector and a track surface normal direction.
In the scheme provided by the embodiment of the application, when the detector reaches the preset first correction time in the process of transferring track motion according to the preset month, a first track parameter corresponding to the first correction time is determined according to the preset initial track parameter, then a parameter of the preset re-entry point is calculated according to the first track parameter, the first track parameter is adjusted according to the parameter of the re-entry point until the adjusted first track parameter enables the parameter of the re-entry point to meet the preset constraint condition, wherein the preset constraint condition comprises a re-entry point height constraint condition, a fixed connection system inclination angle constraint condition, a re-entry angle constraint condition and an included angle constraint condition between a re-entry point fixed connection system position vector and a track surface normal direction, namely, a four-to-four full target strategy is adopted to adjust the pose parameter at the first correction time during the first correction, so as to realize the precise aiming of the state of the re-entry point by single control, good conditions are provided for the control target to quickly approach convergence.
Optionally, the method further comprises: when the time information is a preset second correction time, determining a second track parameter corresponding to the second correction time and a third track parameter corresponding to a preset separation point according to the adjusted first track parameter, and adjusting the third track parameter according to a preset separation speed to obtain an adjusted third track parameter;
calculating the parameter of the re-entry point according to the second track parameter and the adjusted third track parameter, adjusting the second track parameter according to the parameter of the re-entry point and the parameter of the re-entry point until the adjusted second track parameter enables the parameter of the re-entry point to meet a preset constraint condition, and controlling the detector to move according to the adjusted second track parameter.
In the scheme provided by the embodiment of the application, at the preset second correction time, the second orbit parameter is adjusted by determining the second orbit parameter at the second correction time and the third orbit parameter at the separation point reaching time of the detector, that is, the second orbit parameter is adjusted according to the third orbit parameter at the separation point reaching time of the detector to eliminate the influence of the determined separation speed on the reentry angle of the reflector, so that the reentry angle aiming accuracy is further improved.
Optionally, the method further comprises: when the time information is a preset third correction moment, determining a fourth track parameter corresponding to the third correction moment according to the adjusted second track parameter, and calculating a parameter of a preset re-entry point according to the fourth track parameter;
and adjusting the fourth track parameter according to the parameter of the re-entry point until the adjusted fourth track parameter enables the parameter of the re-entry point to meet a preset constraint condition, and controlling the detector to move according to the adjusted fourth track parameter.
In the scheme provided by the embodiment of the application, at the preset third correction time, in the third correction process, the speed increment is determined through the reentry angle sensitive to the error, the requirement for correcting the speed increment is greatly reduced, the influence of the orbit control error is reduced, and the task reliability is improved.
Optionally, adjusting the first track parameter according to the parameter of the re-entry point until the adjusted first track parameter makes the parameter of the re-entry point satisfy a preset constraint condition, including:
calculating a deviation value according to the parameters of the re-entry point and a preset parameter target value, and judging whether the deviation value is smaller than a first preset threshold value;
if not, calculating the speed increment of the first correction moment according to the deviation value, adjusting the speed in the first track parameters according to the speed increment to obtain adjusted first track parameters, and calculating the parameters of the re-entry point according to the adjusted first track parameters;
calculating an angle difference value between the included angle and a preset target included angle according to the parameters of the re-entry point, and judging whether the angle difference value is smaller than a second preset threshold value or not;
if not, adjusting the residual flight time of the detector according to the angle difference value, adjusting the speed in the first orbit parameter according to the residual flight time to obtain an adjusted first orbit parameter, and calculating the parameter of the reentry point according to the adjusted first orbit parameter until the deviation value is smaller than the first preset threshold value and the angle difference value is smaller than the second preset threshold value.
Optionally, calculating the speed increment of the first correction time according to the deviation value includes:
the speed increment is calculated by the following formula:
q＝f1(v1)
wherein Δ v1Representing the speed increment; Δ q represents the deviation value; q represents a parameter of the re-entry point; f. of1(v1) Representing a functional relationship between a speed in the first track parameter and a parameter of the re-entry point.
Optionally, calculating an angle difference between the included angle and a preset target included angle according to the parameter of the re-entry point, including:
the angle difference is calculated by the following formula:
Δθf＝90°-θf
where Δ θfRepresenting the angular difference; thetafRepresenting an included angle between the reentrant point fixed connection position vector and the normal direction of the track surface;
representing the reentry point anchor position vector;
representing the orbital plane normal.
Optionally, adjusting the remaining flight time of the detector according to the angle difference includes:
determining the current moment, and determining the remaining flight time of the detector according to the current moment;
and calculating a correction quantity of the flight time according to the angle difference value, and adjusting the residual flight time according to the correction quantity.
Optionally, calculating a correction amount of the flight time according to the angle difference includes:
calculating the correction amount of the flight time by the following formula:
wherein Δ T represents a correction amount of the flight time; omegaeRepresenting a preset rotational angular velocity of the earth.
Drawings
Fig. 1 is a schematic flowchart of a monthly transition track correction method based on engineering constraints according to an embodiment of the present application;
fig. 2 is a flowchart illustrating a monthly transition track correction method based on engineering constraints according to an embodiment of the present application.
Detailed Description
In the solutions provided in the embodiments of the present application, the described embodiments are only a part of the embodiments of the present application, 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 application.
In the following, a monthly transition track correction method based on engineering constraints provided in an embodiment of the present application is described in further detail with reference to the drawings in the specification, and a specific implementation manner of the method may include the following steps (a method flow is shown in fig. 1):
step 101, acquiring the time information of the motion of the detector in real time in the process that the detector moves according to a preset monthly transfer track.
Specifically, in the scheme provided by the embodiment of the present application, when the detector runs on a preset monthly transfer orbit, the time information of the detector in the motion process, that is, the time point of the real-time motion, is acquired in real time with the initial motion time of the detector as a starting point. Generally, 3 corrections are set when the detector runs on the monthly transfer orbit, 1-2 corrections can be cancelled in the actual flight process according to specific orbit parameters and control execution conditions, namely, the detector performs 1-3 corrections when running on the monthly transfer orbit.
And step 102, when the time information is a preset first correction moment, determining a first track parameter corresponding to the first correction moment according to a preset initial track parameter obtained by measuring a track, and calculating a preset reentry point parameter according to the first track parameter, wherein the first track parameter comprises a position and a speed, and the reentry point parameter comprises a reentry point height, a fixed connection system inclination angle, a reentry angle and an included angle between a landing point fixed connection system position vector and a track surface normal direction.
In the scheme provided by the embodiment of the application, when the detector is set to operate on the transfer track for one correction, and when the operation time of the detector reaches a preset first correction time, the detector determines a first track parameter corresponding to the first correction time according to a preset initial track parameter, and then calculates a parameter of a preset reentry point according to the first track parameter. For convenience of understanding, the following briefly describes a process of calculating the parameters of the pre-set re-entry point.
Specifically, when the detector corrects the monthly transition track, initial track parameters of the detector need to be acquired, wherein the initial track parameters include: initial moment t of detector movement0Position and velocity (r) corresponding to the initial time0,v0) And a predetermined first correction time t1Then the position and speed (r) of the probe movement to the first correction instant are determined1,v1) And the position and speed (r) of the probe moving to the predetermined re-entry pointf,vf) Then will (r)f,vf) Conversion to position and velocity under earth's anchor
Then, the height of a reentry point, the inclination angle of the fixed connection system and the reentry angle are calculated by the following formulas:
the re-entry point height is calculated by:
Hf＝|rf|-RE (1)
wherein R isERepresenting the radius of the earth.
The attachment inclination is calculated by:
wherein,
represents the normal direction of the orbital plane, namely the orbital angular momentum under the fixed contact system,
representing said angular momentum
The Z-direction component of (a).
The re-entry angle is calculated by:
obtaining parameters of a reentry point according to the formulas (1) to (3):
and 103, adjusting the first track parameter according to the parameter of the reentry point until the adjusted first track parameter enables the parameter of the reentry point to meet a preset constraint condition, and controlling the detector to move according to the adjusted first track parameter, wherein the preset constraint condition comprises a reentry point height constraint condition, a fixed connection system inclination angle constraint condition, a reentry angle constraint condition and an included angle constraint condition between a reentry point fixed connection system position vector and a track surface normal direction.
Specifically, after the detector obtains the parameters of the re-entry point, the first track parameters are adjusted according to the parameters of the re-entry point until the adjusted first track parameters enable the parameters of the re-entry point to meet the preset constraint conditions. In the solution provided in the embodiment of the present application, there are various ways to adjust the first track parameter according to the parameter of the re-entry point, and one of the ways is taken as an example for description below.
In a possible implementation manner, adjusting the first track parameter according to the parameter of the re-entry point until the adjusted first track parameter makes the parameter of the re-entry point satisfy a preset constraint condition includes:
calculating a deviation value according to the parameters of the re-entry point and a preset parameter target value, and judging whether the deviation value is smaller than a first preset threshold value;
if not, calculating the speed increment of the first correction moment according to the deviation value, adjusting the speed in the first track parameters according to the speed increment to obtain adjusted first track parameters, and calculating the parameters of the re-entry point according to the adjusted first track parameters;
calculating an angle difference value between the included angle and a preset target included angle according to the parameters of the re-entry point, and judging whether the angle difference value is smaller than a second preset threshold value or not;
if not, adjusting the residual flight time of the detector according to the angle difference value, adjusting the speed in the first orbit parameter according to the residual flight time to obtain an adjusted first orbit parameter, and calculating the parameter of the reentry point according to the adjusted first orbit parameter until the deviation value is smaller than the first preset threshold value and the angle difference value is smaller than the second preset threshold value.
Further, in a possible implementation manner, calculating the speed increment of the first correction time according to the deviation value includes:
the speed increment is calculated by the following formula:
q＝f1(v1)
wherein Δ v1Representing the speed increment; Δ q represents the deviation value; q represents a parameter of the re-entry point; f. of1(v1) Representing a functional relationship between a speed in the first track parameter and a parameter of the re-entry point.
Further, in a possible implementation manner, calculating an angle difference between the included angle and a preset target included angle according to the parameter of the re-entry point includes:
the angle difference is calculated by the following formula:
Δθf＝90°-θf
where Δ θfRepresenting the angular difference; thetafRepresenting an included angle between the reentrant point fixed connection position vector and the normal direction of the track surface;
representing the reentry point anchor position vector;
representing the orbital plane normal.
Further, in a possible implementation manner, adjusting the remaining time of flight of the detector according to the angle difference includes:
determining the current moment, and determining the remaining flight time of the detector according to the current moment;
and calculating a correction quantity of the flight time according to the angle difference value, and adjusting the residual flight time according to the correction quantity.
Further, in a possible implementation manner, calculating a correction amount of the flight time according to the angle difference value includes:
calculating the correction amount of the flight time by the following formula:
wherein Δ T represents a correction amount of the flight time; omegaeRepresenting a preset rotational angular velocity of the earth.
For the sake of understanding, the process of the detector adjusting the first track parameter according to the parameter of the re-entry point will be briefly described below. Referring to fig. 2, the specific steps are as follows:
(1) the detector calculates a deviation value according to the parameters of the re-entry point and the preset parameter target value, wherein the specific deviation value is as follows:
(2) the relationship between the velocity vector of the probe at the first correction time and the target amount of the re-entry point is expressed by the following function
q＝f1(v1) (6)
(3) According to the differential correction theory, the three-direction velocity increment of the detector at the first correction time can be obtained by the above equation (5) and equation (6), which is specifically as follows:
(4) and adjusting the speed of the first correction time according to the speed increment, wherein the speed of the first correction time after the adjustment of the detector is as follows:
(5) calculating the fixed contact position vector of the preset landing point at the time of re-entering the point according to the adjusted speed of the first correction moment
Angle to orbital angular momentum vector (i.e. normal to the orbital plane):
(6) calculating to obtain an angle difference value between the included angle and a preset target included angle:
Δθf＝90°-θf (10)
further get the correction of the time of flight:
(7) calculating the residual flight time according to the correction determined by the formula (11), repeating the steps 102 and 103 according to the residual flight time until the reentry point state and the landing point meet the task requirement, and obtaining the speed correction delta v at the last first correction time1。
(8) Speed correction amount Deltav according to last first correction time1And determining the adjusted first position and posture parameter, and controlling the detector to move according to the adjusted first position and posture parameter.
Further, in order to eliminate the influence of the separation speed on the reentry angle of the reflector and improve the precision of the reentry angle aiming, in a possible implementation manner, after step 103, the method further includes:
and 104, when the time information is a preset second correction time, determining a second track parameter corresponding to the second correction time and a third track parameter corresponding to a preset separation point according to the adjusted first track parameter, and adjusting the third track parameter according to a preset separation speed to obtain an adjusted third track parameter.
And 105, calculating the parameter of the re-entry point according to the second track parameter and the adjusted third track parameter, adjusting the second track parameter according to the parameter of the re-entry point until the adjusted second track parameter enables the parameter of the re-entry point to meet a preset constraint condition, and controlling the detector to move according to the adjusted second track parameter.
Specifically, in the solution provided in the embodiment of the present application, in order to improve the reentry angle collimation accuracy, after the detector adjusts the pose parameter of the detector at the preset first correction time, the detector needs to be corrected for the second time. Referring to fig. 2, the process of the second correction will be briefly described.
1) And acquiring the position of the detector in the monthly transfer orbit after the first correction and the running speed of the detector.
2) Determining a second position and posture parameter at the preset second correction moment and a third position and posture parameter when the detector reaches a preset separation point according to the position and the speed of the detector after the first correction, namely determining that the detector is at the second correction moment t2Time position velocity (r)2,v2) And a separation point time tsCorresponding position velocity (r)s,vs) Then according to the separation attitude, at tsVelocity vector v at timesAdding a separation velocity vector, wherein the separation attitude is represented by an azimuth angle alpha and an altitude angle beta under an orbital system, and the velocity is vsepThen separate the velocity vector
Under the orbital system can be expressed as:
3) the conversion relationship between the orbital system and the earth-centered inertial system is represented by tsPosition and velocity (r) of times,vs) Specifically, the conversion relationship between the orbital system and the earth-centered inertial system is determined as follows:
4) updating t according to the separation velocity vector in the above formula (13)sThe time velocity, specifically the updated velocity, is as follows:
5) and forecasting to a reentry point, and calculating the height of the reentry point, the inclination angle of the fixed connection system and the deviation of the reentry angle and a preset value by referring to a first correction method.
6) And expressing the relationship between the probe velocity vector and the target amount of the re-entry point at the second correction time by the following function
q＝f2(v2) (15)
7) And obtaining the three-direction speed increment of the correction point according to the differential correction theory and the formula (15) from the target deviation of the re-entry point:
8) and updating the speed of the second correction time as follows:
9) and forecasting the orbit, calculating an included angle between a fixed connection position vector of a preset landing point and an orbit angular momentum vector when the point is re-entered by referring to a first correction method, and calculating a transfer time correction according to the deviation amount. Calculating new transfer time according to the transfer time correction quantity, repeating the steps (2) to (8) according to the new transfer time until the reentry point state and the landing point meet the requirements, and obtaining the final second correction quantity delta v2。
In the scheme provided by the embodiment of the application, at the preset second correction time, the second orbit parameter is adjusted by determining the second orbit parameter at the second correction time and the third orbit parameter at the separation point reaching time of the detector, that is, the second orbit parameter is adjusted according to the third orbit parameter at the separation point reaching time of the detector to eliminate the influence of the determined separation speed on the reentry angle of the reflector, so that the reentry angle aiming accuracy is further improved.
Further, in order to reduce the tracking error and improve the task reliability, in a possible implementation manner, after step 103, the method further includes:
and 106, when the time information is a preset third correction time, determining a fourth track parameter corresponding to the third correction time according to the adjusted second track parameter, and calculating a parameter of a preset re-entry point according to the fourth track parameter.
And 107, adjusting the fourth track parameter according to the parameter of the re-entry point until the adjusted fourth track parameter enables the parameter of the re-entry point to meet a preset constraint condition, and controlling the detector to move according to the adjusted fourth track parameter.
Specifically, in the scheme provided in the embodiment of the present application, in order to reduce the tracking error and improve the task reliability, after the detector adjusts the pose parameters of the detector at the preset second correction time, the detector needs to be corrected for the third time. Referring to fig. 2, the process of the third correction will be briefly described.
(1) And acquiring the track position speed after the second correction.
(2) Respectively forecasting the track to a third correction point and a separation point to obtain a third correction time t3Time position velocity (r)3,v3) And a separation point time tsCorresponding position velocity
At tsTime of day velocity vector
Add separation velocity vector:
(3) and forecasting to a reentry point, and calculating the deviation of the reentry angle and a preset value by referring to a first correction method.
(4) And expressing the relation between the tangential velocity vector of the detector at the third correction point and the target value of the reentry angle by the following function:
(5) and according to a differential correction theory, obtaining the speed increment of a third correction point by the reentry angle deviation as follows:
(6) and updating the speed of the third correction time as follows:
wherein,
repeating the steps (2) to (6) until the reentry angle meets the task requirement to obtain the final third correction quantity delta v3。
In the scheme provided by the embodiment of the application, at the preset third correction time, in the third correction process, the speed increment is determined through the reentry angle sensitive to the error, the requirement for correcting the speed increment is greatly reduced, the influence of the orbit control error is reduced, and the task reliability is improved.
In the scheme provided by the embodiment of the application, when the detector reaches the preset first correction time in the process of transferring track motion according to the preset month, a first track parameter corresponding to the first correction time is determined according to the preset initial track parameter, then a parameter of the preset re-entry point is calculated according to the first track parameter, the first track parameter is adjusted according to the parameter of the re-entry point until the adjusted first track parameter enables the parameter of the re-entry point to meet the preset constraint condition, wherein the preset constraint condition comprises a re-entry point height constraint condition, a fixed connection system inclination angle constraint condition, a re-entry angle constraint condition and an included angle constraint condition between a re-entry point fixed connection system position vector and a track surface normal direction, namely, a four-to-four full target strategy is adopted to adjust the pose parameter at the first correction time during the first correction, so as to realize the precise aiming of the state of the re-entry point by single control, good conditions are provided for the control target to quickly approach convergence.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (8)
1. A monthly transition track correction method based on engineering constraints is characterized by comprising the following steps:
acquiring the time information of the movement of the detector in real time in the process that the detector transfers the track movement according to a preset month;
when the time information is preset first correction time, determining a first track parameter corresponding to the first correction time according to a preset initial track parameter obtained by measuring a track, and calculating a parameter of a preset re-entry point according to the first track parameter, wherein the first track parameter comprises position and speed, and the parameter of the re-entry point comprises the height of the re-entry point, a fixed connection system inclination angle, a re-entry angle and an included angle between a landing point fixed connection system position vector and a track surface normal direction;
and adjusting the first track parameter according to the parameter of the reentry point until the adjusted first track parameter enables the parameter of the reentry point to meet a preset constraint condition, and controlling the detector to move according to the adjusted first track parameter, wherein the preset constraint condition comprises a reentry point height constraint condition, a fixed connection system inclination angle constraint condition, a reentry angle constraint condition and an included angle constraint condition between a reentry point fixed connection system position vector and a track surface normal direction.
2. The method of claim 1, further comprising: when the time information is a preset second correction time, determining a second track parameter corresponding to the second correction time and a third track parameter corresponding to a preset separation point according to the adjusted first track parameter, and adjusting the third track parameter according to a preset separation speed to obtain an adjusted third track parameter;
calculating the parameter of the re-entry point according to the second track parameter and the adjusted third track parameter, adjusting the second track parameter according to the parameter of the re-entry point and the parameter of the re-entry point until the adjusted second track parameter enables the parameter of the re-entry point to meet a preset constraint condition, and controlling the detector to move according to the adjusted second track parameter.
3. The method of claim 2, further comprising: when the time information is a preset third correction moment, determining a fourth track parameter corresponding to the third correction moment according to the adjusted second track parameter, and calculating a parameter of a preset re-entry point according to the fourth track parameter;
and adjusting the fourth track parameter according to the parameter of the re-entry point until the adjusted fourth track parameter enables the parameter of the re-entry point to meet a preset constraint condition, and controlling the detector to move according to the adjusted fourth track parameter.
4. The method according to any one of claims 1 to 3, wherein adjusting the first track parameter according to the parameter of the re-entry point until the adjusted first track parameter makes the parameter of the re-entry point satisfy a preset constraint condition comprises:
calculating a deviation value according to the parameters of the re-entry point and a preset parameter target value, and judging whether the deviation value is smaller than a first preset threshold value;
if not, calculating the speed increment of the first correction moment according to the deviation value, adjusting the speed in the first track parameters according to the speed increment to obtain adjusted first track parameters, and calculating the parameters of the re-entry point according to the adjusted first track parameters;
calculating an angle difference value between the included angle and a preset target included angle according to the parameters of the re-entry point, and judging whether the angle difference value is smaller than a second preset threshold value or not;
if not, adjusting the residual flight time of the detector according to the angle difference value, adjusting the speed in the first orbit parameter according to the residual flight time to obtain an adjusted first orbit parameter, and calculating the parameter of the reentry point according to the adjusted first orbit parameter until the deviation value is smaller than the first preset threshold value and the angle difference value is smaller than the second preset threshold value.
5. The method of claim 4, wherein calculating the velocity delta at the first correction time based on the offset value comprises:
the speed increment is calculated by the following formula:
q＝f1(v1)
wherein Δ v1Representing the speed increment; Δ q represents the deviation value; q represents a parameter of the re-entry point; f. of1(v1) Representing a functional relationship between a speed in the first track parameter and a parameter of the re-entry point.
6. The method of claim 5, wherein calculating an angle difference between the included angle and a preset target included angle according to the parameters of the re-entry point comprises:
the angle difference is calculated by the following formula:
Δθf＝90°-θf
where Δ θfRepresenting the angular difference; thetafRepresenting an included angle between the reentrant point fixed connection position vector and the normal direction of the track surface;
representing the reentry point anchor position vector;
representing the orbital plane normal.
7. The method of claim 6, wherein adjusting the detector residual time of flight based on the angular difference comprises:
determining the current moment, and determining the remaining flight time of the detector according to the current moment;
and calculating a correction quantity of the flight time according to the angle difference value, and adjusting the residual flight time according to the correction quantity.
8. The method of claim 7, wherein calculating a time of flight correction based on the angular difference comprises:
calculating the correction amount of the flight time by the following formula:
wherein Δ T represents a correction amount of the flight time; omegaeRepresenting a preset rotational angular velocity of the earth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110272097.1A CN113086250B (en) | 2021-03-12 | 2021-03-12 | Monthly transfer track correction method based on engineering constraints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110272097.1A CN113086250B (en) | 2021-03-12 | 2021-03-12 | Monthly transfer track correction method based on engineering constraints |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113086250A true CN113086250A (en) | 2021-07-09 |
| CN113086250B CN113086250B (en) | 2023-04-14 |
Family
ID=76667210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110272097.1A Active CN113086250B (en) | 2021-03-12 | 2021-03-12 | Monthly transfer track correction method based on engineering constraints |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113086250B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090321579A1 (en) * | 2005-05-23 | 2009-12-31 | Scapa Flow, Llc | Space based orbital kinetic energy weapon system |
| US20150120096A1 (en) * | 2013-10-30 | 2015-04-30 | Raytheon Company | Angles-Only Initial Orbit Determination (IOD) |
| CN105573337A (en) * | 2015-12-14 | 2016-05-11 | 中国人民解放军国防科学技术大学 | De-orbit braking closed circuit guidance method satisfying constrains on reentry angles and flying ranges |
| CN107506505A (en) * | 2016-06-14 | 2017-12-22 | 北京空间技术研制试验中心 | The accurately moon free Entry trajectory design method |
| CN109344449A (en) * | 2018-09-07 | 2019-02-15 | 北京空间技术研制试验中心 | The spacecraft moon ground transfer orbit Reverse Design |
| CN110077626A (en) * | 2019-03-14 | 2019-08-02 | 北京空间飞行器总体设计部 | A kind of three pulsedly the moon L2 point Halo track catching method |
| CN111460614A (en) * | 2020-03-04 | 2020-07-28 | 北京空间飞行器总体设计部 | Underground-moon L2 point transfer orbit midway correction method |
-
2021
- 2021-03-12 CN CN202110272097.1A patent/CN113086250B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090321579A1 (en) * | 2005-05-23 | 2009-12-31 | Scapa Flow, Llc | Space based orbital kinetic energy weapon system |
| US20150120096A1 (en) * | 2013-10-30 | 2015-04-30 | Raytheon Company | Angles-Only Initial Orbit Determination (IOD) |
| CN105573337A (en) * | 2015-12-14 | 2016-05-11 | 中国人民解放军国防科学技术大学 | De-orbit braking closed circuit guidance method satisfying constrains on reentry angles and flying ranges |
| CN107506505A (en) * | 2016-06-14 | 2017-12-22 | 北京空间技术研制试验中心 | The accurately moon free Entry trajectory design method |
| CN109344449A (en) * | 2018-09-07 | 2019-02-15 | 北京空间技术研制试验中心 | The spacecraft moon ground transfer orbit Reverse Design |
| CN110077626A (en) * | 2019-03-14 | 2019-08-02 | 北京空间飞行器总体设计部 | A kind of three pulsedly the moon L2 point Halo track catching method |
| CN111460614A (en) * | 2020-03-04 | 2020-07-28 | 北京空间飞行器总体设计部 | Underground-moon L2 point transfer orbit midway correction method |
Non-Patent Citations (3)
| Title |
|---|
| 张磊，于登云，张熇: "月地转移轨道中途修正方法及策略", 《航天器工程》 * |
| 张磊，于登云，张熵: "月地转移轨道快速设计与特性分析", 《中国空间科学技术》 * |
| 郑爱武，周建平，胡松杰: "月地返回轨道误差分析和第一次中途修正时机", 《载人航天》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113086250B (en) | 2023-04-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111721289B (en) | Vehicle positioning method, device, equipment, storage medium and vehicle in automatic driving | |
| EP3454008B1 (en) | Survey data processing device, survey data processing method, and survey data processing program | |
| US11073389B2 (en) | Hover control | |
| EP3089267B1 (en) | Method and system for controlling antenna of mobile communication application system based on double quaternions in mems inertial navigation | |
| US10656650B2 (en) | Method for guiding and controlling drone using information for controlling camera of drone | |
| US8655589B2 (en) | System and method for controlling motion of spacecrafts | |
| US8473120B2 (en) | Method for assisting in the management of the flight of an aircraft in order to keep to a time constraint | |
| CN109827541B (en) | Method for improving mutual guide precision of multiple photoelectric theodolites working cooperatively | |
| RU2424954C1 (en) | Method of controlling booster unit on acceleration trajectory | |
| CN108875175A (en) | A kind of constant relative orbit Determination of Initial under the non-central gravitational field of high-order | |
| CN105737834B (en) | A kind of Relative Navigation robust filtering method based on track mean element | |
| CN111061286A (en) | Method for realizing lateral overload control of aircraft by providing damping through filtering differentiation | |
| CN105352502A (en) | Attitude obtaining method of micro-inertia sailing attitude reference system | |
| CN114756021A (en) | Path tracking method and device and path tracking equipment | |
| CN104121930B (en) | A kind of compensation method based on the MEMS gyro drift error adding table coupling | |
| CN115562378A (en) | Photoelectric stabilization platform, angular velocity compensation method and storage medium | |
| CN103323031B (en) | A kind of method of the horizon instrument systematic error online compensation quick based on star | |
| CN114740859A (en) | Automatic ship hovering method and system | |
| CN113086250B (en) | Monthly transfer track correction method based on engineering constraints | |
| CN103955005A (en) | Rocket sled orbit gravity real-time measuring method | |
| CN111123381B (en) | Method for reducing horizontal acceleration influence for platform type gravimeter | |
| CN110209190B (en) | Satellite nominal orbit unbiased flight control method | |
| CN116692028A (en) | Method and device for controlling ground rapid gaze direction tracking of small satellite | |
| CN114132531B (en) | Low-orbit space target orbit correction method and device and electronic equipment | |
| CN115855063A (en) | Rendezvous and docking sensor data preprocessing method based on absolute attitude recursive correction |
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 |