CN113602532B - Solid carrier rocket in-orbit correction method - Google Patents
Solid carrier rocket in-orbit correction method Download PDFInfo
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Abstract
The application discloses a method for correcting the in-orbit of a solid carrier rocket, which comprises the following steps: when the three-stage engine is shut down, acquiring the speed position state quantity of the arrow body; determining a sliding gesture instruction and four-stage ignition time according to the speed position state quantity and the track parameter information; in the sliding gesture adjusting section, the gesture of the rocket is adjusted according to the sliding gesture command until the rocket is adjusted to a four-level fixed-axis gesture; when the four-stage ignition time is reached, a four-stage ignition instruction is sent out, so that the rocket enters a four-stage driving section; calculating the whole process of the four-stage driving section according to the internal trajectory curve of the engine and the engine state parameters 4 The number of track to be tracked is predicted; calculating to obtain a compensation value of a four-level attitude angle instruction by predicting the number of the track to be tracked and the number of the target track; and updating the four-stage attitude angle instruction according to the compensation value until the four-stage engine is exhausted and shut down. The solid rocket engine is accurately shut down, and the thrust termination device is not required to be arranged, so that the track-in cost is reduced.
Description
Technical Field
The present disclosure relates generally to the field of rocket technology, and in particular, to a method for correcting an orbit of a solid carrier rocket.
Background
The carrier rocket is generally composed of multiple stages, and the thrust action of the booster engines of each stage continuously overcomes the gravity of the earth to reach the state of the required height and speed for orbit entering, so as to enter the corresponding earth orbit. In the process, the guidance system calculates and obtains the current required instruction attitude angle of the rocket mainly by comparing the current position and speed state of the rocket with the required position and speed state of the orbit, the control system executing mechanism adjusts the attitude, and further, according to the states of different flight moments, sequential instructions such as ignition, shutdown, separation and the like are sent, the rocket is guided step by step to fly to reach the required position and speed state of the orbit according to the instruction attitude angle, and finally, the accurate orbit entering of the satellite is realized.
In order to achieve the purpose of accurate track-in, the speed at the track-in time needs to be accurately controlled. In the orbital flight of the carrier rocket, the used booster engines are mainly divided into two types, namely a solid engine and a liquid engine. Compared with a liquid engine, the solid engine has the characteristics of simple engine structure, short service cycle and the like, but meanwhile, the solid engine cannot be accurately shut down like the liquid engine due to the characteristics of the solid engine.
For the rocket with the liquid engine at the track-in stage, iterative calculation can be directly carried out through a certain guidance algorithm when the rocket approaches to the track-in state, and the engine is directly turned off after the condition is met, so that the accurate control of the track-in speed is achieved.
For rockets with a solid engine at the track-in stage, the current main solution is to start the thrust termination device after meeting the track-in condition by the thrust termination device similar to the shutdown of a liquid engine, so that the engine is shut down, and the aim of accurately controlling the track-in speed is fulfilled. The other main solution is to add a set of liquid rail control engine on the basis of the final solid engine, and after the final solid engine is shut down, the liquid rail control engine is opened to correct the track entering speed until the track entering speed requirement is reached.
Because of the characteristics of the solid engine, the charge in the solid engine can continuously burn after ignition and then is ejected out through the spray pipe to generate thrust, the magnitude and the working process of the thrust can be described by an inner trajectory curve, and the inner trajectory curve represents the process that the thrust of the engine changes along with the ignition time. Typically, the internal ballistic curve of a solid rocket engine can be obtained through design analysis and test run experiments. According to the conventional design results, the inner trajectory curve is generally influenced by temperature to cause the change of thrust and working time, and the inner trajectory deviation caused by temperature is one of the main sources of the arrow energy deviation in the actual flight process and is also the main reason that the solid rocket generates speed deviation at the last stage.
The main disadvantages of the currently possible four-stage engine with the addition of a thrust-stopping device and the addition of a liquid-rail engine are the following:
the thrust termination device is added, the reverse spray pipe and the initiating explosive device are required to be installed at the top of the engine shell, the original structure of the shell can be influenced, and the reliability of the product is reduced. Meanwhile, for the engine shell which is formed by winding carbon fiber and other conforming materials, the difficulty in implementation of the installation process is high;
the liquid rail control engine is added, a series of devices such as an additional gas cylinder, a storage tank, a conduit, a thrust chamber and the like are required to be added at four stages, so that the complexity and the risk of the product are increased;
the two devices directly occupy the whole carrying capacity of the carrier rocket in a ratio of 1:1 besides the cost increase of the two devices, so that the benefits of the carrier rocket are greatly influenced, and the cost is increased in a phase change manner.
Disclosure of Invention
In view of the above-mentioned drawbacks or shortcomings in the prior art, it is desirable to provide a method and apparatus for reducing speed errors when an engine is shut down to improve the accuracy of the entering track, without shutdown conditions or final speed correction capability.
In a first aspect, the present application provides a method for correcting an orbit of a solid carrier rocket, the method comprising:
when the three-stage engine is shut down, acquiring the speed position state quantity of the arrow body;
determining a sliding gesture instruction and four-stage ignition time according to the speed position state quantity and the track parameter information; the track parameter information is track parameter information of four-level track entry;
in the sliding gesture adjusting section, the gesture of the rocket is adjusted according to the sliding gesture command until the rocket is adjusted to a four-level fixed-axis gesture; the sliding gesture adjusting section is a stage from the shutdown of the three-stage engine to the ignition of the four-stage transmitter;
when the four-stage ignition time arrives, a four-stage ignition instruction is sent out, so that the rocket enters a four-stage driving section;
calculating the whole interval time delta t of the four-stage active section according to the internal trajectory curve of the engine and the engine state parameters 4 The number of track to be tracked is predicted;
calculating to obtain a compensation value of a four-level attitude angle instruction by predicting the number of the track to be tracked and the number of the target track;
and updating the four-stage attitude angle instruction according to the compensation value until the four-stage engine is exhausted and shut down.
According to the technical scheme provided by the embodiment of the application, the four-stage ignition time is determined according to the following steps:
the speed position state quantity [ r ] under the earth's center inertial system xei ,r yei ,r zei ,v xei ,v yei ,v zei ]Conversion to track number a to guidance command calculation time su b、e sub ；
Calculating the distance point height R of the current sliding track of the rocket according to the following formula (one) ap ；
R ap ＝a sub (1+e sub ) The method comprises the steps of carrying out a first treatment on the surface of the (one)
Judging R ap When the track height is smaller than the target track, the equivalent pulse time t is determined according to the following formula group (II) imp Four-stage ignition time t ig ：
t imp ＝t i_ap
R ap ＝a sub (1+e sub )
t ig ＝t i_ap -t core4
t core4 ＝t 4 -R M4 /W M4 The method comprises the steps of carrying out a first treatment on the surface of the (II)
wherein Eimp Is the point angle close to the equivalent pulse point; r is R orb The ground center distance of the target track; t is t core4 Is the four-level heart time, t 4 For four-stage engine operating time, R M4 For four-level apparent displacement increment, W M4 Is a four-level view velocity increment; e is a near point angle;
judging R ap When the track height of the target track is greater than or equal to the track height, determining the equivalent pulse time t according to the following formula (III) imp Four-stage ignition time t ig ：
t ig ＝t imp -t core4
t core4 ＝t 4 -R M4 /W M4 The method comprises the steps of carrying out a first treatment on the surface of the (III)
wherein Eimp Is the point angle close to the equivalent pulse point; r is R orb Is the ground center distance of the target track.
If according to the formula group(III) defined t imp And t determined according to formula set (two) i_ap Satisfy t i_ap -t imp ≤R M4 /W M4 Let t imp ＝t i_ap -R M4 /W M4 。
According to the technical scheme provided by the embodiment of the application, the four-level visual displacement increment R M4 Four-level view velocity increment W M4 Calculated according to the following formula (IV):
in the formula,Isp4 Is the average specific impulse of a four-stage engine, m 40 For the starting mass of the four-stage ignition moment, m 4p Loading four-stage propellant, m 4f Is the mass of the residual arrow body after the four-stage engine is shut down, T s4 For four-stage engine operating time, k m4 The coefficients are modified for four levels of increments.
According to the technical scheme provided by the embodiment of the application, the sliding gesture instruction is determined according to the following steps:
according to the time t from the sliding of the kepler orbit recursive rocket to the four-level equivalent pulse point under the action of gravity imp State quantity r of (2) sub ，v sub ；
r sub ＝[r xei ，r yei ，r zei ]；
v sub ＝[v xei ，v yei ，v zei ]；
According to the state quantity r sub ，v sub Number of tracks a sub 、e sub Track number a of target track orb 、e orb 、i orb Determining the track number of the transition track;
calculating the state quantity r of the transition track according to the track number of the transition track orb ，v orb ；
The required speed increment v under the earth's center inertial system is calculated according to the following formula (five) pa ：
v pa ＝v orb -v sub The method comprises the steps of carrying out a first treatment on the surface of the (V)
The required speed increment v under the earth's center inertial system pa Conversion to a demand speed increment v in the transmitting system x '、v y '、v z '；
wherein ,vpax V is pa Component in x-direction, v pay V is pa Component in y-direction, v paz V is pa Component in z direction, A 0 Is the launching azimuth angle of rocket, B 0 Is the geographic latitude of the rocket launching point E 0 The ground center distance of a rocket launching point is L, and the L represents a direction cosine matrix;
calculating a four-level attitude angle instruction according to the following formula group (six):
ψ cmd ＝-arcsinv′ z
γ cmd =0 (six)
wherein ,
ψ cmd 、γ cmd respectively representing pitch, yaw and roll direction instruction attitude angles.
According to the technical scheme provided by the embodiment of the application, the number of the predicted track entering tracks is determined according to the following method:
in the flight process of the four-stage driving section, at certain intervals of delta t 4 Acquiring an actual apparent velocity increment DeltaW generated by the current position M4 And an actual apparent displacement delta DeltaR M4 ；
According to the trajectory curve in the engine and the actual apparent speed increment delta W M4 Actual apparent displacement delta R M4 Calculating to obtain the whole-course apparent velocity increment and apparent displacement increment per interval time delta t 4 Is a predictive visual displacement increment of (2)
Predicting apparent velocity delta
Based on predicted apparent displacement increment
Predicted speed increase +.>
And calculating the number of the predicted track after shutdown in the current state.
According to the technical scheme provided by the embodiment of the application, the compensation value of the four-level attitude angle instruction is obtained through calculation according to the following method:
calculating compensation values of four-level attitude angle instructions according to the predicted track number and the target track number
and Δψcmd 。
According to the technical scheme provided by the embodiment of the application, the four-stage attitude angle instruction is updated through the compensation value according to the following method until the four-stage engine is exhausted and shut down:
updating the four-level attitude angle instruction according to the following formula (seven):
γ cmd =0 (seventh).
According to the technical proposal provided by the embodiment of the application, the speed position state quantity [ r ] under the geocentric inertial system xei ,r yei ,r zei ,v xei ,v yei ,v zei ]Calculated according to the following method:
acquiring speed position state quantity [ x, y, z, vx, vy, vz ] of the rocket in a launching system;
the velocity position state quantity [ x, y, z, vx, vy, vz ] of the transmitting system]Conversion into a velocity position state quantity [ r ] of the earth-centered fixedly connected system xef ,r yef ,r zef ,v xef ,v yef ,v zef ]；
The state quantity [ r ] under the earth center fixedly connected system is calculated by the following formula (eight) xef ,r yef ,r zef ,v xef ,v yef ,v zef ]Conversion to a state quantity [ r ] under a geocentric inertial system xei ,r yei ,r zei ,v xei ,v yei ,v zei ]
[x ef ，y ef ，z ef ]Representing the position parameter of the earth's center connection, [ x ] ei ，y ei ，z ei ]Representing the position parameters under the condition of the geocentric inertial system.
The beneficial effects of this application are: before the track-in stage engine of the solid rocket engine, namely after the three-stage solid engine is shut down, four-stage guidance instruction calculation work is started, at the moment, the rocket body is accelerated by three active stage flights, has high height and speed, slides to the height of a preset track, updates the state and instructions at intervals in the four-stage active stage process, and eliminates the energy deviation brought by the engine, thereby improving the precision, ensuring that the solid engine can overcome the defect that the solid engine cannot be shut down as accurately as a liquid engine, improving the track-in precision, and reducing the track-in cost because a thrust termination device is not required.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings, in which:
FIG. 1 is a flow chart of example 1 of the present application;
FIG. 2 is a rocket state process diagram of example 1 of the present application;
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Example 1
The embodiment provides a method for correcting the orbit of a solid carrier rocket, which comprises the following steps:
s10, acquiring a speed position state quantity of an arrow body when the three-stage engine is shut down;
s20, determining a sliding gesture instruction and four-stage ignition time according to the speed position state quantity and the track parameter information; the track parameter information is track parameter information of four-level track entry;
s30, in the sliding gesture adjustment section, gesture adjustment is carried out on the rocket according to the sliding gesture instruction until the rocket is adjusted to a four-level fixed-axis gesture; the sliding gesture adjusting section is a stage from the shutdown of the three-stage engine to the ignition of the four-stage transmitter;
s40, when the four-stage ignition time arrives, a four-stage ignition instruction is sent out, so that the rocket enters a four-stage driving section;
s50, calculating the total interval time delta t of the four-stage driving section according to the internal trajectory curve of the engine and the engine state parameters 4 The number of track to be tracked is predicted;
s60, calculating to obtain a compensation value of the four-level attitude angle instruction by predicting the number of the track to be tracked and the number of the target track;
and S70, updating the four-stage attitude angle instruction according to the compensation value until the four-stage engine is exhausted and shut down.
As shown in FIG. 2, after the three-stage solid engine is shut down, the arrow body is accelerated by three active-stage flights, has a high height and a high speed, and slides to the height of a preset track. And at the moment, four-stage guidance instruction calculation work is started, so that the solid rocket engine is shut down as the liquid rocket engine.
The four-level guidance instruction calculation in fig. 2 is the calculation of a four-level attitude angle instruction in the application; four-stage active segment engine state identification in fig. 2 refers to acquiring engine state parameters.
Wherein, the four-stage ignition time is determined according to the following steps:
s21, according to the speed position state quantity [ r ] under the geocentric inertial system xei ,r yei ,r zei ,v xei ,v yei ,v zei ]Calculating the track number a at the calculation time of the guidance command sub 、e sux ；
The method of converting the earth's center inertial system state and the number of tracks into the prior art, a sub Representing the semimajor axis of the track, e sub Indicating the eccentricity of the track.
Under the inertial coordinate system, the absolute state parameter of the rocket is [ r ] a ,v a ]＝[r xei ,r yei ,r zei ,v xei ,v yei ,v zei ]. For the representation of track elements, the conversion to intermediate quantities is required, indirectly to describe:
orbital momentum moment vector:
H＝r a ×v a
lifting point vector:
N＝[0 0 0] T ×H＝[-H X -H Y 0] T
eccentricity vector:
by these three vector expressions, the track elements can be further solved. However, the vector expression does not intuitively reflect the physical meaning of the track element, and needs to be described in detail through its scalar form.
The scalar of the moment of orbital momentum is:
H＝||H|| 2
the expression of the track energy is:
based on the above orbital momentum moment and orbital energy, the specific form of six elements of the orbit can be derived from three vector expressions:
the semi-long axis is:
the semi-diameter is as follows:
the eccentricity is:
e＝||e|| 2
the track inclination is:
the right ascent point is:
the near place amplitude angle is:
the angle of the closest point (rocket current orbit position t) is:
the above six-element specific expression of the track has been described in detail. Under the geocentric inertial coordinate system, six elements of orbit and Cartesian state parameter r a ,v a The relation of (2) has been expressed in detail, and the constraint of converting into the state parameter is performed by the constraint of the terminal track element.
Speed position state quantity [ r ] under the geocentric inertial system xei ,r yei ,r zei ,v xei ,v yei ,v zei ]Calculated according to the following method:
acquiring speed position state quantity [ x, y, z, vx, vy, vz ] of the rocket in a launching system;
the velocity position state quantity [ x, y, z, vx, vy, vz ] of the transmitting system]Conversion into a velocity position state quantity [ r ] of the earth-centered fixedly connected system xef ,r yef ,r zef ,v xef ,v yef ,v zef ]；
The velocity position state quantity [ r ] under the earth center fixedly connected system is calculated by the following formula (eight) xef ,r yef ,r zef ,v xef ,v yef ,v zef ]Conversion into a velocity position state quantity [ r ] under a geocentric inertial system xei ,r yei ,r zei ,v xei ,v yei ,v zei ]
[x ef ，y ef ，z ef ]Representing the position parameter of the earth's center connection, [ x ] ei ，y ei ，z ei ]Representing the position parameters under the condition of the geocentric inertial system.
Specifically:
according to the azimuth angle of emission A 0
Transmission point longitude lambda 0
Elevation H of emission point 0
Launch point geographic latitude B 0
Latitude of the center of the earth at the point of emission
Included angle between ground vertical line and sagittal diameter of earth center
Center distance of emission point
The emission point geocentric vector diameter is characterized in that:
then the velocity position state quantity [ x, y, z, vx, vy, vz ] of the transmission system can be used]Obtaining the speed position state quantity [ r ] of the earth-centered fixedly connected system xef ,r yef ,r zef ,v xef ,v yef ,v zef ]
In the conversion matrix
Further the state quantity [ r ] under the earth center fixed connection xef ,r yef ,r zef ,v xef ,v yef ,v zef ]Conversion to a state quantity [ r ] under a geocentric inertial system xei ,r yei ,r zei ,v xei ,v yei ,v zei ]This part is considered to be a simplified processing method
S22, calculating the remote point height R of the current sliding track of the rocket according to the following formula (I) ap ；
R ap ＝a sub (1+e sub ) The method comprises the steps of carrying out a first treatment on the surface of the (one)
S23, judging R ap When the track height is smaller than the target track, the equivalent pulse time t is determined according to the following formula group (II) imp Four-stage ignition time t ig ：
t imp ＝t i_ap
R ap ＝a sub (1+e sub )
t ig ＝t i_ap -t core4
t core4 ＝t 4 -R M4 /W M4 The method comprises the steps of carrying out a first treatment on the surface of the (II)
wherein Eimp Is the point angle close to the equivalent pulse point; r is R orb The ground center distance of the target track; t is t core4 Is the four-level heart time, t 4 For four-stage engine operating time, R M4 For four-level apparent displacement increment, W M4 The visual speed increment is four stages, E is a near point angle;
judging R ap When the track height of the target track is greater than or equal to the track height, determining the equivalent pulse time t according to the following formula (III) imp Four-stage ignition time t ig ：
t ig ＝t imp -t core4
t core4 ＝t 4 -R M4 /W M4 The method comprises the steps of carrying out a first treatment on the surface of the (III)
wherein Eimp Is the point angle close to the equivalent pulse point; r is R orb Is the ground center distance of the target track.
If t is determined according to the formula group (III) imp And t determined according to formula set (two) i_ap Satisfy t i_ap -t imp ≤R M4 /W M4 Let t imp ＝t i_ap -R M4 /W M4 。
Wherein the four-level visual displacement increment R M4 Four-level view velocity increment W M4 Calculated according to the following formula (IV):
in the formula,Isp4 Is the average specific impulse of a four-stage engine, m 40 For the starting mass of the four-stage ignition moment, m 4p Loading four-stage propellant, m 4f Is the mass of the residual arrow body after the four-stage engine is shut down, T s4 For four-stage engine operating time, k m4 The coefficients are modified for four levels of increments.
Wherein, the sliding gesture instruction is determined according to the following steps:
s24, sliding to a four-level equivalent pulse point time t under the action of gravity according to the Kepler orbit recursion rocket imp Velocity position state quantity r of (2) sub ，v sub . Three position amounts and three speed amounts of four-stage equivalent pulse points:
r sub ＝[r xei ，r yei ，r zei ]；
v sub ＝[v xei ，v yei ，v zei ]；
s25, according to the state quantity r sub ，v sub Number of tracks a sub 、e sub Track number a of target track orb 、e orb 、i orb Determining the track number of the transition track;
four-stage track number a orb 、e orb 、i orb It is known that the geometric relationship of the orbit parameters can be known for the rest orbit numbers
The number of remaining transition tracks is calculated as follows
ω 4.inj ＝u 4.inj -f 4.inj ；
S26, calculating the state quantity r of the transition track according to the track number of the transition track or b，v orb ；
The algorithm is the inverse operation of the state quantity calculation orbit root algorithm described above, and belongs to the known algorithm
Input: semi-major axis a, eccentricity e, orbit inclination i, ascending intersection point right angle omega, near-place amplitude angle omega and true near-point angle Θ, mu are the gravitational constant.
And (3) outputting: ground inertial state quantity, including position: x is x EI 、y EI 、z EI Speed of: v EIx 、v EIy 、v EIz 。
(1) Die for calculating specific angular momentum
(2) Calculating a position vector in a near-focus coordinate system
(3) Calculating a velocity vector in a near-focus coordinate system
(4) Calculating a transformation matrix from a near-focus coordinate system to a geocentric equatorial coordinate system
(5) Calculating position vector under ground inertial system
(6) Calculating velocity vectors under the ground inertial system
S27, calculating the required speed increment v under the earth' S center inertial system according to the following formula (five) pa ：
v pa ＝v orb -v sub The method comprises the steps of carrying out a first treatment on the surface of the (V)
S28, increasing the required speed v under the geocentric inertial system pa Conversion to a demand speed increment v in the transmitting system x '、v y '、v z '；
wherein ,vpax V is pa Component in x-direction, v pay V is pa Component in y-direction, v paz V is pa Component in z-direction，A 0 Is the launching azimuth angle of rocket, B 0 Is the geographic latitude of the rocket launching point E 0 The ground center distance of the rocket launching point; l represents a directional cosine matrix;
s29, calculating a four-level attitude angle instruction according to the following formula group (six):
ψ cmd ＝-arcsinv′ z
γ cmd =0 (six);
wherein ,
ψ cmd 、γ cmd respectively representing pitch, yaw and roll direction instruction attitude angles.
The track parameter information in this embodiment therefore includes parameters other than the removal speed position state quantity referred to in steps S21 to S29.
According to the technical scheme provided by the embodiment of the application, the number of the predicted track entering tracks is determined according to the following method:
in the flight process of the four-stage driving section, at certain intervals of delta t 4 Acquiring an actual apparent velocity increment DeltaW generated by the current position M4 And an actual apparent displacement delta DeltaR M4 The method comprises the steps of carrying out a first treatment on the surface of the The engine state parameter refers to the actual apparent speed delta DeltaW of the current position of the engine M4 And an actual apparent displacement delta DeltaR M4 ；
According to the trajectory curve in the engine and the actual apparent speed increment delta W M4 Actual apparent displacement delta R M4 Calculating to obtain the whole-course apparent velocity increment and apparent displacement increment per interval time delta t 4 Is a predictive visual displacement increment of (2)
Predicting apparent velocity delta
Predicting apparent displacement increments
Predicted speed increase +.>
And four-level visual displacement increment R M4 Four-level view velocity increment W M4 Is consistent with the calculation method of (a), but replaces the time of each parameter with the interval time delta t 4 The latter time is not described in detail herein;
based on predicted apparent displacement increment
Predicted speed increase +.>
Calculating the number of predicted track entries after shutdown in the current state; the algorithm for predicting the number of the track to be tracked is identical to the algorithm for predicting the number of the track to be tracked, and is not described in detail herein.
In this embodiment, the compensation value of the fourth-level attitude angle instruction is obtained by calculation according to the following method:
calculating compensation values of four-level attitude angle instructions according to the predicted track number and the target track number
and Δψcmd . The calculation method is the same as the formula (six), and is not described in detail here.
According to the technical scheme provided by the embodiment of the application, the four-stage attitude angle instruction is updated through the compensation value according to the following method until the four-stage engine is exhausted and shut down:
updating the four-level attitude angle instruction according to the following formula (seven):
γ cmd =0 (seventh).
The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the invention referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the invention. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
Claims (8)
1. A method for correcting an in-orbit of a solid carrier rocket, the method comprising:
when the three-stage engine is shut down, acquiring the speed position state quantity of the arrow body;
determining a sliding gesture instruction and four-stage ignition time according to the speed position state quantity and the track parameter information; the track parameter information is track parameter information when four stages of track are in orbit;
in the sliding gesture adjusting section, the gesture of the rocket is adjusted according to the sliding gesture command until the rocket is adjusted to a four-level fixed-axis gesture; the sliding gesture adjusting section is a stage from the shutdown of the three-stage engine to the ignition of the four-stage transmitter;
when the four-stage ignition time arrives, a four-stage ignition instruction is sent out, so that the rocket enters a four-stage driving section;
calculating the whole interval time delta t of the four-stage active section according to the internal trajectory curve of the engine and the engine state parameters 4 The number of track to be tracked is predicted;
calculating to obtain a compensation value of a four-level attitude angle instruction by predicting the number of the track to be tracked and the number of the target track;
and updating the four-stage attitude angle instruction according to the compensation value until the four-stage engine is exhausted and shut down.
2. The method of claim 1, wherein the four-stage ignition timing is determined according to the steps of:
the speed position state quantity [ r ] under the earth's center inertial system xei ,r yei ,r zei ,v xei ,v yei ,v zei ]Track number a converted into guidance command calculation time sub 、e sub ；a sub Representing the semimajor axis of the track, e sub Representing the eccentricity of the track; mu is the gravitational constant;
calculating the distance point height R of the current sliding track of the rocket according to the following formula (one) ap ；
R ap ＝a sub (1+e sub ) The method comprises the steps of carrying out a first treatment on the surface of the (one)
Judging R ap When the track height is smaller than the target track, the equivalent pulse time t is determined according to the following formula group (II) imp Four-stage ignition time t ig ：
t imp ＝t i_ap
R ap ＝a sub (1+e sub )
t ig ＝t i_ap -t core4
t core4 ＝t 4 -R M4 /W M4 The method comprises the steps of carrying out a first treatment on the surface of the (II)
wherein Eimp Is the point angle close to the equivalent pulse point; t is t core4 Is the four-level heart time, t 4 For four-stage engine operating time, R M4 For four-level apparent displacement increment, W M4 The visual speed increment is four stages, E is a near point angle;
judging R ap When the track height of the target track is greater than or equal to the track height, determining the equivalent pulse time t according to the following formula (III) imp Four-stage ignition time t ig ：
t ig ＝t imp -t core4
t core4 ＝t 4 -R M4 /W M4 The method comprises the steps of carrying out a first treatment on the surface of the (III)
If t is determined according to the formula group (III) imp And t determined according to formula set (two) i_ap
wherein Eimp Is the point angle close to the equivalent pulse point; r is R orb Is the ground center distance of the target track.
3. The method for correcting the orbit of a solid carrier rocket according to claim 2, wherein the four-stage apparent displacement increment R M4 Four-level view velocity increment W M4 Calculated according to the following formula (IV):
in the formula,Isp4 Is the average specific impulse of a four-stage engine, m 40 For the starting mass of the four-stage ignition moment, m 4p Loading four-stage propellant, m 4f Is the mass of the residual arrow body after the four-stage engine is shut down, T s4 For four-stage engine operating time, k m4 The coefficients are modified for four levels of increments.
4. The method of claim 2, wherein the taxi attitude command is determined according to the steps of:
according to the time t from the sliding of the kepler orbit recursive rocket to the four-level equivalent pulse point under the action of gravity imp Velocity position state quantity r of (2) sub ，v sub ；
r sub ＝[r xei ，r yei ，r zei ]；
v sub ＝[v xei ，v yei ，v zei ]；
According to the state quantity r sub ，v sub Number of tracks a sub 、e sub Track number a of target track orb 、e orb 、i orb Determining the track number of the transition track;
calculating the state quantity r of the transition track according to the track number of the transition track orb ，v orb ；
The required speed increment v under the earth's center inertial system is calculated according to the following formula (five) pa ：
v pa ＝v orb -v sub The method comprises the steps of carrying out a first treatment on the surface of the (V)
The required speed increment v under the earth's center inertial system pa Conversion to a demand speed increment v in the transmitting system x '、v y '、v z '；
wherein ,vpax V is pa Component in x-direction, v pay V is pa Component in y-direction, v paz V is pa Component in z direction, A 0 Is the launching azimuth angle of rocket, B 0 L represents a directional cosine matrix for the geographic latitude of the rocket launching point; lambda (lambda) 0 Longitude for the transmission point;
calculating a four-level attitude angle instruction according to the following formula group (six):
ψ cmd ＝-arcsinv′ z
γ cmd =0 (six);
wherein ,
ψ cmd 、γ cmd respectively representing pitch, yaw and roll direction instruction attitude angles. />
5. The method of claim 1, wherein the predicted number of orbits is determined according to the following method:
in the flight process of the four-stage driving section, at certain intervals of delta t 4 Acquiring an actual apparent velocity increment DeltaW generated by the current position M4 And an actual apparent displacement delta DeltaR M4 ；
According to the trajectory curve in the engine and the actual apparent speed increment delta W M4 Actual apparent displacement delta R M4 Calculating to obtain the whole-course apparent velocity increment and apparent displacement increment per interval time delta t 4 Is a predictive visual displacement increment of (2)
Predicting viewing speedIncrement->
Based on predicted apparent displacement increment
Predicted speed increase +.>
And calculating the number of the predicted track after shutdown in the current state.
6. The method for correcting the orbit of a solid carrier rocket according to claim 5, wherein the compensation value of the four-stage attitude angle command is calculated and obtained according to the following method:
calculating compensation values of four-level attitude angle instructions according to the predicted track number and the target track number
and Δψcmd 。
7. The method of claim 6, wherein the fourth-stage attitude angle command is updated by a compensation value until the fourth-stage engine is shut down according to the following method:
updating the four-level attitude angle instruction according to the following formula (seven):
γ cmd =0 (seventh).
8. The method for correcting the orbit of a solid carrier rocket according to claim 2, wherein the velocity position state quantity [ r ] in the geocentric inertial system xei ,r yei ,r zei ,v xei ,v yei ,v zei ]Calculated according to the following method:
acquiring speed position state quantity [ x, y, z, vx, vy, vz ] of the rocket in a launching system;
the velocity position state quantity [ x, y, z, vx, vy, vz ] of the transmitting system]Conversion into a velocity position state quantity [ r ] of the earth-centered fixedly connected system xef ,r yef ,r zef ,v xef ,v yef ,v zef 】；
The velocity position state quantity [ r ] under the earth center fixedly connected system is calculated by the following formula (eight) xef ,r yef ,r zef ,v xef ,v yef ,v zef ]Conversion into a velocity position state quantity [ r ] under a geocentric inertial system xei ,r yei ,r zei ,v xei ,v yei ,v zei ]
[xef，yef，z ef ]Representing the position parameter of the earth's center connection, [ x ] ei ，y ei ，z ei ]Representing the position parameters under the condition of the geocentric inertial system.
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