CN113703484A - Mixed formation satellite constellation failure reconstruction method after satellite failure - Google Patents
Mixed formation satellite constellation failure reconstruction method after satellite failure Download PDFInfo
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Abstract
The invention discloses a hybrid formation satellite constellation failure reconstruction method after satellite failure, and belongs to the technical field of aerospace. Starting from the angle of geometric characteristics of constellation configuration, combining the characteristics of the Walker-delta constellation configuration, analyzing a root satellite of a hybrid satellite formation in the Walker-delta constellation before failure, connecting formation nodes through parent-child satellite constraint and child-satellite constraint, establishing a formation configuration constraint tree by taking the root satellite as a root, parent-child satellite constraint as an edge and child-satellite constraint as connection, and converting a complex multi-satellite multi-constraint constellation reconstruction problem into a simple constraint tree hierarchical traversal problem; the reconstruction of the hybrid formation constellation can be realized under the given task performance index and phase adjustment maneuvering mode when the satellite fails, and the in-orbit autonomous reconstruction can be realized under the condition of the satellite constellation with small total number of satellites. The invention has expansibility, and can solve the problem of failure reconstruction for mixed formation constellations with different compositions and different formation constraints. The invention has the advantage of high reconstruction efficiency.
Description
Technical Field
The invention relates to a satellite failure reconstruction method for a hybrid formation satellite constellation, in particular to a constellation reconstruction method for solving the problem that the satellite constellation composed of different types of satellite formations has satellite failure, and belongs to the technical field of aerospace.
Background
The satellite constellation is a satellite system consisting of a plurality of satellites with a certain time-space relation on the orbit, and has high application value in the fields of satellite communication, satellite navigation, earth observation and the like. After the satellite constellation is deployed on the orbit, the satellites in the constellation may be disabled due to space debris impact, system equipment failure, and the like, so that the overall performance of the satellite constellation is breached. In order to fully utilize the value of a normally operating satellite in a constellation and improve the operating performance of the whole constellation after the satellite fails, the constellation needs to be reconstructed. However, the increase in the number of satellites brings a huge workload for configuration maintenance and reconstruction of a satellite constellation. In order to solve the problem of on-orbit operation and maintenance of a satellite constellation, an efficient and rapid configuration maintaining and reconstructing method is urgently needed.
In the developed satellite constellation reconstruction method, in the prior art [1] (naval wars. satellite constellation configuration control and design research [ D ]. national defense science and technology university, 2007.), a reconstruction strategy and a uniform phase reconstruction strategy of an adjacent satellite are provided by considering the condition that one failed satellite exists in a track plane, considering propellant consumption, total reconstruction time and performance repair strength, and considering propellant and time constraint required by reconstruction control between constellation configuration track planes. The method has the advantages that a constellation reconstruction strategy can be rapidly calculated by considering certain constraint, and the defect that the problem of hybrid formation constellation reconstruction cannot be solved by only considering the condition that one satellite fails.
In the prior art [2] (yahoo, zhangyanlin, performance restoration type constellation fast reconstruction method research [ J ]. Proc. institute of command technology, 2005,16(4):66-72.), aiming at the problem of failure of a plurality of continuous satellites, 3 constellation reconstruction strategies of adjacent satellites, uniform phases and uniform constellations are provided by taking the maximum invisible time as a performance parameter; and the fuel consumption and the reconstruction time are integrated, and a constellation rapid reconstruction configuration optimization design method with minimized total reconstruction time is provided. The method has the advantages that the problem of continuous multi-satellite failure can be solved, meanwhile, an optimized design method of the whole constellation is provided, and the defects that task constraints are difficult to fully consider and the problem of mixed formation constellation reconstruction cannot be solved.
In the prior art [3] (Ferringer M, Spencer D, Clifton R, et al, Pareto-revolutionals for the Reconfiguration of Satellite configurations [ C ]// AIAA/AAS dynamics speciality reference and inhibition.2008: 6611.), various reconstruction indexes are provided as evaluation criteria of a reconstruction scheme, a maneuvering model is determined according to maneuvering energy consumption, and a reconstruction optimization model is constructed by using an NSGA-II algorithm based on Pareto non-inferior thought and non-dominated ranking to optimize and solve the reconstruction scheme. The method has the advantages that the satellite constellation can be optimized integrally, the finally obtained reconstruction index is excellent, the problem of hybrid formation constellation reconstruction can be solved, the method has the defects that the model construction is complex, iterative calculation is needed in a genetic algorithm, and the method has high calculation pressure in actual operation.
Disclosure of Invention
The invention discloses a mixed formation satellite constellation failure reconstruction method after satellite failure, which aims to solve the technical problems that: from the perspective of the geometric characteristics of the constellation configuration, the characteristics of the Walker-delta constellation configuration are combined, the reconstruction of a hybrid formation constellation can be realized in a given task performance index and phase adjustment maneuvering mode when the satellite fails, and the in-orbit autonomous reconstruction can be realized under the condition of a satellite constellation with small total number of satellites. The method can solve the problem of constellation reconstruction under the problem of single satellite failure, can also solve the problem of constellation reconstruction when a plurality of satellites fail, has expansibility, and can solve the problem of failure reconstruction for mixed formation constellations with different compositions and different formation constraints. The invention has the advantage of high reconstruction efficiency.
The purpose of the invention is realized by the following technical scheme:
the invention discloses a hybrid formation satellite constellation failure reconstruction method after satellite failure, which comprises the steps of analyzing a root satellite of a hybrid formation in a Walker-delta constellation before failure, connecting formation nodes through parent-child satellite constraint and child-satellite constraint, and establishing a formation configuration constraint tree by taking the root satellite as a root, taking parent-child satellite constraint as an edge and taking child-satellite constraint as connection. And reading satellite failure data and judging whether each satellite fails. And determining the reconstruction phase adjustment amount of the failed root satellite by an in-plane satellite phase uniform distribution and optimization method. And determining the reconstruction phase adjustment amount of the sub-satellite only constrained by the parent-child star in the current layer of the constraint tree through the geometrical relationship in the parent-child star constraint. And judging whether the current layer number of the constraint tree is equal to the total layer number of the constraint tree. And determining the reconstructed phase adjustment quantity of the current layer of the subsatellite of the constraint tree through the geometric relation in the intersatellite constraints. And judging whether the current layer number of the constraint tree is equal to the total layer number of the constraint tree. And determining reconstruction methods of all satellites according to the satellite phase adjustment maneuvering mode and the reconstruction phase adjustment amount of all satellites in the constellation, combining the reconstruction methods of all satellites to obtain a hybrid formation satellite constellation failure reconstruction method after the satellite fails, namely realizing the hybrid formation satellite constellation failure reconstruction after the satellite fails.
The invention discloses a mixed formation satellite constellation failure reconstruction method after satellite failure, which comprises the following steps:
the method comprises the following steps: analyzing the root satellite of the mixed satellite formation in the Walker-delta constellation before failure, and restricting theta and intersatellite by father and child satellites
Connecting formation nodes, taking root satellite as root, parent-child satellite constraint theta as edge and child-child inter-satellite constraint
A formation configuration constraint tree is established for the connection.
Considering only a hybrid satellite formation located at a certain node in the Walker-delta constellation before failure, a root satellite is defined as a satellite independently existing in the formation without any constraint. The constraints between the satellites in the formation are simplified or converted into two types: father and son star constraint theta and child star constraint
Define father and son star conventionThe beam theta is the constraint between different types of satellites in the hybrid satellite formation and defines the intersatellite constraint
Is a constraint between satellites of the same type. To reduce the complexity of the constraint tree, if there are multiple constrained satellites, the multiple constrained satellites are placed as far away from the root satellite as possible.
Establishing a formation configuration constraint tree by taking a root satellite as the root of the constraint tree and a parent-child satellite constraint theta as the edge of the constraint tree, and using child-child satellite constraint
And connecting the related nodes. The total number of layers of the constraint tree is xi. Therefore, the complex multi-satellite multi-constraint constellation reconstruction problem is converted into a simple constraint tree layered traversal problem, and the complexity of the reconstruction method is reduced.
Preferably, the parent and child satellite constraints theta comprise heading phase constraints, lateral distance constraints, surrounding angular velocity constraints and line-of-sight angle constraints between the communication satellite and the observation satellite, and the child and child satellite constraints
Including minimum phase angle constraints between slaves in a fly-around formation, constraints between stars in a serial formation.
Step two: and reading satellite failure data, judging whether each satellite fails, and executing the third step or the fourth step according to the judgment result.
And c, enabling the current layer number xi of the constraint tree established in the step one to be 1. And reading and traversing the satellite failure data of the satellite constellation, and screening the failure information of the root satellite by combining the constraint tree established in the step one. If the constellation has a root satellite failure, executing a third step; and if no satellite in the constellation fails, making ξ be 2 and executing a step four.
Step three: and determining the reconstruction phase adjustment amount of the failed root satellite by an in-plane satellite phase uniform distribution and optimization method.
Because of the root satelliteThe phase of the root satellite can determine the whole phase of the satellite formation, and meanwhile, in order to improve the uniformity of the whole performance of the Walker-delta constellation, the root satellite is reconstructed by adopting an in-orbit phase uniform distribution method. The method comprises the steps that the position of a root satellite is used as a reference position corresponding to each group of formation of satellites, basic parameters of a Walker-delta constellation can be determined through the properties of the Walker-delta constellation, namely the total formation group number T in the constellation, the constellation orbit plane number P, a phase parameter F, an orbit semimajor axis a, an orbit inclination angle i and an ascending intersection point right ascension omega of the reference position of a first group of satellites on a first orbit surface at a reference moment1And phase angle u1,1. Defining the formation group number S in the current orbital plane as T/P, defining that the j orbital plane has m groups of formation root satellites failed, and m is<S, arranging the group numbers of the satellites with failure roots into k from small to large1,k2,...,kmThe reconstructed phase adjustment amount of the kth satellite in the jth orbital plane is expressed as
Wherein
The number of the j orbital plane is the minimum in-plane phase adjustment quantity of the unreliated formation root satellite, j belongs to [1, P ∈]，k∈[1,S]，k≠ki. l is the number of the non-failed formation with the smallest number in the j track surface, q is the number of the failed formation with the number greater than l in the j track surface, expressed as,
l＝min{l|l≠ki,i∈[1,m],i∈N,l∈[1,S]}
q＝min{q|kq>l,q∈[1,m]}
the phase adjustment quantity is used as constraint, and the optimization problem of phase adjustment is solved by an optimization method to obtain the phase adjustment optimization problem under the given performance index of the task
If the task does not give a performance index, it will
Is set to 0.
And traversing all the orbit planes with the failure of the root satellite to obtain the reconstruction adjustment quantity of all the root satellites. Let ξ be 2.
Preferably, the performance indexes of the phase adjustment optimization problem include the most fuel saving, the minimum revisit interval and the maximum coverage rate.
Step four: and determining the reconstruction phase adjustment quantity of the sub-satellite only constrained by the constraint theta of the parent-child satellite in the xi layer of the constraint tree through the geometric relation in the constraint theta of the parent-child satellite.
For the sub-satellites in the xi layer of the constraint tree, determining the allowable phase adjustment amount set of the kth sub-satellite of the jth orbital plane under the constraint theta of the parent-child satellite according to the geometric relation in the constraint theta of the parent-child satellite
According to the performance index given by the task, in the set
Respectively solving the reconstruction phase adjustment quantity of each sub-satellite only constrained by the constraint theta of the parent-child satellite
Preferably, the performance indicators include fuel economy, minimum revisit interval, maximum coverage.
Step five: and judging whether the current layer number of the constraint tree is equal to the total layer number of the constraint tree or not, and executing the fourth step or the sixth step according to the judgment result.
Comparing the current layer number xi of the constraint tree with the total layer number xi of the constraint tree, if xi < xi, making xi +1, and executing the step four; and e, if xi is xi, xi is 2, and the step six is executed.
Step six: by intersatellite constraints
And determining the reconstructed phase adjustment quantity of the sub-satellite of the xi layer of the constraint tree.
For sub-satellites in the xi layer of the constraint tree, according to the intersatellite constraint
Determining the constraint of the kth sub-satellite in the j orbital plane among the sub-satellites
Set of allowable phase adjustments
The set obtained in step four according to the performance index given by the task
And collections
Of intersection of
Respectively solving the inter-satellite constraint of the receiver
Constrained reconstructed phase adjustments for each sub-satellite
Preferably, the performance indicators include fuel economy, minimum revisit interval, maximum coverage.
Step seven: and judging whether the current layer number of the constraint tree is equal to the total layer number of the constraint tree or not, and executing the step six or the step eight according to the judgment result.
Comparing the current layer number xi of the constraint tree with the total layer number xi of the constraint tree, if xi < xi, making xi +1, and executing the step six; if xi, then execute step eight.
Step eight: and determining reconstruction methods of all satellites according to the satellite phase adjustment maneuvering mode and the reconstruction phase adjustment amount of all satellites in the constellation, combining the reconstruction methods of all satellites to obtain a hybrid formation satellite constellation failure reconstruction method after the satellite fails, namely realizing the hybrid formation satellite constellation failure reconstruction after the satellite fails.
According to the phase adjustment maneuvering mode given by the task, the reconstructed phase adjustment quantity of the root satellite obtained in the third step
The reconstructed phase adjustment quantity of each sub-satellite only restricted by the constraint theta of the parent-child satellite obtained in the fourth step
Constraint among receptor stars obtained in the sixth step
Constrained reconstructed phase adjustments for each sub-satellite
And determining a reconstruction method of the kth satellite of the jth orbital plane of the ξ -th layer in the constraint tree, namely the reconstruction method of all the satellites in the constellation. And combining the reconstruction methods of all the satellites to obtain the reconstruction method of the Walker-delta constellation of the hybrid formation satellite with the satellite failure, namely realizing the reconstruction of the satellite constellation failure of the hybrid formation satellite with the satellite failure.
Step nine: and D, injecting the hybrid formation satellite constellation failure reconstruction result obtained in the step eight after the satellite fails into all the satellites in the Walker-delta constellation, and performing reconstruction maneuver by each satellite according to a corresponding reconstruction method to realize the reconstruction of the Walker-delta constellation of the hybrid formation satellite with the satellite failure, so that the described constellation can recover the normal function of the satellite before the satellite fails to the maximum extent.
Has the advantages that:
1. the invention discloses a hybrid formation configuration constraint tree construction method, which adopts root satellite, parent-child satellite constraint and constraint among child satellites to constrain the constraint among all satellite nodes in formation, thereby converting the complex multi-satellite multi-constraint constellation reconstruction problem into the simple constraint tree layered traversal problem, reducing the complexity of the reconstruction method and making the hybrid formation constellation reconstruction problem possible.
2. According to the hybrid formation satellite constellation failure reconstruction strategy generation method disclosed by the invention, complex constraints are simplified by using the constraint tree, all configuration constraints are converted into two types of constraints for processing, the number of calculation branches and judgment layers in the reconstruction strategy generation process is greatly reduced, and the calculation performance and the reconstruction efficiency of an algorithm are improved.
3. The existing satellite constellation failure reconstruction strategy generation method has low calculation efficiency when solving the problem of complex constraint multi-satellite formation satellite constellation reconstruction, and even can not give effective results. According to the satellite constellation failure reconstruction strategy generation method disclosed by the invention, through analyzing the constraints in each branch and each level in the constraint tree, the generation problem of the constellation reconstruction strategy of multi-constraint formation and multi-satellite failure can be effectively solved while the optimization performance is considered.
4. According to the mixed formation satellite constellation failure reconstruction method after satellite failure, inter-satellite constraints are classified in a grading mode, the method can adapt to the performance index of a given task and the phase adjustment maneuvering mode, satellite constellations with different compositions, different quantities and different formation constraints can be processed, and the reconstruction strategy generation efficiency is high.
Drawings
FIG. 1 is a three-dimensional schematic diagram of a constellation according to an embodiment of the present invention;
FIG. 2 is a diagram of a constraint tree in an embodiment of the present invention;
fig. 3 is a flowchart of a hybrid formation satellite constellation failure reconstruction method after a satellite failure according to the present invention.
Detailed Description
For a better understanding of the objects and advantages of the present invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
As shown in FIG. 1, the Walker-delta 12/3/1 star in this exampleSemi-major axis a of seat rail07000km, 55 degrees of orbital inclination, 0 degrees of reference intersection point and phase, and three types of satellites alpha, beta and gamma which are in serial formation, wherein the number of the three types of satellites is respectively 1, 1 and 3, only alpha satellite can carry out high-power ground communication, beta satellite depends on alpha satellite to work, and gamma satellite depends on alpha satellite or beta satellite to work. The standard inter-satellite communication distance for the three types of satellites is 100 km. The failed satellite is an alpha star in the second formation in the first orbital plane, a beta star in the third formation in the second orbital plane and a second gamma star in the fourth formation in the third orbital plane, the reconstruction allowance time T is 24 hours, the reconstruction is carried out by using a double pulse phase modulation mode, and the fuel consumption is considered preferentially.
As shown in fig. 3, the hybrid formation satellite constellation failure reconstruction method after a satellite failure disclosed in this embodiment is specifically implemented as follows:
the method comprises the following steps: analyzing the root satellite of the mixed satellite formation in the Walker-delta constellation before failure, and restricting theta and intersatellite by father and child satellites
Connecting formation nodes, taking root satellite as root, parent-child satellite constraint theta as edge and child-child inter-satellite constraint
A formation configuration constraint tree is established for the connection.
In this example, the root satellite is defined as an alpha star, and a parent-child star constraint theta between the alpha star and the beta starαβThe constraint theta of father-son stars between alpha star and gamma star is that the beta star is 100km behind the alpha starαγThe constraint theta of parent-child stars between beta stars and gamma stars is that when the front of the gamma star is alpha star, the gamma star is 100km behind the alpha star, and the gamma star is locatedβγThe constraint between sub-stars that the gamma star is 100km behind the beta star when the front of the gamma star is the beta star, and the gamma star is between the gamma stars
The distance between gamma stars is 100km when the front of the gamma star is the gamma star.
According to a constraint thetaαβ,θαγ,θβγ,
The constraint tree is constructed, the result is shown in FIG. 2, θαβ,θαγ,θβγIs a solid line with an arrow and is,
the total number of layers xi ═ 3 of the constraint tree is a long dashed line.
Step two: and reading satellite failure data, judging whether each satellite fails, and executing the third step or the fourth step according to the judgment result.
And c, enabling the current layer number xi of the constraint tree established in the step one to be 1. In this example, the 4 th satellite of the 1 st orbital plane of the constellation fails, so step three is performed.
Step three: and determining the reconstruction phase adjustment amount of the failed root satellite by an in-plane satellite phase uniform distribution and optimization method.
The reconstructed phase adjustment amount of the residual root satellite in the 1 st orbital plane is
The total speed increment and the consumed time required by the double-pulse phase modulation are respectively
Wherein: mu is 398600km3/s2 as gravitational constant, N is the number of turns required for phase modulation, Deltau is the amount of phase adjustment, and
and correspond to each other.
Constructing and solving the following optimization problem
Minimize
Subject to
△t≤T
The phase adjustment amount of the 1 st satellite on the 1 st orbital plane is obtained in the most time-saving way
Then, the phase adjustment amount of other satellites on the 1 st orbital plane can be obtained
And the other orbital planes have no root satellite failure and do not need calculation. Let ξ be 2.
Step four: and determining the reconstruction phase adjustment quantity of the sub-satellite only constrained by the constraint theta of the parent-child satellite in the xi layer of the constraint tree through the geometric relation in the constraint theta of the parent-child satellite.
Consider the parent-child constraint of the constraint tree level 2, orbital plane 1 child satellite β. For the beta stars with normal working alpha stars in the formation, the function of the beta stars is not influenced because the alpha stars still exist, and the beta stars can be reconstructed along with the alpha stars in the formation, namely
For the beta star with alpha star failure in the formation, the beta star needs to be placed behind other alpha stars or the beta star with alpha star to restore the normal function. To ensure fuel economy, the two nearest available positions may be selected for reconstruction. In this example, the two available positions nearest to the second formation β star are 100km after the reconstructed 1 st formation β star and 100km after the reconstructed 3 rd formation β star. Can be obtained through calculation and comparison
I.e. 100km after the 3 rd formation of beta stars after reconstruction.
Considering the parent-child satellite constraint of the child satellite beta of the 2 nd orbital plane at the layer 2 of the constraint tree, the reconstructed beta satellite does not change the constellation performance and causes extra fuel consumption without calculation because the current effective beta satellites are all positioned behind the effective alpha satellite.
And the sub-satellite beta of the other orbital planes on the layer 2 is not influenced by satellite failure and does not need to be calculated.
Step five: and judging whether the current layer number of the constraint tree is equal to the total layer number of the constraint tree or not, and executing the fourth step or the sixth step according to the judgment result.
The restriction tree current layer number ξ + 2 is smaller than the restriction tree total layer number xi 3, so let ξ +1 perform step four.
Step four: and determining the reconstruction phase adjustment quantity of the sub-satellite only constrained by the constraint theta of the parent-child satellite in the xi layer of the constraint tree through the geometric relation in the constraint theta of the parent-child satellite.
Consider the parent-child satellite constraint of the first satellite γ of the level 1 orbital plane of the constraint tree. For the gamma stars with normal working alpha stars in the formation, the alpha stars still exist, the beta stars are not influenced, the functions of the beta stars are not influenced, and the beta stars can be reconstructed along with the alpha stars in the formation, namely
For the group 3 y stars, since one more y star is added, the phase of the y star needs to be shifted accordingly to avoid collision, i.e. the phase shift is performed
For three gamma stars with alpha star failure in formation, the three gamma stars need to be placed after other alpha stars or after beta stars with alpha stars to restore normal function. To ensure fuel economy, the nearest two sets of available positions may be selected for reconstruction. In this example, the two groups of available positions nearest to γ stars in the 2 nd formation are 100km after the last star in the 1 st formation after reconstruction and 100km after the last star in the 3 rd formation after reconstruction. Can be obtained through calculation and comparison
I.e. after the last star of the 3 rd formation after reconstruction.
Considering the parent-child star constraint of the first child satellite γ of the 2 nd orbital plane of the constraint tree at the 3 rd layer, since the β -star of the 3 rd formation fails and has no reconstruction, it is necessary to move the γ -star to a position behind the α -star to ensure inter-satellite communication, i.e. the constraint tree is a constraint
Other groups in the track surface are not affected by failure, and calculation is not needed.
The first gamma star in other orbital planes is not affected by failure and does not need to be calculated.
Step five: and judging whether the current layer number of the constraint tree is equal to the total layer number of the constraint tree or not, and executing the fourth step or the sixth step according to the judgment result.
The restriction tree current layer number xi 3 is not less than the restriction tree total layer number xi 3, thus xi 2 and step six is performed.
Step six: by making an appointment between the child starsBundle of
And determining the reconstructed phase adjustment quantity of the sub-satellite of the xi layer of the constraint tree.
The layer 2 subsatellite has no intersubsatellite constraint and does not need processing.
Step seven: and judging whether the current layer number of the constraint tree is equal to the total layer number of the constraint tree or not, and executing the step six or the step eight according to the judgment result.
The restriction tree current layer number ξ + 2 is smaller than the restriction tree total layer number xi 3, so that ξ +1 performs step six.
Step six: by intersatellite constraints
And determining the reconstructed phase adjustment quantity of the sub-satellite of the xi layer of the constraint tree.
Consider the intersatellite constraints of the level 3 orbital plane, 2 orbital plane subsatellite γ of the constraint tree. For no gamma star failure in formation and the first gamma star has been reconstructed, the reconstruction can be carried out along with the gamma star in formation, namely
Considering the intersatellite constraint of the 3 rd orbital plane subsatellite gamma of the constraint tree, the 4 th formation 2 nd gamma star fails, and the 3 rd gamma star needs to be moved to the position behind the 1 st gamma star to ensure the intersatellite communication, namely
Other gamma stars are not affected by failure and do not need to be calculated.
Step seven: and judging whether the current layer number of the constraint tree is equal to the total layer number of the constraint tree or not, and executing the step six or the step eight according to the judgment result.
The restriction tree current layer number xi 3 is not less than the restriction tree total layer number xi 3, so step eight is performed.
Step eight: and determining reconstruction methods of all satellites according to the satellite phase adjustment maneuvering mode and the reconstruction phase adjustment amount of all satellites in the constellation, combining the reconstruction methods of all satellites to obtain a hybrid formation satellite constellation failure reconstruction method after the satellite fails, namely realizing the hybrid formation satellite constellation failure reconstruction after the satellite fails.
And calculating all satellite reconstruction strategies according to a double-pulse phase modulation mode. Neglecting satellites not participating in the reconstruction, the final result is shown in table 1.
TABLE 1 hybrid formation satellite constellation failure reconstruction strategy
Step nine: and D, injecting the hybrid formation satellite constellation failure reconstruction result obtained in the step eight after the satellite fails into all the satellites in the Walker-delta constellation, and performing reconstruction maneuver by each satellite according to a corresponding reconstruction method to realize the reconstruction of the Walker-delta constellation of the hybrid formation satellite with the satellite failure, so that the described constellation can recover the normal function of the satellite before the satellite fails to the maximum extent.
The above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A hybrid formation satellite constellation failure reconstruction method after satellite failure is characterized in that: comprises the following steps of (a) carrying out,
the method comprises the following steps: analyzing the root satellite of the mixed satellite formation in the Walker-delta constellation before failure, and restricting theta and intersatellite by father and child satellites
Connecting formation nodes, taking root satellite as root, parent-child satellite constraint theta as edge and child-child inter-satellite constraint
Establishing a formation configuration constraint tree for the connection;
step two: reading satellite failure data, judging whether each satellite fails, and executing a third step or executing a fourth step according to a judgment result;
step three: determining the reconstruction phase adjustment amount of the failed root satellite by an in-plane satellite phase uniform distribution and optimization method;
step four: determining the reconstruction phase adjustment quantity of the sub-satellite only constrained by the constraint theta of the parent-child satellite in the xi layer of the constraint tree through the geometric relationship in the constraint theta of the parent-child satellite;
step five: judging whether the current layer number of the constraint tree is equal to the total layer number of the constraint tree or not, and executing a fourth step or a sixth step according to a judgment result;
step six: by intersatellite constraints
Determining a reconstructed phase adjustment quantity of a sub-satellite at a xi layer of a constraint tree according to the geometric relationship;
step seven: judging whether the current layer number of the constraint tree is equal to the total layer number of the constraint tree or not, and executing a sixth step or an eighth step according to a judgment result;
step eight: and determining reconstruction methods of all satellites according to the satellite phase adjustment maneuvering mode and the reconstruction phase adjustment amount of all satellites in the constellation, combining the reconstruction methods of all satellites to obtain a hybrid formation satellite constellation failure reconstruction method after the satellite fails, namely realizing the hybrid formation satellite constellation failure reconstruction after the satellite fails.
2. The method according to claim 1, wherein the hybrid formation satellite constellation failure reconstruction method after the satellite failure comprises: and step nine, the reconstruction result of the hybrid formation satellite constellation failure obtained in the step eight after the satellite failure is injected to all satellites in the Walker-delta constellation, and each satellite performs reconstruction maneuver according to a corresponding reconstruction method to realize the reconstruction of the Walker-delta constellation of the hybrid formation satellite failure described by the satellite, so that the constellation can recover the normal function of the satellite before the satellite failure to the maximum extent.
3. The method for reconstructing a hybrid formation satellite constellation failure after a satellite failure according to claim 1 or 2, wherein: the first implementation method comprises the following steps of,
only considering a mixed satellite formation of a certain node in the Walker-delta constellation before failure, and defining a root satellite as a satellite independently existing in the formation without depending on any constraint; the constraints between the satellites in the formation are simplified or converted into two types: father and son star constraint theta and child star constraint
Defining parent and child satellite constraint theta as hybrid satellite formationDefining inter-sub-satellite constraints
Constraint among satellites of the same type; in order to reduce the complexity of the constraint tree, if a plurality of constraint satellites exist, the plurality of constraint satellites are placed far away from the root satellite as far as possible;
establishing a formation configuration constraint tree by taking a root satellite as the root of the constraint tree and a parent-child satellite constraint theta as the edge of the constraint tree, and using child-child satellite constraint
Connecting the related nodes; defining the total number of layers of the constraint tree to be xi; therefore, the complex multi-satellite multi-constraint constellation reconstruction problem is converted into a simple constraint tree layered traversal problem, and the complexity of the reconstruction method is reduced.
4. The method according to claim 3, wherein the hybrid formation satellite constellation failure reconstruction method after the satellite failure comprises: the second step is realized by the method that,
enabling the current layer number xi of the constraint tree established in the step one to be 1; reading and traversing satellite failure data of the satellite constellation, and screening failure information of a root satellite by combining the constraint tree established in the step one; if the constellation has a root satellite failure, executing a third step; and if no satellite in the constellation fails, making ξ be 2 and executing a step four.
5. The method according to claim 4, wherein the hybrid formation satellite constellation failure reconstruction method after the satellite failure comprises: the third step is to realize the method as follows,
because the root satellites have mutual independence, the phase of each root satellite can determine the overall phase of the formation of the satellites, and meanwhile, in order to improve the uniformity of the overall performance of the Walker-delta constellation, the root satellites are reconstructed by adopting an in-orbit phase uniform distribution method; taking the position of a root satellite as a reference position corresponding to each group of formation of satellites, and the base of the Walker-delta constellationThe parameters can be determined by the properties of the Walker-delta constellation, and the basic parameters of the Walker-delta constellation are the total formation group number T in the constellation, the number P of the orbit planes of the constellation, the phase parameter F, the semimajor axis a of the orbit, the inclination angle i of the orbit, and the rising intersection right ascension omega of the reference position of the first group of satellites on the first orbit plane at the reference time1And phase angle u1,1(ii) a Defining the formation group number S in the current orbital plane as T/P, defining that m groups of formation root satellites in the jth orbital plane fail, wherein m is less than S, and arranging the group numbers of the failed root satellites from small to large into k1,k2,...,kmThe reconstructed phase adjustment amount of the kth satellite in the jth orbital plane is expressed as
Wherein
The number of the j orbital plane is the minimum in-plane phase adjustment quantity of the unreliated formation root satellite, j belongs to [1, P ∈]，k∈[1,S]，k≠kil is the number of the non-failed formation with the smallest number in the j track surface, q is the number of the failed formation with the number greater than l in the j track surface, expressed as,
l＝min{l|l≠ki,i∈[1,m],i∈N,l∈[1,S]}
q＝min{q|kq＞l,q∈[1,m]}
the phase adjustment quantity is used as constraint, and the optimization problem of phase adjustment is solved by an optimization method to obtain the phase adjustment optimization problem under the given performance index of the task
If the task does not give a performance index, it will
Set to 0;
traversing all the orbit surfaces with the failure of the root satellite to obtain the reconstruction adjustment quantity of all the root satellites; let ξ be 2.
6. The method according to claim 5, wherein the hybrid formation satellite constellation failure reconstruction method after the satellite failure comprises: the implementation method of the fourth step is that,
for the sub-satellites in the xi layer of the constraint tree, determining the allowable phase adjustment amount set of the kth sub-satellite of the jth orbital plane under the constraint theta of the parent-child satellite according to the geometric relation in the constraint theta of the parent-child satellite
According to the performance index given by the task, in the set
Respectively solving the reconstruction phase adjustment quantity of each sub-satellite only constrained by the constraint theta of the parent-child satellite
7. The method of claim 6, wherein the method for reconstructing the hybrid formation satellite constellation failure after the satellite failure comprises: the fifth step is to realize that the method is that,
comparing the current layer number xi of the constraint tree with the total layer number xi of the constraint tree, if xi < xi, making xi +1, and executing the step four; if xi, xi is 2, execute step six;
the sixth realization method comprises the following steps of,
for sub-satellites in the xi layer of the constraint tree, according to the intersatellite constraint
Determining the constraint of the kth sub-satellite in the j orbital plane among the sub-satellites
Set of allowable phase adjustments
The set obtained in step four according to the performance index given by the task
And collections
Of intersection of
Respectively solving the inter-satellite constraint of the receiver
Constrained reconstructed phase adjustments for each sub-satellite
The seventh implementation method comprises the following steps of,
comparing the current layer number xi of the constraint tree with the total layer number xi of the constraint tree, if xi < xi, making xi +1, and executing the step six; if xi, then execute step eight.
8. The method according to claim 7, wherein the hybrid formation satellite constellation failure reconstruction method after the satellite failure comprises: the eight steps of the implementation method are as follows,
according to the phase adjustment maneuvering mode given by the task, the reconstructed phase adjustment quantity of the root satellite obtained in the third step
The reconstructed phase adjustment quantity of each sub-satellite only restricted by the constraint theta of the parent-child satellite obtained in the fourth step
Constraint among receptor stars obtained in the sixth step
Constrained reconstructed phase adjustments for each sub-satellite
Determining a reconstruction method of a kth satellite of a jth orbital plane of a xi layer in a constraint tree, namely a reconstruction method of all satellites in a constellation; and combining the reconstruction methods of all the satellites to obtain the reconstruction method of the Walker-delta constellation of the hybrid formation satellite with the satellite failure, namely realizing the reconstruction of the satellite constellation failure of the hybrid formation satellite with the satellite failure.
9. The method according to claim 8, wherein the hybrid formation satellite constellation failure reconstruction method after the satellite failure comprises: the father and son satellite constraint theta comprises course phase constraint, lateral distance constraint, surrounding angular velocity constraint and line-of-sight angle constraint between a communication satellite and an observation satellite, and the son and son satellite constraint
Including minimum phase angle constraints between slaves in a fly-around formation, constraints between stars in a serial formation.
10. The method according to claim 8, wherein the hybrid formation satellite constellation failure reconstruction method after the satellite failure comprises: the performance indexes of the phase adjustment optimization problem comprise the most fuel-saving, the minimum revisiting interval and the maximum coverage rate.
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