CN113721650B - Space 4N satellite square formation design method, system, equipment and storage medium - Google Patents
Space 4N satellite square formation design method, system, equipment and storage medium Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The invention designs a space 4N satellite square formation design method, a system, equipment and a storage medium, wherein the number N of satellites in the space 4N satellite square formation and the side length d of the square are input; determining the corresponding around-flight radii and phase angles of four satellites on the top of the square, and calculating the around-flight radii and phase angles of other satellites by using a geometric relation formula; calculating to obtain initial relative positions and speeds corresponding to all satellites by using the formation condition around the flycircle and the period matching condition; the orbit parameters of the whole 4N square formation of satellites are further deduced and calculated by using the calculated relative initial positions and velocities of the satellites. The method has a wide application range, can be used for space satellite square formation with the design quantity of 4N (N is more than or equal to 1), and can provide reference for the design of satellite formation tasks in practical engineering application.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a space 4N satellite square formation design method, a system, equipment and a storage medium.
Background
With the development of the aerospace technology, the related research of the satellite formation technology is well-developed, and as the satellite formation has the advantages of the satellite formation compared with the traditional large satellite, the task which is difficult to be completed by the large satellite can be completed, and the requirements of increasingly diversified aerospace tasks are met. In order to study the problem of intersection butt joint in space, a C-W equation is provided for the condition that a target track is a near-circular track, and the C-W equation is a set of constant coefficient linear differential equations, and the equation can be applied to the problem of intersection butt joint and is also applicable to other relative motion situations.
However, it is worth noting that there are some results on the square formation of satellites at present, but most of the results are focused on the situation that four satellites are distributed at the top, and the analysis on the arrangement situation of more satellites is very little.
Disclosure of Invention
In order to solve some problems in the existing satellite formation design, the inventor designs a space 4N satellite square formation design method, a system, equipment and a storage medium, and the method has a wide application range, can be used for designing space satellite square formations with the number of 4N (N is more than or equal to 1), and can provide references for the design of satellite formation tasks in practical engineering application.
In order to achieve the above purpose, the invention adopts the following technical means:
a space 4N satellite square formation design method comprises the following steps:
acquiring the number N of satellites in square formation of the space 4N satellites and the side length d of the square;
determining the corresponding around-flight radii and phase angles of four satellites on the top of the square, and calculating the around-flight radii and phase angles of other satellites by using a geometric relation formula; further, calculating to obtain initial relative positions and speeds corresponding to all satellites by using first-order conditions and period matching conditions of the round flyer;
calculating and outputting orbit parameters of the whole 4N satellite square formation by utilizing the relative initial position and speed of the satellite; and completing configuration initialization deployment tasks.
As a further refinement of the present invention, determining the corresponding fly-around radii and phase angles for four satellites at the vertices of a square comprises:
determining the fly-around radius and phase angle of 4 satellites at the vertex of the 4N satellite square satellite formation configuration;
and calculating the fly-around radius and the phase angle of the other 4 (N-1) satellites according to the geometric relation between the other 4 (N-1) satellites and the satellites at the 4 vertexes.
As a further improvement of the invention, the corresponding fly-around radii and phase angles of the four satellites on the vertices of the square are determined specifically as follows:
the corresponding fly-around radius and phase angle of 4 satellites on the top of the square are determined, and the specific formulas are as follows:
wherein d is the side length of a square formation formed by 4N satellites, r 1 、r N+1 、r 2N+1 、r 3N+1 Is the fly-around radius of the 1 st, N+1 st, 2N+1 st, 3N+1 st satellite, θ 1 、θ N+1 、θ 2N+1 、θ 3N+1 Is the phase angle of the 1 st, n+1, 2n+1, 3n+1 satellite.
The fly-around radius and phase angle of the rest 4 (N-1) satellites except the satellites at the 4 vertexes are calculated according to the derivation of the geometric position relation,
fly-around radius r of ith satellite i And phase angle theta i The specific formula is as follows:
wherein i.noteq.1, N+1, 2N+1, 3N+1, r i Is the fly-around radius of the ith satellite, r i-1 Is the fly-around radius of the ith-1 satellite, d is the distance between satellites at the vertices of the square formation, i.e., the square side length, 4N is the number of satellites in the satellite formation, θ i Is the phase angle of the ith satellite, θ i-1 Is the phase angle of the i-1 st satellite,representing that the satellite is in the mth of square frame i And the strip edge.
As a further improvement of the present invention, calculating the fly-around radius and phase angle of other satellites using the geometric relationship formula includes:
calculating to obtain initial relative positions and speeds corresponding to all satellites by using space circle formation conditions under a C-W equation in space relative motion:
and (3) correcting the speeds of all satellites in the square formation according to the principle of period matching by considering that the mechanical energy of the formation center and the mechanical energy of all satellites are equal.
As a further improvement of the invention, the geometrical relation formula is used for calculating the fly-around radius and phase angle of other satellites, and the method specifically comprises the following steps:
calculating to obtain initial relative positions and speeds corresponding to all satellites by using space circle formation conditions under a C-W equation in space relative motion:
wherein x is i 、y i 、z i 、The relative position and velocity of each direction of the ith satellite, r i For the radius, θ, of the ith satellite i Is the phase angle of the ith satellite;
considering that the mechanical energy of the formation center is equal to that of each satellite according to the period matching principle, correcting the speed of each satellite in square formation,
velocity in the y directionThe correction is performed.
A space 4N satellite square formation design system, comprising:
the acquisition module is used for acquiring the number N of satellites in square formation of the space 4N satellites and the side length d of the square;
the calculation module is used for determining the winding flight radius and the phase angle corresponding to the four satellites on the top of the square, and calculating the winding flight radius and the phase angle of other satellites by using a geometric relation formula; further, calculating to obtain initial relative positions and speeds corresponding to all satellites by using first-order conditions and period matching conditions of the round flyer;
the output module is used for calculating and outputting orbit parameters of the whole 4N satellite square formation by utilizing the relative initial position and speed of the satellite; and completing configuration initialization deployment tasks.
An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the spatial 4N satellite square formation design method when the computer program is executed.
A computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the spatial 4N satellite square formation design method.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, 4N (N is more than or equal to 1) satellites can be uniformly distributed on four sides, so that a space square formation is formed. The practical situation comprises the common situation that when N=1, four common satellites are distributed at the vertexes of the square to form a square formation, and when N is more than or equal to 2, four satellites are distributed at the four vertexes of the square, the rest 4N-1 satellites are evenly distributed on four sides, N-1 satellites are distributed on each side, and N-1 satellites on each side are evenly distributed on the side. That is, the present invention is a general method applicable to various cases of 4N (N.gtoreq.1). The invention provides the steps of calculating the initial relative positions and speeds of all satellites, thereby providing reference for the design of satellite formation tasks in practical engineering applications.
Drawings
FIG. 1 is a flow chart of the calculation of satellite relative position and velocity of the present invention;
fig. 2 is a schematic diagram of the fly-around radius and phase angle when n=1;
fig. 3 is a schematic diagram of the fly-around radius and phase angle when n=2;
FIG. 4 is a schematic diagram of the fly around radius and phase angle for N.gtoreq.3;
FIG. 5 is a schematic diagram of the fly around radius and phase angle for N.gtoreq.3;
fig. 6 is a pattern of formation satellite positions for n=1;
fig. 7 is a formation satellite position distribution diagram in an orbital plane at n=1;
fig. 8 is a formation satellite position distribution diagram when n=2;
fig. 9 is a formation satellite position distribution diagram in an orbital plane at n=2;
fig. 10 is a formation satellite position distribution diagram when n=4;
fig. 11 is a distribution diagram of the positions of the formed satellites in the orbital plane at n=4.
FIG. 12 is a schematic diagram of a power capacity market segment clearing system in accordance with a preferred embodiment of the present invention;
fig. 13 is a schematic view of the structure of an electronic device according to a preferred embodiment of the present invention.
Detailed Description
The C-W equation is provided for the condition that the target orbit is a near-circular orbit, namely the formula (1), and the C-W equation is a set of constant coefficient linear differential equations, and the equation can be applied to the problem of intersection butt joint and is also applicable to other relative motion situations.
The solution of the C-W equation is:
according to the theory, considering the situation of space circle formation, the satellite performs circular motion around a reference satellite, and the distance between the satellite and the reference satellite is a fixed value d, a constraint condition of the formula (2) under the space circle formation condition can be obtained as follows:
substituting formula (2) into formula (3), and deriving by using trigonometric function related properties:
wherein:
finally, the initial conditions that the space circle formation needs to meet can be deduced:
however, it is worth noting that there are some results on the square formation of satellites at present, but most focus on the situation that four satellites are distributed at the top.
The invention will be described in detail below with reference to the drawings in connection with embodiments. 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 following detailed description is exemplary and is intended to provide further details of the invention. Unless defined otherwise, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention.
The invention relates to a design method for a special satellite formation-4N square formation in space, which is suitable for the common condition that four satellites are distributed at four vertexes of a square to form the formation when N=1, and is also suitable for the condition that satellites are distributed on each side of the square when N is more than or equal to 2. When n=1, four satellites are distributed at the vertices of the square to form a group of square formation, and when N is equal to or greater than 2, four satellites are also distributed at the four vertices of the square, the remaining 4 (N-1) satellites are evenly distributed on four sides, N-1 satellites are distributed on each side, and N-1 satellites on each side are evenly distributed on the side.
The invention provides a space 4N satellite square formation design method, wherein a calculation flow chart of the relative positions and speeds of all satellites is shown in figure 1, and the method comprises the following steps:
s1, inputting the number N of satellites in a square formation of 4N satellites in space and the side length d of the square;
s2, determining the corresponding around-flight radii and phase angles of four satellites on the top of the square, and calculating the around-flight radii and phase angles of other satellites by using a geometric relation formula
S3, calculating initial relative positions and speeds corresponding to all satellites by using the round-the-fly formation conditions and the period matching conditions;
and S4, further deducing and calculating the orbit parameters of the whole 4N satellite square formation by using the calculated relative initial position and speed of the satellite, and providing a basis for the development of actual engineering tasks.
The number N of satellites in the square formation and the side length d of the square are input in S1. In this step, the number of satellites needed (i.e. 4N) and the side length d of the formation are determined according to different task requirements.
S2 can be further refined into the following steps:
s2.1, the relative positions of the four satellites are shown, and the fly-around radius and phase angle of the 4 satellites at the vertex of the formation configuration of the 4N square satellite can be determined:
wherein d is the side length of a square formation formed by 4N satellites, r 1 、r N+1 、r 2N+1 、r 3N+1 Is the fly-around radius of the 1 st, N+1 st, 2N+1 st, 3N+1 st satellite, θ 1 、θ N+1 、θ 2N+1 、θ 3N+1 Is the phase angle of the 1 st, n+1, 2n+1, 3n+1 satellite.
S2.2, deducing and calculating the fly-around radius and phase angle of the other 4 (N-1) satellites except the satellites at 4 vertexes according to the geometric position relation, and calculating the fly-around radius r of the other satellites except the vertexes, such as the ith satellite, according to a formula i And phase angle theta i The derivation of specific consensus is given below, from simple to difficult.
First, for a formation with n=2, there are 8 satellites in total, four of which are at the four vertices of a square, respectively, and the other 4 satellites are distributed at the midpoints of the four sides of the square. According to the geometric relationship, the satellite at the midpoint of the edge has an equilateral right triangle with the round flight radius and the phase angle, so that the phase angle of the satellite is calculated to be 45 DEG, and the round flight radius isThe other three satellite phase angles at the middle point are 135 degrees, 225 degrees and 315 degrees respectively, and the winding flying radiuses of the other three satellite phase angles are all +.>
When N is more than or equal to 3, four satellites still exist at the four vertexes, the other 4 (N-1) satellites are distributed on four sides, namely, N-1 satellites are uniformly distributed on each side, and for the first satellite on the first side, the winding flying radius and the phase angle are shown as the formula (8):
wherein the method comprises the steps ofBringing this into equation (8), it can be derived that:
generalizing the special case of the first, for satellites on four sides, the solution of the fly-around radius and the phase angle is as follows:
wherein i.noteq.1, N+1, 2N+1, 3N+1, r i Is the fly-around radius of the ith satellite, r i-1 Is the fly-around radius of the ith-1 satellite, d is the distance between satellites at the vertices of the square formation, i.e., the square side length, 4N is the number of satellites in the satellite formation, θ i Is the phase angle of the ith satellite, θ i-1 Is the phase angle of the i-1 st satellite,representing that the satellite (ith satellite) is in the mth of square frame i +1 edges, such as satellite number 6 when n=3, +>Rounding up to 2, i.e. satellite number 6 on the 2 nd side of the square frame, then m 6 ＝2。
As a further improvement of the present invention, step S3 is specifically:
s3.1, calculating to obtain initial relative positions and speeds corresponding to all satellites by using space circle formation conditions under a C-W equation in space relative motion, and substituting the initial relative positions and speeds into a formula (6) to calculate the positions and speeds by using the winding flight radii and phase angles of 4N satellites in the square formation just obtained.
Position on the track plane:
position under relative coordinate system:
will y i 、x i And (3) withSubstitution, can be simplified to obtain:
wherein x is i 、y i 、z i 、The relative position and velocity of each direction of the ith satellite, r i For the radius, θ, of the ith satellite i Is the phase angle of the ith satellite;
s3.2, considering that the mechanical energy of the formation center is equal to that of each satellite according to the period matching principle, correcting the speed of each satellite in square formation,
wherein the velocity in the y directionThe correction is performed.
The construction and operation of the present invention will be described in further detail with reference to the accompanying drawings.
To verify if the position calculation for the 4N square formation satellites is accurate, the programming performed simulation verification. The simulation results are shown in fig. 6-11. When n=1 in fig. 6 and 7, the position distribution diagram of each satellite in the space 4N square formation and the position distribution in the orbital plane are shown; similarly, fig. 8 and 9 show the distribution of the position profile of each satellite in the square formation and the distribution of the position in the orbital plane when n=2, and fig. 10 and 11 show the distribution of the position profile of each satellite in the square formation and the distribution of the position in the orbital plane when n=4.
As shown in fig. 12, another object of the present invention is to provide a power capacity market segment clearing system, including:
the acquisition module is used for acquiring the number N of satellites in square formation of the space 4N satellites and the side length d of the square;
the calculation module is used for determining the winding flight radius and the phase angle corresponding to the four satellites on the top of the square, and calculating the winding flight radius and the phase angle of other satellites by using a geometric relation formula; further, calculating to obtain initial relative positions and speeds corresponding to all satellites by using first-order conditions and period matching conditions of the round flyer;
the output module is used for calculating and outputting orbit parameters of the whole 4N satellite square formation by utilizing the relative initial position and speed of the satellite; and completing configuration initialization deployment tasks.
As shown in fig. 13, a third object of the present invention is to provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the electric power capacity market segment clearing method when executing the computer program.
The method for partitioning and clearing the electric power capacity market comprises the following steps:
acquiring the number N of satellites in square formation of the space 4N satellites and the side length d of the square;
determining the corresponding around-flight radii and phase angles of four satellites on the top of the square, and calculating the around-flight radii and phase angles of other satellites by using a geometric relation formula; further, calculating to obtain initial relative positions and speeds corresponding to all satellites by using first-order conditions and period matching conditions of the round flyer;
calculating and outputting orbit parameters of the whole 4N satellite square formation by utilizing the relative initial position and speed of the satellite; and completing configuration initialization deployment tasks.
A fourth object of the present invention is to provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the electric capacity market segment clearing method.
The method for partitioning and clearing the electric power capacity market comprises the following steps:
acquiring the number N of satellites in square formation of the space 4N satellites and the side length d of the square;
determining the corresponding around-flight radii and phase angles of four satellites on the top of the square, and calculating the around-flight radii and phase angles of other satellites by using a geometric relation formula; further, calculating to obtain initial relative positions and speeds corresponding to all satellites by using first-order conditions and period matching conditions of the round flyer;
calculating and outputting orbit parameters of the whole 4N satellite square formation by utilizing the relative initial position and speed of the satellite; and completing configuration initialization deployment tasks.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention 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, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (4)
1. The space 4N satellite square formation design method is characterized by comprising the following steps of:
acquiring the number N of satellites in square formation of the space 4N satellites and the side length d of the square;
determining the corresponding around-flight radii and phase angles of four satellites on the top of the square, and calculating the around-flight radii and phase angles of other satellites by using a geometric relation formula; further, calculating to obtain initial relative positions and speeds corresponding to all satellites by using first-order conditions and period matching conditions of the round flyer;
calculating and outputting orbit parameters of the whole 4N satellite square formation by utilizing the relative initial position and speed of the satellite; completing configuration initialization deployment tasks;
determining the corresponding fly-around radii and phase angles for the four satellites at the vertices of the square includes:
determining the fly-around radius and phase angle of 4 satellites at the vertex of the 4N satellite square satellite formation configuration;
calculating the fly-around radius and phase angle of the other 4 (N-1) satellites according to the geometric relationship between the other 4 (N-1) satellites and the satellites at the 4 vertexes;
the method for determining the corresponding around-flight radius and phase angle of the four satellites on the top of the square comprises the following steps:
the corresponding fly-around radius and phase angle of 4 satellites on the top of the square are determined, and the specific formulas are as follows:
wherein d is the side length of a square formation formed by 4N satellites, r 1 、r N+1 、r 2N+1 、r 3N+1 Is the fly-around radius of the 1 st, N+1 st, 2N+1 st, 3N+1 st satellite, θ 1 、θ N+1 、θ 2N+1 、θ 3N+1 Is the phase angle of the 1 st, n+1, 2n+1, 3n+1 satellites;
the fly-around radius and phase angle of the rest 4 (N-1) satellites except the satellites at the 4 vertexes are calculated according to the derivation of the geometric position relation,
fly-around radius r of ith satellite i And phase angle theta i The specific formula is as follows:
where i.noteq.1, N+1, 2N+1, 3N+1, ri is the fly-around radius of the ith satellite, ri-1 is the fly-around radius of the i-1 th satellite, d is the distance between satellites at the vertices of the square formation, i.e., the square side length, 4N is the number of satellites in the satellite formation, θ i Is the phase angle of the ith satellite, θ i-1 Is the phase angle of the i-1 st satellite,representing that the satellite is in the mth of square frame i Edges of the strip;
calculating the fly-around radius and phase angle of other satellites using the geometric relationship formula includes:
calculating to obtain initial relative positions and speeds corresponding to all satellites by using space circle formation conditions under a C-W equation in space relative motion:
according to the periodic matching principle, the mechanical energy of the formation center and the mechanical energy of each satellite are equal, and the speeds of each satellite in square formation are corrected;
the method for calculating the fly-around radius and the phase angle of other satellites by using the geometric relation formula comprises the following specific steps:
calculating to obtain initial relative positions and speeds corresponding to all satellites by using space circle formation conditions under a C-W equation in space relative motion:
wherein x is i 、y i 、z i 、The relative position and velocity of each direction of the ith satellite, r i For the radius, θ, of the ith satellite i Is the phase angle of the ith satellite;
considering that the mechanical energy of the formation center is equal to that of each satellite according to the period matching principle, correcting the speed of each satellite in square formation,
velocity in the y directionThe correction is performed.
2. A space 4N satellite square formation design system based on the space 4N satellite square formation design method of claim 1, comprising:
the acquisition module is used for acquiring the number N of satellites in square formation of the space 4N satellites and the side length d of the square;
the calculation module is used for determining the winding flight radius and the phase angle corresponding to the four satellites on the top of the square, and calculating the winding flight radius and the phase angle of other satellites by using a geometric relation formula; further, calculating to obtain initial relative positions and speeds corresponding to all satellites by using first-order conditions and period matching conditions of the round flyer;
the output module is used for calculating and outputting orbit parameters of the whole 4N satellite square formation by utilizing the relative initial position and speed of the satellite; and completing configuration initialization deployment tasks.
3. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the spatial 4N satellite square formation design method of claim 1 when the computer program is executed.
4. A computer readable storage medium storing a computer program which, when executed by a processor, implements the spatial 4N satellite square formation design method of claim 1.
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