CN113788166A - Differential interception tracking method based on space object track error - Google Patents
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Abstract
The utility model provides a differential speed interception tracking method based on space object orbit error, which comprises the following steps: operation S1: determining an interception tracking track according to theoretical track parameters of the target space object; operation S2: determining the interception tracking time and the direction in advance according to the track prediction error of the target space object; operation S3: and iteratively determining the differential interception tracking rate to ensure that the differential interception tracking can cover the track prediction error range, and finishing the differential interception tracking based on the track error of the space object. The method can effectively solve the technical problems that the guiding precision deviation is overlarge, the tracking observation success rate is not high, the meteor forecast precision is influenced and the like when the specific target is tracked and observed in the prior art.
Description
Technical Field
The disclosure relates to the technical field of space object observation, in particular to a differential speed interception and tracking method based on space object track errors.
Background
The aerospace industry has grown vigorously over the last 60 years, but has brought hundreds of millions of space objects into the earth's outer space, such as space debris, satellites, etc., with the largest amount of space debris. Space debris of a size above 1cm can cause severe damage to an in-orbit spacecraft, and space debris of less than 1cm can cause performance degradation of the spacecraft system. Currently, more than 10cm of debris exceeds 3 million, with nearly millions of debris above 1cm, and billions of millimeter-sized debris. On important common orbits, such as 500-. Disintegration and collision debris are the main factors for the growth of the number of space debris. As in 2009, the meirussian satellite collision event, produced nearly 3000 trackable shards. In addition, the activity of launching small satellites and large constellations is on the rise, and nearly one hundred thousand small satellite launching plans are published in all countries in the world. Frequent space activities and a large number of new spacecrafts are continuously added, so that the number of space objects is continuously increased, the collision risk of the in-orbit spacecraft is increased inevitably, and the safety of space assets faces severe challenges.
In the space object cataloging and threat event handling, tracking observation of a specific target is a primary step of data processing and application. The tracking observation needs to use the forecasted observation guide data as an input condition, and the space debris tracking observation device has a limited observation field angle, so that a certain requirement is imposed on the precision of the guide data, and the forecasted guide data deviation needs to be ensured in an observation field. This is not a big problem for stable inventorizing space debris, but there is a problem that the guiding accuracy is too much deviated in at least the following two cases. Firstly, the space debris of new cataloguing purpose leads to guiding error too big because initial orbit precision is lower, and the tracking observation success rate is not high, influences the cataloguing efficiency of new debris. Secondly, the space debris in the re-entering atmosphere stage has overlarge guiding error due to larger error of the atmospheric resistance model, the tracking and observation success rate is not high, and the meteor forecast precision is influenced.
Disclosure of Invention
Technical problem to be solved
Based on the above problems, the present disclosure provides a differential interception tracking method based on a spatial object orbit error, so as to alleviate technical problems that, when a specific target is tracked and observed in the prior art, the deviation of the guiding precision is too large, the tracking and observation success rate is not high, and the meteor forecast precision is affected.
(II) technical scheme
The utility model provides a differential speed interception tracking method based on space object orbit error, which comprises the following steps:
operation S1: determining an interception tracking track according to theoretical track parameters of the target space object;
operation S2: determining the interception tracking time and the direction in advance according to the track prediction error of the target space object;
operation S3: and iteratively determining the differential interception tracking rate to ensure that the differential interception tracking can cover the track prediction error range, and finishing the differential interception tracking based on the track error of the space object.
According to the embodiment of the disclosure, the forecast value of the track forecast is (t)i，σi)，i＝1，2，…，σiIs tiThe common orbit semi-length diameter, eccentricity, inclination, ascension at ascending intersection point, argument of perigee and argument of perigee of the number of the time orbits have 6 components, and the time deviation range of the elliptic motion caused by the error in the track direction is [ - Δ t, Δ t]。
Operation S2, according to an embodiment of the present disclosure, includes:
operation S21: introducing a time deviation-delta t to the forecast value of the target space object;
operation S22: and calculating the initial tracking moment meeting the visible condition of the space object to ensure that the target is still visible under the condition that the guiding time deviation is-delta t.
According to the embodiment of the present disclosure, in operation S3, the approach angle rate is adjusted iteratively, so that the time deviation between the observation value and the predicted value is + Δ t when the tracking is finished, so as to ensure that the target space object is still visible when the guidance time deviation is + Δ t.
Operation S3, according to an embodiment of the present disclosure, includes:
operation S31: setting the angular variability of the intercept tracking mean-near point to be n-kn0(ii) a And
operation S32: forming a target space object motion track (t) by intercepting and tracking the mean-near point angular rate ni-Δt，σi′)，i＝1，2，…；
Wherein k is more than or equal to 0 and less than or equal to 1, n0Predicting the angular rate of change of the mean anomaly of the track; sigmai' first 5 components and predicted value σiThe first 5 components are equal, the 6 th component has Mi′＝n[ti-(t0-Δt)]。
Operation S3 further includes, according to an embodiment of the present disclosure:
operation S33: the end tracking time t is calculated with the target space object motion trajectory formed in operation S32endCalculating the time deviation Delta t of the end tracking timeend＝(1-k)(tend-tstart) - Δ t; and
operation S34: and (4) correcting the angular rate n of the intercept tracking approximate point as K/(2 delta t + K), and repeating the steps to carry out iterative adjustment until the absolute value of delta t is up toend- Δ t | is less than the iteration convergence error;
wherein, tstartTo start tracking, K equals K (t)end-tstart)。
According to the embodiment of the disclosure, the interception tracking plan time deviation range is set according to the target space object motion trail formed after the last iteration is completed, and interception tracking observation is carried out.
(III) advantageous effects
According to the technical scheme, the differential interception and tracking method based on the orbit error of the space object at least has one or part of the following beneficial effects:
(1) the method can ensure that the plan of the interception and tracking can cover the deviation of the track prediction error, and ensure that the interception and tracking can realize that the space object is positioned in the detection view field of the observation equipment in a certain time period under the condition that the deviation of the motion of the space object along the track is large;
(2) on the premise of meeting the requirement of successful interception and tracking, differential minimum tracking can be realized, and a target can stay in an observation view field of equipment for as long as possible so as to obtain more sufficient observation data.
Drawings
Fig. 1 is a flowchart of a differential speed interception tracking method based on a spatial object orbit error according to an embodiment of the present disclosure.
Fig. 2 is a comparison diagram of the results of the tracking plans corresponding to table 1 in the embodiment of the disclosure.
Fig. 3 is a schematic diagram of images obtained by the interception tracking plan corresponding to sequence number 2 in table 1 at different times according to the embodiment of the present disclosure.
Fig. 4 is a schematic diagram of images obtained by the interception tracking plan corresponding to sequence number 3 in table 1 at different times according to the embodiment of the present disclosure.
Fig. 5 is a schematic diagram of images obtained by the interception tracking plan corresponding to the sequence number 4 in table 1 at different times according to the embodiment of the present disclosure.
Detailed Description
The utility model provides a differential speed interception and tracking method based on space object orbit error, which is based on the space debris orbit motion law and according to the orbit forecast error, makes a space debris interception and tracking strategy adaptive to the error. On the premise of ensuring that the space debris with low guiding precision is intercepted and observed, the space debris can stay in a view field for a long time as far as possible, more high-quality observation data can be obtained, and space debris cataloging and threat event handling are supported. Specifically, a differential tracking track is established on the basis of a track motion theory aiming at a space object with a large track prediction error, so that on the premise of ensuring that the space object enters an observation view field, the difference between the motion rate of the space object and the interception tracking rate is minimized, the retention time of the space object in the view field is prolonged, and the success rate of interception tracking and the data acquisition rate are improved.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
In the embodiment of the disclosure, a differential interception and tracking method based on a spatial object orbit error is provided, which enables an equipment observation direction to realize interception observation along a spatial object theoretical elliptic trajectory at a tracking speed smaller than a predicted value, and enables a 'waiting' target to enter an observation field. Based on the track theory, the differential tracking rate is adjusted through iteration, the final differential intercepting tracking effect is achieved, the initial tracking advance is just equal to the maximum positive deviation of track forecast, the final tracking delay is just equal to the maximum negative deviation of track forecast when the space object is in the range of a visible arc section, the intercepting tracking speed is enabled to be close to the forecast tracking speed as much as possible on the premise that the intercepting tracking covers forecast errors, and the target stays in a view field for a long time. As shown in fig. 1, the differential interception tracking method based on the orbit error of the space object includes:
operation S1: determining an interception tracking track according to theoretical track parameters of the target space object;
operation S2: determining the interception tracking time and the direction in advance according to the track prediction error of the target space object;
operation S3: and iteratively determining the differential interception tracking rate to ensure that the differential interception tracking can cover the track prediction error range, and finishing the differential interception tracking based on the track error of the space object.
According to the embodiment of the disclosure, the forecast value of the track forecast is (t)i，σi)，i＝1，2，…，σiIs tiThe common orbit semi-length diameter, eccentricity, inclination, ascension at ascending intersection point, argument of perigee and argument of perigee of the number of the time orbits have 6 components, and the time deviation range of the elliptic motion caused by the error in the track direction is [ - Δ t, Δ t]. Using predicted values (t) introducing a time offset- Δ ti-Δt，σi) I-1, 2, … calculates a start tracking time t satisfying the target visibility conditionstartTo ensure that the target is still visible with a lead time offset of- Δ t. And (4) iteratively adjusting the approximate point angular rate to enable the observation and forecast value to have a time deviation of + delta t at the end of tracking time (the end point of the target visible), so as to ensure that the observation and forecast value can still be visible under the condition that the guidance time deviation is + delta t.
Operation S3 specifically includes:
operation S31: setting the angular variability of the intercept tracking mean-near point to be n-kn0K is more than or equal to 0 and less than or equal to 1, the initial k value can be set to 0.8, n0Predicting the mean anomaly angular rate of the orbit;
operation S32: forming a target motion track (t) by intercepting and tracking the mean-near point angular rate ni-Δt，σi'), i ═ 1, 2, …, where σ isi' first 5 components and σiEqual, the 6 th component has Mi′＝n[ti-(t0-Δt)]；
Operation S33: calculating the end tracking time t with the target motion trajectory formed in operation S32endCalculating the time deviation Delta t of the end tracking timeend＝(1-k)(tend-tstart)-Δt
Operation S34: and correcting the angular rate n of the intercept tracking approximate point to be K/(2 delta t + K), and K to be K (t)end-tstart) Repeating the above steps until | Δ tend- Δ t | is smaller than the iteration convergence error.
Trajectory (t) formed with last iteration divide operation S32i-Δt，σi'), i-1, 2, … form an intercept tracking plan that directs the plant to make intercept observations.
In the embodiment of the disclosure, one LEO satellite (number 47869) is selected as an interception tracking observation experiment target. The target track information is as follows:
track time: 2021-06-2404: 00:01.999584(UTC)
The number of the tracks is as follows:
a＝6826.811km，e＝0.0008358，i＝87°.3976
Ω＝267°.2552，ω＝151°.5927，M＝332°.0278
and setting the time deviation range of an interception and tracking plan by using 4 36 cm telescopes and the interception and tracking method under different guide deviation conditions to form an interception and tracking plan, carrying out interception, tracking and observation by using a telescope remote control system, and processing and analyzing an observed image. The 4 interception tracking plan information is as follows in table 1:
TABLE 1
| Serial number | Trace error (km) of guide data | Projected time deviation range |
| 1 | 0 | 0 |
| 2 | 120km | [-20s，20s] |
| 3 | -120km | [-20s，20s] |
| 4 | -240km | [-40s，40s] |
The guide data trace error is an artificially added deviation amount and is used for verifying the effectiveness of the interception tracking method on different trace deviations. In practical tasks, the tracking error is generally predicted by the covariance given by the orbit. The trail error can be reduced into time deviation through a track theory, and certain redundancy is added on the basis and is used as time quantity for starting in advance and delaying to finish for making an interception and tracking plan. No trace errors were added to the 1 st boot data for analysis as a baseline. Finally, the formulated interception tracking plan and the interception tracking execution situation are shown in fig. 2. The intercepting and tracking track of the position encircled at the circle is overlapped with the tracking sequence 1 (namely, a non-deviation track), the intercepting and tracking is captured at the position, the change trend of the right ascension and the declination of the intercepting and tracking plan is approximately the same as the trend of a reference (serial number 1), the target gradually enters a telescope visual field, the staying time in the visual field is longer, and the trend is proved in actual observation. The images taken at different times for the interception tracking given below as sequence numbers 2, 3 and 4 are shown in fig. 3 to 5, each observation sequence taking the first, middle and last image entering the field of view and the observation time.
From observation results, all 3 telescopes for interception realize successful observation on the target. Due to the fact that a large tracking error needs to be achieved by a large time deviation range, capture time of the interception and tracking serial number 4 is relatively short, and compared with staring interception (a target is immovable at a certain position of a telescope staring track and waits to enter a visual field), differential interception and tracking can capture space debris data for a longer time, and sufficient data support is provided for subsequent observation strategies and data processing.
So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.
From the above description, those skilled in the art should clearly recognize that the present disclosure is based on the differential velocity intercept tracking method of the spatial object orbit error.
In summary, the present disclosure provides a differential interception tracking method based on a spatial object trajectory error, which generates a theoretical tracking trajectory according to a theoretical trajectory parameter; determining the interception tracking time and the direction in advance according to the track error; iteratively determining a differential tracking rate to ensure that differential tracking can cover a track error range; and generating a final differential speed interception tracking plan. By using the method, the spatial object track is subjected to differential speed interception and tracking under the condition of large prediction error.
It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure. And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure.
The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.
In addition, unless steps are specifically described or must occur in sequence, the order of the steps is not limited to that listed above and may be changed or rearranged as desired by the desired design. The embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e., technical features in different embodiments may be freely combined to form further embodiments.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (7)
1. A differential speed interception tracking method based on space object track errors comprises the following steps:
operation S1: determining an interception tracking track according to theoretical track parameters of the target space object;
operation S2: determining the interception tracking time and the direction in advance according to the track prediction error of the target space object;
operation S3: and iteratively determining the differential interception tracking rate to ensure that the differential interception tracking can cover the track prediction error range, and finishing the differential interception tracking based on the track error of the space object.
2. The differential speed intercepting and tracking method based on the orbit error of the space object according to claim 1, wherein the forecast value of the orbit forecast is (t)i，σi)，i＝1，2，…，σiIs tiThe common orbit semi-length diameter, eccentricity, inclination, ascension at ascending intersection point, argument of perigee and argument of perigee of the number of the time orbits have 6 components, and the time deviation range of the elliptic motion caused by the error in the track direction is [ - Δ t, Δ t]。
3. The differential intercept tracking method based on spatial object trajectory error of claim 2, operation S2, comprising:
operation S21: introducing a time deviation-delta t to the forecast value of the target space object;
operation S22: and calculating the initial tracking moment meeting the visible condition of the space object to ensure that the target is still visible under the condition that the guiding time deviation is-delta t.
4. The differential intercepting and tracking method based on the object trajectory error in space of claim 2, wherein in operation S3, the peripherical angular rate is adjusted iteratively, so that the time deviation between the observation value and the predicted value is + Δ t at the end of the tracking time, so as to ensure that the target object in space is still visible when the guiding time deviation is + Δ t.
5. The differential intercept tracking method based on spatial object trajectory error of claim 4, operation S3, comprising:
operation S31: setting the angular variability of the intercept tracking mean-near point to be n-kn0(ii) a And
operation S32: forming a target space object motion track (t) by intercepting and tracking the mean-near point angular rate ni-Δt，σi′)，i＝1，2，…；
Wherein k is more than or equal to 0 and less than or equal to 1, n0Predicting the angular rate of change of the mean anomaly of the track; sigmai' first 5 components and predicted value σiThe first 5 components are equal, the 6 th component has Mi′＝n[ti-(t0-Δt)]。
6. The differential velocity intercept tracking method based on space object orbit error of claim 5 further comprising:
operation S33: the end tracking time t is calculated with the target space object motion trajectory formed in operation S32endCalculating the time deviation Delta t of the end tracking timeend＝(1-k)(tend-tstart) - Δ t; and
operation S34: and (4) correcting the angular rate n of the intercept tracking approximate point as K/(2 delta t + K), and repeating the steps to carry out iterative adjustment until the absolute value of delta t is up toend- Δ t | is less than the iteration convergence error;
wherein, tstartTo start tracking, K equals K (t)end-tstart)。
7. The differential speed intercepting and tracking method based on the orbit error of the space object according to claim 6, wherein the intercepting and tracking plan time deviation range is set according to the target space object motion trail formed after the last iteration is completed, and intercepting, tracking and observing are carried out.
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