CN114115330B - Orbit design method considering mars surrounding, entering and landing detection - Google Patents
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Abstract
The invention provides a track design method considering mars surrounding, entering and landing detection, which comprehensively considers the near-fire illumination and full-fire coverage conditions according to the speed increment requirement and the evolution rule of remote sensing tracks with different inclination angles and semi-major axes to design a remote sensing track; then, considering the drift of a near fire point and the relay data volume, and designing a relay track; then considering the speed increment requirement, the entry point error, the landing area detailed check and other constraints, and designing a parking track; according to the relation between the landing point latitude and the near-fire point latitude, and considering the safety and speed increment requirements of the near-fire braking, selecting parameters such as the near-fire point height, the inclination angle, the orbit period and the like; finally, the flight orbits of each stage are integrally connected together by multiple orbital transfer, and the goals of surrounding, entering and landing detection are completed in one step.
Description
Technical Field
The invention belongs to the field of deep space exploration track design, and particularly relates to a track design method considering mars surrounding, entering and landing exploration.
Background
The task of the first question is the first Mars detection task in China, a Chang-Zheng-Wu carrier rocket is sent into a ground fire transfer orbit with deep space maneuvering in 7-23 months in 2020, flies for about 6.5 months to reach Mars, and is captured and enters a circular fire orbit and then is adjusted through a series of orbits to finish the tasks of landing, inspection tour, relaying and remote sensing detection, and the first Mars surrounding, entering and landing detection of one task is internationally realized for the first time.
The mars detection task needs to realize the targets of surrounding, entering and landing detection in one step, and the track design not only considers the requirements of measurement and control, energy, precision and speed increment, but also needs to meet the target requirements of flying in each stage and link the flying stages. The surrounding detection is considered, and the most important is to meet the requirements that the drift of a near-fire point of a remote sensing track can cover the whole fire and the illumination meets the imaging requirements of a camera; considering the atmospheric entry, a proper orbital transfer position needs to be selected to meet the requirement of the accuracy of an entry point; in consideration of landing detection, the vehicle needs to land to a specified position at the time when illumination and measurement and control meet requirements.
Aiming at the complex problem of multi-target detection track design, a track design method considering mars surrounding, entering and landing detection is needed to be provided.
Disclosure of Invention
In order to overcome the defects in the prior art, the inventor of the invention carries out intensive research, provides a track design method considering mars surrounding, entering and landing detection, and designs a remote sensing track by comprehensively considering the near-fire illumination and full-fire coverage conditions according to the speed increment requirement and the evolution rule of remote sensing tracks with different inclination angles and semi-major axes; then, considering the drift of a near fire point and the relay data amount, and designing a relay track; then considering the speed increment requirement, the entry point error, the landing area detailed check and other constraints, and designing a parking track; according to the relation between the landing point latitude and the near-fire point latitude, and considering the safety and speed increment requirements of the near-fire braking, selecting parameters such as the near-fire point height, the inclination angle, the orbit period and the like; finally, the flight tracks of each stage are integrally connected together by multiple times of orbital transfer, thereby completing the invention.
The technical scheme provided by the invention is as follows:
a rail design method considering Mars surrounding, entering and landing detection comprises the following steps:
step (1), selecting a remote sensing track type according to the remote sensing track requirement, and giving a semi-major axis range of the remote sensing track according to a speed increment requirement; analyzing the evolution law of the remote sensing tracks with different inclination angles and semi-major axes, comprehensively considering the illumination of a near fire point and the coverage of a full fire and considering the relay condition of a mars train, and determining the inclination angle, the semi-major axis and the regression period of the remote sensing tracks;
step (2), considering the data volume of the stable relay track and the connection of the relay track with the parking track and the remote sensing track, and selecting a semi-major axis and a regression period of the relay track;
step (3), analyzing the requirements of the parking track period on speed increment and the influence on entry point errors, integrating the constraints of detailed examination of a landing area, and designing the parking track period and the track inclination angle;
step (4), carrying out detailed analysis on entry window criteria including sun flash, local sun altitude of fire falling, measurement and control before and after fire falling, entry point errors and the like, determining a rail falling time meeting the requirement of an entry point, and designing a rail falling rail;
step (5), reversely calculating the requirement of the transfer track near fire point latitude according to the position relation between the landing point latitude and the near fire point of the parking track in the landing circle and the precession speed of the near fire point of the parking track, and determining the capture track inclination angle; analyzing the safety of the near fire braking by considering the rail fixing error, the rail control error and the related factors of the near fire braking gravity loss, and determining the initial near fire point height of the transfer rail; comprehensively considering the speed increment requirement and error influence of the far fire point orbital transfer of the capture orbit and determining the semi-major axis of the capture orbit;
And (6) according to task requirements, measurement and control, illumination requirements and error influence, determining the number of turns of track operation in each stage, and arranging proper track transfer time to completely connect the flight tracks in each stage.
According to the orbit design method considering mars surrounding, entering and landing detection, the method has the following beneficial effects:
according to the speed increment requirement and the evolution rule of remote sensing tracks with different inclination angles and semi-major axes, the remote sensing track is designed by comprehensively considering the near-fire illumination and the full-fire coverage conditions; then, considering the drift of a near fire point and the relay data volume, and designing a relay track; then considering the speed increment requirement, the entry point error, the landing zone detailed investigation and other constraints, and designing a parking track; according to the relation between the landing point latitude and the near-fire point latitude, and considering the safety and speed increment requirements of the near-fire braking, selecting parameters such as the near-fire point height, the inclination angle, the orbit period and the like; finally, the flight orbits of each stage are integrally connected together by multiple orbital transfer, and the goals of surrounding, entering and landing detection are completed in one step.
Drawings
FIG. 1 is a flow chart of a method for designing a track for Mars around, entering, and landing detection according to the present invention;
FIG. 2 is a diagram of the near fire point positions corresponding to different inclination angles of the near fire points of different fire transfer trajectories;
FIG. 3 is a curve of the variation of the solar altitude angle and the latitude of the near fire point of the remote sensing track with the flight time of the remote sensing track;
FIG. 4 is a diagram of the relationship between a remote sensing arc and a two-device communication arc;
FIG. 5 shows the measurement and control arc segments from the probe to the ground station before and after landing.
Detailed Description
The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The invention provides a track design method considering mars surrounding, entering and landing detection, as shown in figure 1, comprising the following steps:
step (1), selecting a remote sensing track type according to the remote sensing track requirement, and giving a semi-major axis range of the remote sensing track according to a speed increment requirement; and analyzing the evolution law of the remote sensing tracks with different inclination angles and semi-major axes, comprehensively considering the illumination of a near fire point and the coverage of a full fire and considering the relay condition of the mars, and determining the inclination angle, the semi-major axis and the regression period of the remote sensing tracks. The step is specifically implemented by the following way:
(a) According to the requirement of remote sensing of the whole fire of the remote sensing orbit, selecting the type of the remote sensing orbit from the circular fire sun synchronous orbit and the simulated sun synchronous orbit with the circular fire large ellipse and close fire point drifting;
(b) because the speed increment is limited, the limitation of the ring fire sun synchronous orbit can not be formed, the remote sensing orbit is determined to be a simulated sun synchronous orbit with the ring fire large ellipse near fire drift, and the semi-major axis of the remote sensing orbit is 9000 +/-1000 km;
(c) in order to cover the south and north poles of the Mars, the inclination angle range of the orbit is 90 +/-a, and a is determined according to the load width; if the load width is 400km, a is 3.1;
(d) determining the positions of the near fire points corresponding to different inclination angles of the near fire points of different fire transfer orbits, namely the initial state of the Mars surrounding orbit and the positions of the earth and the sun, and obtaining a diagram 2;
(e) calculating the evolution conditions of the remote sensing tracks with different track dip angles and semi-major axes, wherein the formula is as follows:
in the formulae (1-3),
the rate of change of the right ascension at the intersection point;
the amplitude angle change rate of the near-fire point;
mean change rate of the anomaly; j. the design is a square 2 Is the harmonic coefficient of the second order band of Mars; r e Is the average Mars radius; p is the track half-diameter; n is the track angular velocity; c is the cosine of the track inclination angle; eta is an intermediate variable which is a function of,
(f) combining the initial position of the near fire point in the step (d) and the evolution situation of the remote sensing orbit with different orbit inclination angles and semi-major axis in the step (e), calculating the change of the position of the near fire point along with the time and the relation of the position of the sun to obtain the solar altitude angle of the near fire point in the operation process of the remote sensing orbit, selecting the remote sensing orbit of which the solar altitude angle of the near fire point can be kept at more than 10 degrees for a long time, and determining the specific value of the corresponding orbit inclination angle and the semi-major axis range; for example: the corresponding track inclination angle is 86.9 degrees and the semimajor axis is 8890 km-9350 km, as shown in figure 3;
(g) The remote sensing orbit is simulated, and the relation between the remote sensing arc segment and the communication arc segment of the two devices (the surrounding device and the mars vehicle) is analyzed, and the graph is shown in figure 4. Wherein the dotted line is a remote sensing arc segment, and the solid line with "" at both ends is a two-device communication arc segment. Selecting a remote sensing track with more communication arc sections and less superposition with a remote sensing arc section, and determining a semi-major axis specific value and a regression cycle; for example: the remote sensing track runs for 73 circles on 21 Mars days, and the semi-major axis is 8895.5 km.
And (2) considering the data volume of the stable relay track and the connection of the relay track with the parking track and the remote sensing track, and selecting a semi-major axis and a regression period of the relay track.
Specifically, the method is implemented as follows:
(a) in order to ensure the stable data volume of the relay orbit, the relay orbit needs to be designed into a regression orbit, and the regression period is integral multiple of Mars day;
(b) in different regression periods, at most one near-fire point arc section passes through the space above the landing area every day, the connection of the relay track, the parking track and the remote sensing track is considered, and the inclination angle of the relay track selected by the detector is consistent with the inclination angle of the remote sensing track; determining a semi-major axis of the relay track according to the daily running turns of the detector on the return track; the number of turns of the detector in the return track is larger than that of the parking track and smaller than that of the remote sensing track. For example: the track inclination angle is 86.9 degrees, the height of a near fire point is 265km, a 3-circle regression track runs in 1 day, the track period is about 8.2h, and the average semi-major axis is 9814.1 km.
And (3) analyzing the requirements of the parking track period on the speed increment and the influence on the entry point error, integrating the constraints of detailed investigation of the landing zone, and designing the parking track period and the track inclination angle.
Specifically, the method is implemented as follows:
(a) different parking track periods affect fuel consumption of the surround, as represented by the ziolkowski equation:
in the formula (4), Δ m is fuel consumption; Δ v is the velocity increment; i is sp Is the engine specific impulse; g is the acceleration of gravity; m is 0 Is the detector mass.
The smaller the parking track cycle, the greater the speed increment of the probe brake and the more fuel consumed. Analysis showed that the surround consumed about 80kg more fuel for a parking track of 1 Mars day compared to a parking track of 2 Mars days. So a parking track period of 2 mars days is selected.
(b) In order to avoid the inclination angle control during the ring fire operation, the inclination angle of the mooring track is selected to be consistent with the inclination angle of the remote sensing track. For example: the inclination angle of the remote sensing track of the detector is designed to be 86.9 degrees, so that the inclination angle of the mooring track is still 86.9 degrees;
preferably, to ensure that the relay track passes the landing zone for each turn and can pass from any position in the selected landing zone, a turn of the parking phasing track is added between the parking track and the capturing track. The parking phasing track period is not less than the parking track period and less than the capture track period, for example: parking the phase modulation orbit for 2-4 Mars days.
And (4) carrying out detailed analysis on entry window criteria including sun flash, local sun altitude of fire falling, measurement and control before and after fire falling, entry point errors and the like, determining the rail falling time meeting the entry point requirements, and designing a rail falling rail.
Specifically, the method is implemented by the following steps:
(a) determining the date when the SEP angle of the detector is less than 5 degrees, and determining the latest landing time of the incoming capsule by considering the working time of the mars vehicle; the probe may include an access compartment including a mars car and a landing platform and a surround;
for example: the detector operates around 2021-9-23, the SEP angle (the included angle between the earth-sun vector and the earth-detector vector) is less than 5 degrees, the angle is 2021-6-15 after the detector is pushed forwards for 100 days (the service life of a mars carriage), the detector is landed before 2021-6-15 after entering the cabin, and the number of running circles of a parking track does not exceed 55 circles;
(b) determining a landing time range meeting the power generation requirement of the mars car after the fire is extinguished;
for example: in order to meet the power generation requirement of the Mars vehicle after the fire is off, within 3 hours after the Mars vehicle lands, the solar altitude angle of a landing point is not less than 33 degrees, and the Mars vehicle needs to run for the 34 th circle and land after entering the cabin on a parking track;
(c) determining a landing time range meeting the requirement of the mars train on the ground measurement and control arc section after the fire is extinguished;
For example: ensuring that the ground has a measurement and control arc section within 54-74 minutes after the Mars train lands, and requiring the landing patrol instrument to land at 40-42 th circles of the parking track, as shown in figure 5;
(d) synthesizing the analysis of the steps (a) - (c), selecting the number of running turns of the parking track meeting all the conditions as a preferred landing turn, and then using a plurality of running turns of the parking track as alternative landing turns;
for example: the parking track is selected to run for the 40 th turn as the preferred landing turn and for the 41 th and 42 th turns as the alternative landing turns.
Step (5), reversely calculating the requirement of the transfer track near fire point latitude according to the position relation between the landing point latitude and the near fire point of the parking track in the landing circle and the precession speed of the near fire point of the parking track, and determining the capture track inclination angle; analyzing the safety of the near fire brake by considering factors such as orbit determination error, orbit control error, near fire brake gravity loss and the like, and determining the initial near fire point height of the transfer orbit; comprehensively considering the speed increment requirement and error influence of the far fire point orbital transfer of the capture orbit and determining the semi-major axis of the capture orbit;
the determined capture orbit inclination is obtained by:
(a) determining a fire opening angle according to an EDL (entry, descent and landing) segment voyage, and calculating the requirement of a parking track near-fire point latitude in a landing current circle according to a given landing point latitude;
(b) The amplitude (such as 0.037 degree) of the increment of the near-fire latitude of the parking track every day is calculated according to the precession speed of the near-fire of the parking track, the near-fire latitude requirement of the initial moment of the ring fire is inversely calculated according to the running time of the parking track, namely the near-fire latitude of the transfer track is calculated, and the inclination angle of the capture track is determined by referring to the figure 2.
And (6) according to task requirements, measurement and control, illumination requirements and error influence, determining the number of turns of orbit operation of each stage, and arranging proper orbit transfer time to connect the flight orbits of each stage completely.
The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (7)
1. A rail design method considering Mars surrounding, entering and landing detection is characterized by comprising the following steps:
The method comprises the following steps of (1) selecting a remote sensing track type according to the remote sensing track requirement, and giving a semi-major axis range of the remote sensing track according to a speed increment requirement; analyzing the evolution rule of the remote sensing tracks with different dip angles and semi-major axes, comprehensively considering the illumination of a near fire point and the coverage of a full fire and considering the relay condition of a mars train, and determining the dip angle, the semi-major axis and the regression period of the remote sensing tracks;
step (2), considering the data volume of the stable relay track and the connection of the relay track with the parking track and the remote sensing track, and selecting a semi-major axis and a regression period of the relay track;
step (3), analyzing the requirements of the parking track period on the speed increment and the influence on the entry point error, integrating the constraints of detailed investigation of a landing zone, and designing the parking track period and the track inclination angle;
step (4), carrying out detailed analysis on entry window criteria including sun flash, local sun altitude of fire falling, measurement and control before and after fire falling and entry point errors, determining a rail falling time meeting the entry point requirement, and designing a rail falling rail;
step (5), reversely calculating the requirement of the transfer track near fire point latitude according to the position relation between the landing point latitude and the near fire point of the parking track in the landing circle and the precession speed of the near fire point of the parking track, and determining the capture track inclination angle; analyzing the safety of the near fire braking by considering the rail fixing error, the rail control error and the related factors of the near fire braking gravity loss, and determining the initial near fire point height of the transfer rail; comprehensively considering the speed increment requirement and error influence of the far fire point orbital transfer of the capture orbit and determining the semi-major axis of the capture orbit;
And (6) according to task requirements, measurement and control, illumination requirements and error influence, determining the number of turns of track operation in each stage, and arranging proper track transfer time to completely connect the flight tracks in each stage.
2. The method for designing a track with Mars surrounding, entering and landing detection functions according to claim 1, wherein the step (1) is implemented by the following steps:
(a) determining the type of the remote sensing track as a simulated sun synchronous track with circular fire large ellipse and near fire drift according to the requirement of the remote sensing track on full fire remote sensing, wherein the semimajor axis of the remote sensing track is 9000 +/-1000 km;
(b) in order to cover the south and north poles of the Mars, the inclination angle range of the orbit is 90 +/-a degrees, and the a degree is determined according to the load width;
(c) determining the positions of the near fire points corresponding to different inclination angles of the near fire points of different fire transfer orbits, namely the initial state of a Mars surrounding orbit and the positions of the earth and the sun;
(d) calculating the evolution conditions of the remote sensing tracks with different track dip angles and semi-major axes, wherein the formula is as follows:
in the formulae (1-3),
the rate of change of the right ascension at the intersection point;
the amplitude angle change rate of the near-fire point;
mean change rate of the anomaly; j. the design is a square 2 Is the harmonic coefficient of the second order band of Mars; r e Is the average Mars radius; p is the track half-diameter; n is the track angular velocity; c is the cosine of the track inclination angle; eta is an intermediate variable which is a function of, 
(e) Combining the initial position of the near fire point in the step (c) and the evolution situation of the remote sensing orbit with different orbit dip angles and semi-major axes in the step (d), calculating the change of the relation between the position of the near fire point and the position of the sun along with time to obtain the solar altitude angle of the near fire point in the operation process of the remote sensing orbit, selecting the remote sensing orbit of which the solar altitude angle of the near fire point can be kept at more than 10 degrees for a long time, and determining the specific value of the corresponding orbit dip angle and the semi-major axis range;
(f) and simulating the remote sensing track, analyzing the relation between the remote sensing arc segment and two devices, namely the surrounding device and the mars train communication arc segment, selecting the remote sensing track with more communication arc segments and less superposition with the remote sensing arc segment, and determining the specific value and the regression period of the semimajor axis.
3. The method for designing a track with Mars surrounding, entering and landing detection functions as claimed in claim 1, wherein the step (2) is implemented by the following steps:
(a) in order to ensure the stable data volume of the relay orbit, the relay orbit is designed into a regression orbit, and the regression cycle is integral multiple of Mars days;
(b) considering the connection of the relay track, the parking track and the remote sensing track, the detector relay track selects a track with the inclination angle of the relay track consistent with that of the remote sensing track; determining a semi-major axis of the relay track according to the daily running turns of the detector on the return track; the number of turns of the detector in the return track is larger than that of the parking track and smaller than that of the remote sensing track.
4. The method for designing a track with Mars surrounding, entering and landing detection as claimed in claim 1, wherein in step (3), the inclination angle of the berthing track is selected to be consistent with the inclination angle of the remote sensing track.
5. The method as claimed in claim 1, wherein in step (3), a circle of the parking phasing track is added between the parking track and the capturing track, and the period of the parking phasing track is not less than the period of the parking track and less than the period of the capturing track.
6. The method for designing a track with Mars surrounding, entering and landing detection as claimed in claim 1, wherein the step (4) is implemented by:
(a) determining the date when the SEP angle of the detector is less than 5 degrees, and determining the latest landing time of the incoming capsule by considering the working time of the mars vehicle;
(b) determining a landing time range meeting the power generation requirement of the mars car after the fire is extinguished;
(c) determining a landing time range meeting the requirement of the mars train on the ground measurement and control arc section after the fire is extinguished;
(d) and (c) selecting the number of the running turns of the parking track meeting all the conditions from (a) to (c) as a preferred landing turn, and then taking a plurality of running turns of the parking track as alternative landing turns.
7. The method for designing an orbit allowing for mars circling, entering and landing detection as claimed in claim 1, wherein in step (5), said determining the capture orbit inclination angle is obtained by:
(a) determining a fire opening angle according to the EDL segment voyage, and calculating the requirement of the parking track near-fire point latitude of the landing circle according to the given landing point latitude;
(b) and calculating the amplitude of the increment of the near-fire point latitude of the parking track every day according to the precession speed of the near-fire point of the parking track, and inversely calculating the near-fire point latitude requirement of the initial moment of the circular fire according to the running time of the parking track, namely, the near-fire point latitude of the transfer track, and determining the inclination angle of the capture track.
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