CN114139277A - Mars atmosphere ionosphere puncture detection trajectory optimization method, device and equipment - Google Patents
Mars atmosphere ionosphere puncture detection trajectory optimization method, device and equipment Download PDFInfo
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Abstract
The application relates to a Mars atmosphere ionosphere puncture detection track optimization method, a Mars atmosphere ionosphere puncture detection track optimization device and Mars atmosphere ionosphere puncture detection track optimization equipment, wherein the method comprises the steps of constructing a lifting body aircraft motion equation for changing the amplitude angle of the near place for many times; establishing a conversion relation between the ballistic parameters and the orbit parameters; constructing an argument equation of the perigee, and obtaining the relation between the argument omega of the perigee and ballistic parameters; performing local sensitivity analysis on the argument omega of the near place, taking a parameter which enables the sensitivity of the argument omega of the near place to be maximum as an optimization variable, enabling the speed of the lifting body aircraft to be maximum when the lifting body aircraft flies out of the atmosphere, and determining the position of the lifting body aircraft when the lifting body aircraft flies out of the atmosphere by selecting different flying-out point latitudes phi; and optimizing the puncture detection flight trajectory based on a Gauss pseudo-spectrum method to obtain a required reentry trajectory. The problem that the existing Mars atmosphere ionosphere detection mode has the defects that the detection area is one-sided and the detectable range is limited is solved. The method has the effect of detecting the atmospheric ionosphere of mars more comprehensively.
Description
Technical Field
The application relates to the technical field of deep space exploration, in particular to a Mars atmospheric ionosphere puncture exploration track optimization method, device and equipment.
Background
Mars is a kind of planet in the solar system closest to the earth, so it has always been the first target for human planet detection. Mars detection has important reference value for human to know and understand the evolution process of the geosynchronous planets, the cause of climate change and the origin of exploration life.
The Mars atmosphere ionosphere is directly related to important activities such as communication between the earth and the Mars and local communication of the Mars, and is extremely important for finding a water source on the Mars by utilizing a radar, so that the Mars atmosphere ionosphere detection and research has important theoretical significance and engineering value.
The modes of spark atmospheric ionosphere detection can be roughly divided into direct detection and indirect detection. The direct detection adopts a space vehicle as a carrier, and carries a detection device into an ionized layer to directly measure the ionized layer; the indirect detection adopts electromagnetic waves emitted by a manual emitter, and the electromagnetic waves interact with plasma to generate an electromagnetic effect when being transmitted through an ionized layer, so that the ionized layer characteristic parameters are indirectly calculated.
However, the direct detection has the problems of short observation time, one-sided detection area and the like; indirect detection has low spatial resolution, cannot detect fine structures in the Mars ionosphere, and the range of the solar zenith angle of the detectable ionosphere is limited by the earth and the Mars orbit.
In view of the above-mentioned related technologies, the inventor believes that the existing spark atmosphere ionosphere detection method has the defects that the detection area is limited on one side and the detectable range is limited.
Disclosure of Invention
In order to detect the spark atmosphere ionosphere more comprehensively, the application provides a spark atmosphere ionosphere puncture detection track optimization method, device and equipment.
In a first aspect, the application provides a method for optimizing a puncture detection trajectory of a spark atmosphere ionosphere, which has the characteristic of detecting the spark atmosphere ionosphere more comprehensively.
The application is realized by the following technical scheme:
a method for optimizing the detection track of spark atmospheric ionosphere puncture comprises the following steps,
constructing a motion equation of the lift body aircraft for changing the argument of the near place for many times;
establishing a conversion relation between ballistic parameters and orbit parameters based on the lifting body aircraft motion equation;
constructing an argument equation of the perigee based on the conversion relation between the ballistic parameters and the orbit parameters, and obtaining the relation between the argument omega of the perigee and the ballistic parameters;
based on the relationship between the argument omega of the perigee and the trajectory parameters, carrying out local sensitivity analysis on the argument omega of the perigee, taking the trajectory parameter corresponding to the maximum sensitivity of the argument omega of the perigee as an optimization variable, enabling the speed of the lifting body aircraft to reach the maximum when the lifting body aircraft flies out of the atmosphere each time, and determining the position of the lifting body aircraft when the lifting body aircraft flies out of the atmosphere by selecting different flying-out point latitudes phi;
and optimizing the puncture detection flight trajectory based on a Gauss pseudo-spectrum method to obtain a required reentry trajectory.
The present application may be further configured in a preferred example to: the relationship between the argument of perigee omega and the ballistic parameters includes,
the argument of near place ω is related to five ballistic parameters of the fire center distance r, the latitude φ, the velocity v, the velocity dip γ, and the velocity bias ψ, and is in relation to the square of the fire center distance r, the latitude φ, the velocity bias ψ, the velocity v, and the velocity dip γ, and the square of the velocity dip γ, which are inverse trigonometric functions.
The present application may be further configured in a preferred example to: the step of performing a local sensitivity analysis on the perigee argument ω comprises,
and in a preset ballistic parameter range, under the same measurement, performing partial derivation on the latitude phi, the velocity v, the velocity inclination angle gamma and the velocity deviation angle psi in sequence by adopting a direct derivation method.
The present application may be further configured in a preferred example to: the step of optimizing the puncture detection flight trajectory based on the Gauss pseudo-spectrum method comprises the following steps of,
the root of the Legendre polynomial is used as a discrete point, the control variable and the state variable are discretized simultaneously, and optimization is carried out by utilizing a sequence quadratic programming algorithm.
The present application may be further configured in a preferred example to: the motion equation of the lifting body aircraft comprises an unpowered three-degree-of-freedom reentry motion equation in the atmosphere of the lifting body aircraft and an unpowered three-degree-of-freedom motion equation outside the atmosphere of the lifting body aircraft.
The present application may be further configured in a preferred example to: the step of establishing a transformed relationship of ballistic and orbital parameters includes,
and obtaining a semimajor axis a, an eccentricity e, a true anomaly angle f, an orbit inclination angle i, a rising intersection declination omega and an anomaly argument omega according to the fire center distance r, the speed v of the aircraft, the speed inclination angle gamma of the aircraft, the Mars attraction constant mu and the spherical geometrical relationship by knowing the ballistic parameters.
The present application may be further configured in a preferred example to: the step of establishing a transformed relationship of ballistic and orbital parameters includes,
and knowing the orbit parameters, and solving a fire center distance r, a speed v of the aircraft, a speed inclination angle gamma, a latitude phi, a longitude theta of the aircraft and a speed deflection angle psi of the aircraft according to the semimajor axis a, the eccentricity e, the true paraxial point angle f, the spherical geometrical relationship and the Mars attraction constant mu.
The present application may be further configured in a preferred example to: the method also comprises the following steps of,
and (3) carrying out simulation verification on the puncture detection flight dynamics model and the parameter relation thereof based on Gauss pseudo-spectral method optimization theory.
In a second aspect, the application provides a mars atmosphere ionosphere puncture detection flight dynamics and trajectory optimization device, which has the characteristic of detecting the mars atmosphere ionosphere more comprehensively.
The application is realized by the following technical scheme:
a dynamic and track optimizing device for spark atmospheric ionosphere puncture detection flight comprises,
the motion equation module is used for constructing a motion equation of the lift body aircraft for changing the argument of the near place for many times;
the ballistic parameter and orbit parameter conversion module is used for establishing a conversion relation between ballistic parameters and orbit parameters based on the lifting body aircraft motion equation;
the system comprises an perigee argument omega and trajectory parameter relation module, a trajectory parameter calculation module and a trajectory parameter calculation module, wherein the perigee argument omega and trajectory parameter relation module is used for constructing a perigee argument equation based on the conversion relation between trajectory parameters and orbit parameters and obtaining the relation between the perigee argument omega and trajectory parameters;
the optimization module is used for carrying out local sensitivity analysis on the argument omega of the near place based on the relation between the argument omega of the near place and trajectory parameters, taking the trajectory parameters corresponding to the maximum sensitivity of the argument omega of the near place as optimization variables, enabling the speed of the lifting body aircraft to reach the maximum when the lifting body aircraft flies out of the atmosphere each time, and determining the position of the lifting body aircraft when the lifting body aircraft flies out of the atmosphere by selecting different flying-out point latitudes phi;
and the track module is used for optimizing the puncture detection flight track based on a Gauss pseudo-spectrum method to obtain a required reentry track.
In a third aspect, the present application provides a computer device having features for more comprehensive detection of spark atmospheric ionosphere.
The application is realized by the following technical scheme:
a computer 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 a method for optimizing a spark atmospheric ionospheric puncture probe trajectory as described above when executing the computer program.
In a fourth aspect, the present application provides a computer readable storage medium featuring more comprehensive exploration of the spark atmosphere ionosphere.
The application is realized by the following technical scheme:
a computer readable storage medium having stored thereon a computer program for implementing the steps of a method for optimizing a spark atmospheric ionospheric puncture probe trajectory as described above when executed by a processor.
The method comprises the steps of constructing a motion equation of a lifting body aircraft; establishing a conversion relation between the ballistic parameters and the orbit parameters; constructing an argument equation of the perigee, and obtaining the relation between the argument omega of the perigee and ballistic parameters; setting an optimized variable of the argument omega of the near place, enabling the speed of the lifting body aircraft to reach the maximum when the lifting body aircraft flies out of the atmosphere, and determining the position of the lifting body aircraft when the lifting body aircraft flies out of the atmosphere by selecting different flying-out points latitude phi; optimizing the puncture detection flight trajectory based on a Gauss pseudo-spectrum method to obtain a required reentry trajectory; the method is characterized in that a reciprocating puncture detection flight mode of 'reentry point atmospheric admission, pneumatic auxiliary orbit change, air ejection and new orbit entry' is adopted by a lifting body aircraft for a Mars atmosphere, each time the lifting body aircraft enters the Mars atmosphere, ionosphere detection is carried out by utilizing a flight section in the atmosphere, and meanwhile, the parameters of the orbit point flying out of the atmosphere are changed by utilizing aerodynamic force, so that the amplitude angle of the orbit at the near place is changed, the phase of the orbit rotates, and therefore when the lifting body aircraft enters the atmosphere again, ionosphere detection in different areas can be carried out; the change amount of the amplitude angle of the near place of the multi-time puncture flight is not less than 180 degrees, and due to the symmetry of the Mars atmosphere, the aircraft can realize the complete detection of the Mars atmosphere ionosphere under the condition of entering the atmosphere for a limited time, and the detection of the Mars atmosphere ionosphere is more comprehensive; meanwhile, the aircraft can still enter the space orbit after puncture detection, and an effective channel for information transmission is ensured.
Furthermore, a dynamic model formed by the construction equation and a parameter relation are subjected to simulation verification, the effectiveness and the correctness of the dynamic model and the parameter relation are verified, and the comprehensive detection of the spark atmospheric ionosphere is facilitated.
In summary, the present application includes at least one of the following beneficial technical effects:
1. based on a constructed model, determining an optimized variable and setting a terminal state constraint condition through a sensitivity analysis method, and based on a puncture detection track optimization method of a Gauss pseudo-spectrum method, obtaining a required reentry track, so that the lift body aircraft performs puncture flight for changing the argument of the near-place to the spark atmosphere ionosphere for many times, changes the argument of the near-place by aerodynamic force, realizes detection of different regions, and is more comprehensive in detection of the spark atmosphere ionosphere;
2. and (3) carrying out simulation verification on the dynamic model and the parameter relation formed by the construction equation, and verifying the effectiveness and the correctness of the dynamic model and the parameter relation.
Drawings
Fig. 1 is an overall flowchart of a method for optimizing a spark atmosphere ionospheric puncture detection trajectory according to an embodiment of the present disclosure.
Fig. 2 is a schematic diagram of the motion parameters of a spherical surface of a fire center.
FIG. 3 is a schematic diagram of an inertial coordinate system and a spherical coordinate system.
FIG. 4 is a graphical illustration of the sensitivity of the argument ω of the near site to the latitude φ.
FIG. 5 is a graphical illustration of the sensitivity of the near-site argument ω to the velocity bias angle ψ.
Fig. 6 is a schematic diagram of the sensitivity of the near-site argument ω to the velocity v.
FIG. 7 is a graphical illustration of the sensitivity of the near-site argument ω to the velocity dip γ.
FIG. 8 is a schematic orbital view of the puncture detection flight of the present application.
Fig. 9 is a graph of the height h in the puncture detection flight of the present application as a function of time t.
Fig. 10 is a graph of velocity v versus time t in the puncture detection flight according to the present application.
Fig. 11 is a graph of the velocity tilt angle γ in the puncture detection flight according to the present invention, as a function of time t.
Fig. 12 is a graph of angle of attack α versus time t in a puncture detection flight according to the present application.
Fig. 13 is a normal overload ny versus time t for the puncture detection flight of the subject application.
Detailed Description
The present embodiment is only for explaining the present application, and it is not limited to the present application, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present application.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship, unless otherwise specified.
The application provides a Mars atmosphere ionosphere puncture detection method based on a lifting body aircraft, and provides a puncture detection flight task mode for changing an argument of an onsite for many times based on the pneumatic auxiliary orbital transfer characteristic of the lifting body aircraft; secondly, establishing a dynamic model of puncture detection of the lifting body aircraft, deducing a conversion relation between ballistic parameters and six orbital elements through a simultaneous orbit dynamic equation and a ballistic dynamic equation, and acquiring flight dynamics inside and outside an atmosphere; further, a Guass pseudo-spectrum method is adopted for track optimization, and an objective function, an optimization variable, a constraint condition and the like for changing the argument flight track of the near place for many times are given.
This application adopts the lift body aircraft as the carrier, relies on aerodynamic force to fly at the inside and outside reciprocal puncture of mars atmosphere, realizes the detection to the ionosphere, adopts the supplementary thought of becoming the rail of aerodynamic force simultaneously, changes the puncture and surveys the flight track, realizes providing the support to mars atmosphere omnidirectional detection data for obtaining stably, comprehensively and accurately.
The embodiments of the present application will be described in further detail with reference to the drawings attached hereto.
Referring to fig. 1, an embodiment of the present application provides a method for optimizing a spark atmospheric ionospheric puncture detection trajectory, and main steps of the method are described as follows.
And S1, constructing a motion equation of the lift body aircraft for changing the argument of the perigee for multiple times.
And S2, establishing a conversion relation between the ballistic parameters and the orbit parameters based on the motion equation of the lifting body aircraft.
And S3, constructing an argument equation of the perigee based on the conversion relation between the ballistic parameters and the orbit parameters, and obtaining the relation between the argument omega of the perigee and the ballistic parameters.
And S4, based on the relationship between the argument omega of the perigee and the trajectory parameters, carrying out local sensitivity analysis on the argument omega of the perigee, taking the trajectory parameter corresponding to the maximum sensitivity of the argument omega of the perigee as an optimization variable, simultaneously enabling the speed of the lifting body aircraft to reach the maximum when the lifting body aircraft flies out of the atmosphere each time, and determining the position of the lifting body aircraft when the lifting body aircraft flies out of the atmosphere by selecting different flying-out point latitudes phi.
And S5, optimizing the puncture detection flight trajectory based on a Gauss pseudo-spectrum method to obtain the required reentry trajectory.
And S6, performing simulation verification on the kinetic model and the parameter relation formed by the construction equation based on Gauss pseudo-spectral method optimization theory.
Specifically, a reciprocating puncture detection flight mode of 'reentry point entering atmosphere, pneumatic auxiliary orbit change, popping out atmosphere and entering a new orbit' is adopted for a spark atmosphere ionized layer based on a lifting body gliding aircraft, the lifting body aircraft needs to perform multiple times of puncture flight inside and outside the spark atmosphere layer, and the change of the near-location amplitude angle of the multiple times of puncture flight is not less than 180 degrees.
When the lift gliding aircraft enters the atmosphere of a mars each time, the ionosphere detection is carried out by utilizing the flight section in the atmosphere, and meanwhile, the aerodynamic force is utilized to change the parameters of the point of entering the orbit, which flies out of the atmosphere, so that the amplitude angle of the orbit in the near place is changed, and the phase position of the orbit rotates.
And S1, constructing the equations of motion of the lift body aircraft capable of changing the argument of the near place for multiple times comprises constructing an equation of motion of unpowered three-degree-of-freedom reentry in the atmosphere of the lift body aircraft and an equation of motion of unpowered three-degree-of-freedom outside the atmosphere of the lift body aircraft.
Considering that the aircraft glides in the mars atmosphere only by means of aerodynamic force in the process that the lifting body glides inside and outside the mars atmosphere, the aircraft is mainly influenced by aerodynamic force and the universal gravitation between the mars and the aircraft, and the rotation of the mars is ignored. According to the assumption, an unpowered three-degree-of-freedom reentry motion equation in the atmosphere of the aircraft can be obtained as follows:
CL＝CNcosα-CAsinα (9)
CD＝CNsinα+CAcosα (10)
wherein r, theta,
Respectively, the fire center distance, longitude and latitude; v, gamma and psi are respectively the speed, the speed inclination angle and the speed deflection angle of the aircraft; m and S are respectively the mass and effective sectional area of the aircraft; g. rho and alpha are respectively gravity acceleration, Mars atmospheric density and attack angle; cA、CNAxial force coefficient and normal force coefficient; cD、CLRespectively is a resistance coefficient and a lift coefficient; D. l is resistance and lift respectively.
Three position parameters of a fire center distance r, a longitude theta and a latitude phi are adopted to be described in a fire center sphere fixed coordinate system. The velocity parameters are determined by the velocity magnitude v, the velocity dip angle γ, and the velocity slip angle ψ. The velocity dip γ is the angle between the velocity vector and the local horizontal plane, and is positive upward. The velocity bias angle ψ is the angle between the projection of the velocity vector on the local horizontal plane and the true north direction, and clockwise rotation is positive.
Specifically, referring to the schematic diagram of the motion parameters of the fire center sphere in fig. 2, O-XYZ is a fire center fixed coordinate system, and O-XYZ is an aircraft position coordinate system.
When the aircraft flies out of the Mars atmosphere, the atmospheric density is 0, the lift force and the resistance of the aircraft also disappear immediately, and the unpowered three-degree-of-freedom motion equation outside the atmosphere is as follows:
furthermore, puncture detection is carried out on the spark atmosphere ionosphere, and the aircraft needs to fly back and forth inside and outside the spark atmosphere, so that the problem of ballistic parameters, six orbital parameters and interconversion of the parameters is solved. The step of establishing the conversion relation between the ballistic parameters and the orbit parameters based on the equations of motion of the lifting body aircraft is described as follows S2.
On one hand, the trajectory parameters are known, and the semimajor axis a, the eccentricity e, the true anomaly angle f, the orbit inclination angle i, the ascension angle omega of the ascending intersection point and the argument omega of the anomaly are obtained according to the fire center distance r, the speed v of the aircraft, the speed inclination angle gamma of the aircraft, the Mars attraction constant mu and the spherical geometric relation.
Specifically, given ballistic parameters including a fire center distance r, a velocity v of the aircraft, a velocity inclination γ, a latitude Φ, a longitude θ of the aircraft, and a velocity drift angle ψ of the aircraft, a semimajor axis a and an eccentricity e can be found in combination with the following equations (17) and (18), where μ is a mars gravitational constant.
As can be seen from the formula (19),
h＝rvcosγ (21)
by substituting formula (21) for formula (22), a compound having the formula
The above formula is substituted into formula (20) with
Thus, the true paraxial angle f obtained from the formula (24) is
Referring to the spherical geometry shown in FIG. 3, the track inclination i is obtained as
In addition have
Thus, the right ascension channel omega at the crossover point obtained from the formula (27) is
From the spherical geometry in FIG. 3, it can also be seen that
Therefore, the argument ω of the near point obtained from the equations (25) and (30) is
On the other hand, the orbit parameters are known, and the center distance r, the velocity v of the aircraft, the velocity inclination γ, the latitude Φ, the longitude θ of the aircraft, and the velocity drift ψ of the aircraft are obtained from the eccentricity e, the true anomaly f, the spherical geometric relationship, and the Mars' gravitational constant μ.
Specifically, the number of tracks is six, and the distance r and the velocity v can be obtained from the following equations (32) and (33). The six track parameters include semi-major axis a, eccentricity e, true paraxial point angle f, track inclination i, elevation intersection right ascension omega and paraxial point argument omega.
The velocity dip i is obtained from the eccentricity e and the true approach point angle f
With reference to the spherical geometry in figure 3,
available latitude
Is composed of
Therefore, the longitude θ obtained from the formula (36) is
And is also provided with
Thus, from equation (38), the velocity bias angle ψ is obtained
In order to realize complete detection of the atmospheric ionosphere of the mars, the lifting body aircraft needs to puncture and fly inside and outside the atmospheric layer of the mars repeatedly. Therefore, the energy of the aircraft is the key to determine whether the aircraft can complete multiple puncture flights, and an important goal of reentry trajectory optimization is to maximize the speed of the aircraft each time the aircraft flies out of the atmosphere, so that the aircraft has sufficient energy according to the performance index function:
J＝-vf(40)
in the formula, vfThe speed of the aircraft in each time of flying out of the atmosphere is represented, and the speed of the aircraft in each time of flying out of the atmosphere is enabled to reach the maximum.
Further, an optimization variable for the near-location argument ω needs to be determined.
First, according to S3, a perigee argument equation is constructed based on the conversion relationship between the ballistic parameters and the orbit parameters, and the steps of obtaining the relationship between the perigee argument ω and the ballistic parameters are described as follows.
Firstly, constructing an argument equation of the near place: by substituting formula (24) for formula (25)
By substituting formula (29) for formula (30)
By substituting formula (26) for formula (41)
By substituting the expressions (41) and (43) into the expression (31), the relational expression of the argument ω of the near point with respect to the ballistic parameter can be obtained
As can be seen from the equation (44), the relationship between the argument ω of the near point and the ballistic parameter is that the argument ω of the near point is related to the core distance r and the latitude
Velocity v, velocity dip γ, and yaw ψ, and are related to the fire center distance r, latitude
The velocity bias angle ψ, the square of the velocity v, and the square of the velocity inclination γ are relationships of inverse trigonometric functions. The near-location argument ω is influenced by a plurality of factors, each of which has a different local influence on it.
Further, S4, based on the relationship between the argument ω of the perigee and the trajectory parameters, the local sensitivity analysis is performed on the argument ω of the perigee, the parameter that maximizes the sensitivity of the argument ω of the perigee is used as an optimization variable, and at the same time, the speed of the lift body aircraft is maximized each time the lift body aircraft flies out of the atmosphere, and the step of defining the position of the lift body aircraft when the lift body aircraft flies out of the atmosphere by selecting different flying-out points latitude φ is described as follows.
First, optimization of the argument of the near site is a problem involving multivariate optimization. To carry out optimization work, it is therefore necessary to further analyze the local sensitivity to explicitly optimize the design objective. In this embodiment, a direct derivation method is used to perform local sensitivity analysis on the argument of the near site.
Specifically, the step of performing local sensitivity analysis on the argument ω of the near-site includes performing a direct derivation method on the latitude Φ, the velocity v, the velocity dip γ, and the velocity bias ψ sequentially within a preset ballistic parameter range and under the same measurement.
First, argument omega of near place is to latitude
Sensitivity of (2):
sensitivity of the near-location argument ω to the velocity bias angle ψ:
③ sensitivity of argument ω of near-to-ground to velocity v:
sensitivity of the argument omega of the near place to the inclination angle gamma of the speed:
then, the parameter sensitivity is analyzed in a certain range of ballistic parameters and under the same measurement, and the specific analysis result is as follows:
referring to FIG. 4, the magnitude of the sensitivity of the argument ω of the near site to the latitude φ.
Referring to fig. 5, the magnitude of the sensitivity of the near-site argument ω to the velocity bias angle ψ.
Referring to fig. 6, the magnitude of the sensitivity of the near-field argument ω to the velocity v.
Referring to fig. 7, the sensitivity of the near-field argument ω to the velocity tilt γ is large.
As can be seen from fig. 4 to 7, the maximum value of the argument of the perigee argument ω for the velocity dip γ is 18.3183, the maximum value of the argument for the latitude Φ is 11.5443, the maximum value of the argument for the velocity argument ψ is 11.505, and the maximum value of the argument for the velocity v is 0.0165609. Therefore, the velocity inclination angle γ has the greatest influence on the perigee argument ω, and is set as an optimization variable, taking as the optimization variable a parameter that maximizes the sensitivity of the perigee argument ω.
According to the puncture detection flight task, the aircraft needs to perform puncture flight for six times inside and outside the Mars atmosphere, and the amplitude angle of the near place is changed by aerodynamic force so as to realize detection of different areas. Therefore, how to design the terminal conditions of the flight in the atmosphere in the puncture detection is very important.
In this embodiment, according to the constraint of the puncture detection coplanar track, a fixed-variable method is used to analyze and establish a terminal state constraint condition, and the specific establishment process is as follows:
as can be seen from equation (52), when the inclination angle i of the puncture detection track is determined, the velocity deviation phi of the flying-off point is only equal to the latitude
It is related.
The expression of cos ψ can be found from equation (51):
by substituting formula (54) for formula (53), it is possible to obtain:
as can be seen from equation (55), when the ascent point right ascent channel Ω of the puncture detection orbit is determined, the longitude θ of the departure point is determined only with the latitude
It is related.
The formula (54) may be substituted for the formula (59):
from the above analysis, it can be seen that, after the fire center distance r, the orbit inclination angle i and the argument ω of the near place of the flying point are determined, the latitude of the flying point is selected
The longitude θ and the yaw angle ψ can both be uniquely determined, i.e., the terminal position determination, and the velocity v of the departure point is related only to the velocity inclination γ.
Therefore, the embodiment selects different flying-off point latitudes
Defining the position of the aircraft when the aircraft flies out of the atmosphere, namely determining a terminal state constraint condition, setting a speed inclination angle gamma as an optimization variable, and setting the speed v of a flying-out pointfAnd setting as an optimization target, namely optimizing the flight track of the atmospheric ionosphere of the mars punctured and detected by the lifting body aircraft even if the speed of the lifting body aircraft in each flying out of the atmosphere reaches the maximum.
Further, S5, optimizing the puncture detection flight trajectory based on Gauss pseudo-spectrum method, and obtaining the required reentry trajectory is described as follows.
In the embodiment, the roots of the Legendre polynomial are used as discrete points, the control variables and the state variables are discretized simultaneously, and optimization is performed by using a sequential quadratic programming algorithm, so that the optimal control problem of trajectory optimization is converted into a nonlinear programming problem to be solved.
Specifically, let the time interval of the optimal control problem be [ t ]0,tf]The time interval is converted to [ -1,1 ] by using Gauss pseudo-spectrum rule]Thus, the time variable t is transformed:
discrete points of Gauss pseudo-spectral method are roots of Legendre polynomial of N order, and Legendre polynomial is:
Legendre-Gauss points are distributed in the interval (-1,1), and tau is increased0The interval [ -1,1), for a total of N +1 interpolation points, is obtained. Describing control variables and state variables by using Lagrange interpolation polynomial as a basis function:
wherein the content of the first and second substances,
the first order differential of the state variable can be approximated by deriving equation (63), while converting the kinetic differential equation constraints to algebraic constraints,
the kinetic equation therefore satisfies:
wherein N is 1, …, N.
Terminal state XfCan be obtained by lagrange integration:
wherein the content of the first and second substances,
is the Gauss weight.
The performance index function in Gauss pseudo-spectroscopy is:
after the continuous system is discretized, the optimal control problem is converted into a nonlinear programming problem, and then the optimization is carried out by utilizing a sequential quadratic programming algorithm, so that the required reentry track can be obtained.
Further, S6, based on Gauss pseudo-spectral method optimization theory, simulation verification is carried out on the dynamic model and the parameter relation formed by the construction equation, and specific simulation parameters and simulation results are as follows.
TABLE 1 Mars environmental parameters and aircraft parameters
In addition, the Mars atmosphere is very thin, the atmospheric density is less than 1% of the earth, and the Mars atmosphere height is not influenced by the atmosphere after being higher than 100 km.
The six initial orbits of the aircraft and the ballistic parameters are shown in the following table:
TABLE 2 initial orbit six number and ballistic parameters
In table 2, the far fire point of the initial orbit is selected outside the spark atmosphere, and the radius ra is 6.5 × 106m, the near fire point is selected inside the atmosphere, and the radius rp is 3.427 × 106m, the true near angle of the aircraft is selected as the position just before entering the spark atmosphere, and the true near angle is f is 334.63 °, and the fire center distance r is 3496996.38 m.
In order to realize omnibearing detection of Mars atmosphere, the lift body aircraft is arranged to pass through the atmosphere for 6 times, the change quantity of the argument of the perigee every time is not less than 30 degrees, and the total change quantity of the argument of the perigee is not less than 180 degrees. Simulation analysis is carried out through the dynamic model and the parameter equation, and specific simulation images are shown in the figures 8-13.
Wherein, figure 8 is the orbit schematic diagram of the puncture detection flight of the present application. Red is the mars atmosphere, and blue is initial orbit, and every puncture can change the orbit, and six punctures form six different green orbits.
Fig. 9 is a graph of the height h in the puncture detection flight of the present application as a function of time t. The peak value of the flying height h is continuously reduced along with the time period t, which shows that the energy of the aircraft is reduced during each puncture orbital transfer, and the research optimizes the energy distribution through track optimization to complete six puncture orbital transfer tasks.
Fig. 10 is a graph of velocity v versus time t in the puncture detection flight according to the present application. As can be seen, the track eccentricity is gradually reduced and the vehicle speed v fluctuation is reduced.
Fig. 11 is a graph of the velocity tilt angle γ in the puncture detection flight according to the present invention, as a function of time t. As can be seen, the track eccentricity is gradually reduced, the fluctuation of the speed v of the aircraft is reduced, and the fluctuation of the speed inclination angle gamma is reduced.
Fig. 12 is a graph of angle of attack α versus time t in a puncture detection flight according to the present application. The first circle is adjusted from an initial orbit to a puncture detection orbit, the optimization of an attack angle alpha sequence is most important, the attack angle alpha needs to be adjusted repeatedly, and energy is saved; the subsequent 2-6 rounds of optimization result only needs to adjust the attack angle alpha in an approximately linear mode in a certain time period.
Fig. 13 is a normal overload ny versus time t for the puncture detection flight of the subject application. The peak of the normal overload ny occurs at the time the aircraft reaches the near-fire point, where the atmospheric density is highest. After the aircraft passes through the atmosphere each time, the energy of the aircraft is reduced, so that the near-fire point of the orbit is gradually reduced and approaches the earth surface of the spark. This also allows the time for the aircraft to travel from the start of orbit to the near fire to be reduced. It can be seen from the figure that the time at which the peak occurs is constantly shifted to the left as the number of turns increases.
TABLE 3 puncture flight trajectory optimization simulation result based on Gauss pseudo-spectral method
TABLE 4 track parameters for each puncture detection track revolution
As can be seen by combining tables 3 and 4, the aircraft completes six times of puncture detection flight inside and outside the Mars atmosphere. In addition, the aircraft can fly in the Mars atmosphere without power for a long time, the near-fire point radius and the near-place amplitude angle of each detection orbit are changed, and the change amount of the near-place amplitude angle is not less than 30 degrees. Through six times of puncture detection flight, the amplitude and the angle of the near field are changed by 190.4 degrees totally, and then the complete detection of the ionized layer of the spark atmosphere can be realized according to the symmetry of the spark atmosphere.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
In one embodiment, a mars atmospheric ionospheric puncture detection flight dynamics and trajectory optimization apparatus is provided, comprising,
the motion equation module is used for constructing a motion equation of the lift body aircraft for changing the argument of the near place for many times;
the ballistic parameter and orbit parameter conversion module is used for establishing a conversion relation between ballistic parameters and orbit parameters based on a lifting body aircraft motion equation;
the system comprises an perigee argument omega and trajectory parameter relation module, a trajectory parameter calculation module and a trajectory parameter calculation module, wherein the perigee argument omega and trajectory parameter relation module is used for constructing a perigee argument equation based on a conversion relation between trajectory parameters and orbit parameters and obtaining a relation between the perigee argument omega and trajectory parameters;
the optimization module is used for carrying out local sensitivity analysis on the argument omega of the near place based on the relation between the argument omega of the near place and trajectory parameters, taking the trajectory parameter corresponding to the maximum sensitivity of the argument omega of the near place as an optimization variable, enabling the speed of the lifting body aircraft to reach the maximum when the lifting body aircraft flies out of the atmosphere each time, and determining the position of the lifting body aircraft when the lifting body aircraft flies out of the atmosphere by selecting different flying-out point latitudes phi;
and the track module is used for optimizing the puncture detection flight track based on a Gauss pseudo-spectrum method to obtain a required reentry track.
In one embodiment, a computer device is provided, which may be a server. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize the optimization method of the Mars atmospheric ionospheric puncture detection trajectory.
In one embodiment, a computer-readable storage medium is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
constructing a motion equation of the lift body aircraft for changing the argument of the near place for many times;
establishing a conversion relation between ballistic parameters and orbit parameters based on a lifting body aircraft motion equation;
constructing an argument equation of the perigee based on the conversion relation between the ballistic parameters and the orbit parameters, and obtaining the relation between the argument omega of the perigee and the ballistic parameters;
based on the relationship between the argument omega of the near place and the trajectory parameters, carrying out local sensitivity analysis on the argument omega of the near place, taking the trajectory parameter corresponding to the maximum sensitivity of the argument omega of the near place as an optimization variable, simultaneously enabling the speed of the lifting body aircraft to reach the maximum when the lifting body aircraft flies out of the atmosphere, and determining the position of the lifting body aircraft when the lifting body aircraft flies out of the atmosphere by selecting different flying-out point latitudes phi;
and optimizing the puncture detection flight trajectory based on a Gauss pseudo-spectrum method to obtain a required reentry trajectory.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the system is divided into different functional units or modules to perform all or part of the above-mentioned functions.
Claims (11)
1. A Mars atmosphere ionosphere puncture detection track optimization method is characterized by comprising the following steps,
constructing a motion equation of the lift body aircraft for changing the argument of the near place for many times;
establishing a conversion relation between ballistic parameters and orbit parameters based on the lifting body aircraft motion equation;
constructing an argument equation of the perigee based on the conversion relation between the ballistic parameters and the orbit parameters, and obtaining the relation between the argument omega of the perigee and the ballistic parameters;
based on the relationship between the argument omega of the perigee and the trajectory parameters, carrying out local sensitivity analysis on the argument omega of the perigee, taking the trajectory parameter corresponding to the maximum sensitivity of the argument omega of the perigee as an optimization variable, enabling the speed of the lifting body aircraft to reach the maximum when the lifting body aircraft flies out of the atmosphere each time, and determining the position of the lifting body aircraft when the lifting body aircraft flies out of the atmosphere by selecting different flying-out point latitudes phi;
and optimizing the puncture detection flight trajectory based on a Gauss pseudo-spectrum method to obtain a required reentry trajectory.
2. The method for optimizing Mars atmospheric ionospheric puncture detection trajectory according to claim 1, wherein the relationship between the argument ω of perigee and the ballistic parameter comprises,
the argument of near place ω is related to five ballistic parameters of the fire center distance r, the latitude φ, the velocity v, the velocity dip γ, and the velocity bias ψ, and is in relation to the square of the fire center distance r, the latitude φ, the velocity bias ψ, the velocity v, and the velocity dip γ, and the square of the velocity dip γ, which are inverse trigonometric functions.
3. The method of claim 2, wherein the step of analyzing the local sensitivity of the near-field argument ω comprises,
and in a preset ballistic parameter range, under the same measurement, performing partial derivation on the latitude phi, the velocity v, the velocity inclination angle gamma and the velocity deviation angle psi in sequence by adopting a direct derivation method.
4. The method for optimizing Mars atmospheric ionospheric puncture detection trajectory according to claim 1, wherein the step of optimizing the puncture detection flight trajectory based on Gauss pseudo-spectrum method comprises,
the root of the Legendre polynomial is used as a discrete point, the control variable and the state variable are discretized simultaneously, and optimization is carried out by utilizing a sequence quadratic programming algorithm.
5. The method of claim 1, wherein the equations of motion of the lift body vehicle include an unpowered three-degree-of-freedom reentry equation of motion in the lift body vehicle atmosphere and an unpowered three-degree-of-freedom equation of motion outside the lift body vehicle atmosphere.
6. The method of claim 1, wherein the step of establishing a transformation relationship between ballistic parameters and orbital parameters comprises,
and obtaining a semimajor axis a, an eccentricity e, a true anomaly angle f, an orbit inclination angle i, a rising intersection declination omega and an anomaly argument omega according to the fire center distance r, the speed v of the aircraft, the speed inclination angle gamma of the aircraft, the Mars attraction constant mu and the spherical geometrical relationship by knowing the ballistic parameters.
7. The method of claim 1, wherein the step of establishing a transformation relationship between ballistic parameters and orbital parameters comprises,
and knowing the orbit parameters, and solving a fire center distance r, a speed v of the aircraft, a speed inclination angle gamma, a latitude phi, a longitude theta of the aircraft and a speed deflection angle psi of the aircraft according to the semimajor axis a, the eccentricity e, the true paraxial point angle f, the spherical geometrical relationship and the Mars attraction constant mu.
8. The method for optimizing the Mars atmospheric ionospheric puncture detection trajectory according to any one of claims 1 to 7, further comprising the steps of,
and carrying out simulation verification on the puncture detection flight dynamics model and the parameter relation thereof based on Gauss pseudo-spectral method optimization theory.
9. A Mars atmospheric ionosphere puncture detection flight dynamics and trajectory optimization device is characterized by comprising,
the motion equation module is used for constructing a motion equation of the lift body aircraft for changing the argument of the near place for many times;
the ballistic parameter and orbit parameter conversion module is used for establishing a conversion relation between ballistic parameters and orbit parameters based on the lifting body aircraft motion equation;
the system comprises an perigee argument omega and trajectory parameter relation module, a trajectory parameter calculation module and a trajectory parameter calculation module, wherein the perigee argument omega and trajectory parameter relation module is used for constructing a perigee argument equation based on the conversion relation between trajectory parameters and orbit parameters and obtaining the relation between the perigee argument omega and trajectory parameters;
the optimization module is used for carrying out local sensitivity analysis on the argument omega of the near place based on the relation between the argument omega of the near place and trajectory parameters, taking the trajectory parameters corresponding to the maximum sensitivity of the argument omega of the near place as optimization variables, enabling the speed of the lifting body aircraft to reach the maximum when the lifting body aircraft flies out of the atmosphere each time, and determining the position of the lifting body aircraft when the lifting body aircraft flies out of the atmosphere by selecting different flying-out point latitudes phi;
and the track module is used for optimizing the puncture detection flight track based on a Gauss pseudo-spectrum method to obtain a required reentry track.
10. A computer 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 a method for Mars atmospheric ionospheric penetration detection trajectory optimization method of any one of claims 1 to 8 when executing the computer program.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the steps of a method for Mars atmospheric ionospheric puncture probe trajectory optimization method of any one of claims 1 to 8.
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