CN114537714A - High-orbit satellite orbit-transfer regulation and control method and system - Google Patents
High-orbit satellite orbit-transfer regulation and control method and system Download PDFInfo
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Abstract
The invention relates to a high-orbit satellite orbit transfer control method and a system, wherein a high-orbit satellite orbit transfer control system predetermines an orbit maneuvering mode to be executed by a high-orbit satellite; acquiring an orbit transfer regulation parameter for transferring the high-orbit satellite from an initial orbit to a target orbit by using a preset orbit transfer regulation relational expression; and performing orbital transfer regulation on the high-orbit satellite by using the orbital transfer regulation parameters, and regulating the high-orbit satellite from the initial position on the initial orbit to the expected position of the high-orbit satellite, wherein the relative position of the high-orbit satellite and a target satellite meets the orbital maneuver mode. According to the technical scheme provided by the invention, the inventor provides an orbit transfer regulation and control relational expression based on own research, and the orbit transfer regulation and control parameters are obtained and utilized to realize the orbit transfer regulation and control of the high-orbit satellite in a preset orbit maneuvering mode based on the orbit transfer regulation and control relational expression.
Description
Technical Field
The invention relates to the technical field of spaceflight, in particular to a method and a system for regulating and controlling orbital transfer of a high-orbit satellite.
Background
High earth orbit satellites, while generally orbiting the earth in a stationary orbit, sometimes require a deviation from the orbit. These situations typically involve three modes of orbital maneuver: drift mode, approach mode, and companion mode. Wherein the drift mode comprises: the high-orbit satellite runs in a quasi-geostationary orbit, and when the orbit height is lower than the geostationary orbit, the running speed is higher than that of a geostationary orbit (GEO) satellite and the high-orbit satellite drifts to the east; when the orbit height is higher than the static orbit, the operation speed is slower than that of the GEO satellite, the GEO satellite drifts towards the west, and the GEO satellite is suitable for the situation that the satellite executes the reconnaissance task in a certain range. If a high-resolution image needs to be obtained at a closer distance, a near mode can be used when the state information of the target is sensed; in the near mode, the positions of the high orbit satellite and the target satellite are generally aligned with the earth center. When a longer accompanying flight is needed and a more complex task is executed, an accompanying flight mode can be selected to implement information acquisition so as to perform on-orbit service tasks such as maintenance and filling on a target satellite; in the satellite flight mode, the high-orbit satellite and the target satellite run in the same orbit, which is usually a stationary orbit, and the high-orbit satellite is away from the target satellite by a preset satellite flight distance.
Although the prior art provides the orbital transfer operation scheme for the high-orbit satellite from the initial orbit to the target orbit in the three orbital maneuver modes, how to perform orbital transfer regulation according to actual requirements, such as when to perform orbital transfer and the like, is usually completed by manual operation, a proper solution is not provided, and the orbital transfer regulation of the high-orbit satellite in the orbital maneuver modes has many practical meanings, so the solution needs to be provided.
Disclosure of Invention
In view of the foregoing analysis, the present invention aims to provide a method and a system for controlling orbital transfer of a high-orbit satellite, so as to solve the technical problem in the prior art that the orbital transfer control of the high-orbit satellite in an orbital maneuver mode is insufficient.
The technical scheme provided by the invention is as follows:
in one aspect, the invention provides a method for regulating and controlling orbital transfer of a high-orbit satellite, comprising the following steps:
the high-orbit satellite orbit-transfer regulating and controlling system predetermines an orbit maneuvering mode to be executed by the high-orbit satellite;
acquiring a track transfer regulation parameter for transferring the high-orbit satellite from an initial orbit to a target orbit by using a preset track transfer regulation relation;
and performing orbital transfer regulation on the high-orbit satellite by using the orbital transfer regulation parameters, and regulating the high-orbit satellite from the initial position on the initial orbit to the expected position of the high-orbit satellite, wherein the relative position of the high-orbit satellite and a target satellite meets the orbital maneuver mode.
Preferably, the preset orbital transfer regulation relation comprises:
the regulation and control duration is equal to the sum of the orbit change duration of the high-orbit satellite and the operation duration on the orbit
The regulation and control duration is as follows: a total length of time it takes for the high earth orbit satellite to travel from the initial position to the desired position;
the track transfer duration includes: in the process that the high-orbit satellite runs from the initial position to the expected position, the time length used for one-time orbit transfer or the total time length used for multiple times of orbit transfer is realized;
the running time on the track is as follows: a first operation duration for the high-orbit satellite to operate in the initial orbit and/or a second operation duration for the high-orbit satellite to operate in the target orbit before reaching the desired position.
Preferably, the orbital maneuver mode to be performed comprises: drift mode or near mode;
the initial track is a static track;
the orbital transfer regulation parameters comprise: a first orbital transfer regulation parameter;
the first orbital transfer regulation and control parameter is as follows: and executing the first orbital transfer moment of orbital transfer, wherein the corresponding orbital transfer is that the orbital transfer of the high-orbit satellite from the static orbit to the target orbit is carried out.
Preferably, the orbital transfer control of the high-orbit satellite by using the orbital transfer control parameter includes, from an initial position on the initial orbit, controlling the high-orbit satellite to an expected position with a relative position to a target satellite that satisfies the orbital maneuver mode:
the high-orbit satellite orbital transfer regulating and controlling system monitors the first running time of the high-orbit satellite running on the initial orbit from the initial time corresponding to the initial position of the high-orbit satellite according to the acquired first orbital transfer time, and executes the orbital transfer by the high-orbit satellite according to the acquired orbital transfer parameters for realizing the orbital transfer until the first orbital transfer time arrives; and after orbital transfer, the high-orbit satellite operates the second operation time length on the target orbit until the expected position is reached.
Preferably, the orbital transfer is performed in an in-plane manner, and the adjustment and control time duration equal to the sum of the orbital transfer time duration of the high-orbit satellite and the operation time duration on the orbit includes equation one:
wherein, the equation one is to the left: the Δ tInner partSetting an initial value of the regulation duration for the high-orbit satellite orbital transfer regulation system; the Δ tInner part+ nT is the regulation duration; or the like, or, alternatively,
the orbital transfer is carried out outside the plane, and the regulation and control time length equal to the sum of the orbital transfer time length of the high-orbit satellite and the operation time length on the orbit comprises the following equation two:
wherein, the second left side of the equation: the Δ tOuter coverThe initial value of the regulation and control duration is equal to the duration for the target satellite, which is monitored by the high-orbit satellite orbital transfer regulation and control system, to run to the intersection point position of the plane where the stationary orbit and the equator are located from the position on the stationary orbit at the initial moment; the above-mentioned
When it is said to regulateLength;
the first equation or the second equation is right: said t is1The first operation duration to be solved; the 0.5T is the time length for realizing the one-time track transfer; the above-mentioned
The second operation time length;
the T is the known operation period of the high-orbit satellite on the static orbit; the theta is a predicted geocentric angle between the initial position of the high-orbit satellite and the position of the target satellite when the high-orbit satellite arrives at the expected position, and the omega is1For a known angular velocity, ω, at which the high-orbit satellite is operating in the stationary orbit2Predicting an angular velocity at which the high earth orbit satellite is operating in the target orbit; wherein n is 0, 1, 2, 3 …,
the acquiring the first orbital transfer regulation parameter comprises:
obtaining the Δ tInner partOr the Δ tOuter coverCorresponding to theta, omega1Corresponding to omega2The said T;
calculating corresponding t by using the first expression or the second expression1In the above, at
Then, n is taken as n +1, and the t is recalculated1Up to said
Starting to time t from the initial time1And the time length is used for calculating the first track changing time.
Preferably, the orbital maneuver mode to be performed comprises: a companion flight mode;
the initial track is a static track;
the target track includes: a first target track and a second target track, and the second target track is the stationary track;
the orbital transfer regulation parameters comprise: a second orbital transfer regulation parameter and a third orbital transfer regulation parameter;
the second orbital transfer regulation parameter is as follows: a track height difference Δ h between the initial track and the first target track;
the third track regulation and control parameter is as follows: the high-orbit satellite is transferred from the first target orbit to a second transfer time of the second target orbit.
Preferably, the orbital transfer control of the high-orbit satellite by using the orbital transfer control parameter includes, from an initial position on the initial orbit, controlling the high-orbit satellite to an expected position with a relative position to a target satellite that satisfies the orbital maneuver mode:
the high-orbit satellite orbital transfer regulating and controlling system acquires orbital transfer parameters for realizing orbital transfer from the initial orbit to the first target orbit or orbital transfer from the first target orbit to the second target orbit according to the delta h;
at an initial moment corresponding to the initial position, the high-orbit satellite performs first orbit transfer from the high-orbit satellite to the first target orbit by using the acquired orbit transfer parameters;
when the high-orbit satellite runs on the first target orbit for a second running time to reach the second orbital transfer time, the high-orbit satellite performs second orbital transfer of the high-orbit satellite from the first target orbit to the initial orbit by using the orbital transfer parameters, and directly reaches an expected position which is away from the target satellite by a preset accompanying flight distance.
Preferably, the adjustment and control time length equal to the sum of the high-orbit satellite orbit changing time length and the on-orbit operation time length includes equation three:
wherein the equation three left: the delta t is an initial value of the regulation and control duration preset by the high-orbit satellite orbital transfer regulation and control system, and the delta t + nT is the regulation and control duration;
the third right side of the equation:
the two 0.5T sums indicate that the total time length used for realizing the twice track changes of the first track change and the second track change is long;
the above-mentioned
A second operating duration for the high earth orbit satellite on the first target orbit;
the T is the known operation period of the high-orbit satellite on the static orbit; theta is described1The predicted geocentric angle between the initial position of the high-orbit satellite and the position of the target satellite when the high-orbit satellite reaches the expected position; theta is described2The predicted geocentric angle between the expected position of the high orbit satellite and the position of the target satellite at the same time is obtained; the omega1For a known angular velocity of travel of the high orbit satellite in the stationary orbit, the ω3The operation angular speed of the high-orbit satellite to be solved on the first target orbit is obtained;
preferably, the acquiring the orbital transfer regulation parameter comprises:
acquiring the second orbital transfer regulation parameter, including:
obtaining the delta t and the theta1Theta of2The omega1The T;
using said formula three, calculating said ω3The method comprises the following steps:
the approach is through the downward drift approach, if ω is calculated3＜ω1Then, n is equal to n +1, and the calculation is repeated until ω is satisfied3＞ω1To obtain omega3(ii) a Or, the approach is the approach by upward floating, if ω is calculated3＞ω1Then, n is equal to n +1, and the calculation is repeated until ω is satisfied3＜ω1To obtain omega3；
By
Calculate a1；
From Δ h ═ a-a1Calculating the second orbital transfer regulation parameter delta h;
the orbital transfer regulation and control method further comprises the following steps: acquiring the orbital transfer parameter by using the delta h;
said a is the known semi-major axis of said stationary track, said a1Is the semi-major axis of the first target trajectory, the μ is a known gravitational constant;
acquiring the third orbital transfer regulation parameter comprises:
subtracting 0.5T from the known regulation and control time length to obtain the sum of the time length for realizing the first orbital transfer and the second operation time length;
and calculating the second track transfer time according to the initial time and the sum of the time length used for the first track transfer and the second operation time length.
On the other hand, the invention also provides a high-orbit satellite orbit transfer regulation and control system, which comprises:
the high-orbit satellite orbit-transfer regulation and control system is suitable for predetermining an orbit maneuvering mode to be executed by a high-orbit satellite; acquiring orbital transfer regulation parameters for transferring the high-orbit satellite from an initial orbit to a target orbit; and performing orbital transfer regulation on the high-orbit satellite by using the orbital transfer regulation parameters, and regulating the high-orbit satellite from the initial position on the initial orbit to the expected position of the high-orbit satellite, wherein the relative position of the high-orbit satellite and a target satellite meets the orbital maneuver mode.
The invention can realize at least one of the following beneficial effects:
according to the technical scheme provided by the invention, the inventor provides an orbital transfer regulation and control relational expression based on own research, acquires orbital transfer regulation and control parameters based on the orbital transfer regulation and control relational expression, and realizes orbital transfer regulation and control of the high-orbit satellite in a preset orbit maneuvering mode based on the orbital transfer regulation and control parameters.
Furthermore, in the embodiment of the invention, based on the acquired orbital transfer regulation and control parameters as orbital transfer moments, orbital transfer regulation and control can be realized conveniently according to actual requirements, so that corresponding tasks are realized.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a flowchart of a method for regulating and controlling orbital transfer of a high-orbit satellite according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an embodiment of the invention in which I float down to a target satellite;
FIG. 3 is a schematic diagram of an embodiment of the invention in which I's satellite floats near a target satellite;
FIG. 4 is a schematic diagram of two adjacent positions of two stars in out-of-plane proximity in an embodiment of the present invention;
FIG. 5 is a schematic diagram of the embodiment of the invention, wherein the satellite realizes accompanying flight through the float-down;
fig. 6 is a schematic diagram of the embodiment of the invention, wherein the satellite realizes the accompanying flight through the upward floating.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention.
Referring to fig. 1, fig. 1 is a flowchart of a method for regulating and controlling orbital transfer of a high-orbit satellite according to an embodiment of the present invention, where the method may include the following steps:
step 101: the high-orbit satellite orbital transfer regulation and control system predetermines an orbital maneuver mode to be executed by the high-orbit satellite.
In an embodiment of the invention, the orbital maneuver mode comprises: drift mode, approach mode and companion mode.
Step 102: and acquiring an orbit transfer regulation parameter for transferring the high-orbit satellite from the initial orbit to the target orbit by using a preset orbit transfer regulation relational expression.
In the embodiment of the present invention, the preset orbital transfer regulation relationship includes:
the regulation and control time length is equal to the sum of the orbit changing time length of the high orbit satellite and the operation time length on the orbit, wherein,
the regulation and control duration is as follows: the total time taken for the high-orbit satellite to travel from the initial position to the desired position;
the track transfer duration includes: in the process that the high-orbit satellite runs from an initial position to an expected position, the time length used for one-time orbit transfer or the total time length used for multiple times of orbit transfer is realized;
the running time on the track is as follows: a first operation duration for the high-orbit satellite to operate in the initial orbit before reaching the desired position, and/or a second operation duration for the high-orbit satellite to operate in the target orbit.
Step 103: and performing orbital transfer regulation on the high-orbit satellite by using the orbital transfer regulation parameters, and regulating the high-orbit satellite from the initial position on the initial orbit to the expected position of the high-orbit satellite, wherein the relative position of the high-orbit satellite and a target satellite meets the orbital maneuver mode.
According to the technical scheme provided by the invention, the inventor provides an orbital transfer regulation and control relational expression based on own research, and orbital transfer regulation and control parameters are obtained and utilized to realize orbital transfer regulation and control of the high-orbit satellite in a preset orbit maneuvering mode based on the orbital transfer regulation and control relational expression.
Specifically, the high orbit satellite is set as the star. In the specific implementation of the technical scheme of the invention, the high-orbit satellite orbital transfer control system can comprise a ground control system and a high-orbit satellite.
In the following, the embodiment of the present invention is described for the case where the orbital maneuver mode to be executed is the drift mode or the approach mode:
the initial orbit is a static orbit, and at the initial moment, the satellite and the target satellite operate on the static orbit;
setting a track transfer regulation parameter as a first track transfer regulation parameter; the first orbital transfer regulation and control parameter is specifically as follows: and executing the first orbital transfer moment of orbital transfer, wherein the corresponding orbital transfer is that the orbit of the star is transferred from the static orbit to the target orbit.
Specifically, step 103 may include:
the high-orbit satellite orbital transfer regulating and controlling system monitors the first running time of the high-orbit satellite running on the initial orbit from the initial time corresponding to the initial position of the high-orbit satellite according to the acquired first orbital transfer time, and executes the orbital transfer by the high-orbit satellite according to the acquired orbital transfer parameters for realizing the orbital transfer until the first orbital transfer time arrives; and after orbital transfer, the high-orbit satellite operates the second operation time length on the target orbit until the expected position is reached. The orbital transfer parameters can include the jet duration and jet speed of the jet required by the propulsion system on the high-orbit satellite to realize orbital transfer.
Referring to fig. 2, fig. 2 is a schematic diagram of a satellite drifting to a near target under the satellite in the embodiment of the present invention, and in a specific application, an orbit maneuver mode is specifically determined by a ground control system according to actual requirements.
In the diagram of fig. 2, the orbital transfer control of the satellite is performed in the plane, that is, before and after orbital transfer of the satellite, the plane of the initial orbit and the plane of the target orbit are in the same plane. In fig. 2, point B represents the initial position of the star at the initial time, and point B' represents the position of the star at the orbital transfer time. The point A represents the position of the target satellite at the moment corresponding to the position of the point B, namely the initial position of the target satellite, the point A ' represents the position of the target satellite when the satellite successfully arrives under the target satellite, the point C represents the position of the satellite on the target orbit after orbital transfer, the point C ' represents the expected position of the satellite, namely the position under the target satellite, namely the pointing A ' is arranged under the point C ', and the point C ' and the geocenter are approximately on the same straight line.
In fig. 2, the corresponding time length of the path from point B to point B' is the first operation time length tBB'I.e. the running time on the initial orbit before the star arrives at the expected position; the time length corresponding to the path from the point B' to the point C corresponds to the time length t for realizing the one-time track transferRail transferDetails of track transferThe realization process can refer to Homan orbital transfer; the corresponding time length of the path from the point C to the point C' is the running time length of the satellite on the target track after orbital transfer, namely the second running time length tCC'. The control duration is the duration t used by the star to move from the point B to the point CBC'. Then, the regulation and control duration is equal to the sum of the orbit transfer duration of the high orbit satellite and the operation duration on the orbit, which can be compared as follows:
tBC'＝tBB'+trail changing device+tCC'。
Wherein, tBC'The quantity is known and is set by a ground regulation system according to specific conditions. In addition, the above example of fig. 2 is applicable to the approach mode, and in practical application, for the drift mode, the moving range of my star is from point C to point C', so long as the rail change is implemented.
Specifically, the adjustment and control time length equal to the sum of the high-orbit satellite orbit changing time length and the on-orbit operation time length includes equation one:
left of the equation: Δ tInner partSetting an initial value of the regulation and control duration for the high-orbit satellite orbital transfer regulation and control system; Δ tInner part+ nT being the actual control duration, i.e. tBC'＝ΔtInner part+nT；t1Corresponding to the above tBB'0.5T corresponds to the above-mentioned TRail changing device，
Corresponding to the above tCC'. Wherein T is the running period of the known own satellite or the target satellite on the static orbit; referring to fig. 2, in fig. 2, θ is a geocentric angle between an initial position of the satellite at the initial time and a position of the target satellite when the satellite arrives at the expected position, where θ is (Δ t)Inner part+nT)*ω1；ω1For a known angular velocity, ω, at which the satellite or target satellite is operating in stationary orbit2The angular velocity at which my star travels on the target trajectory is predictable; n is 0, 1, 2, 3 …,
see FIG. 2, where angle x corresponds to t1ω1Angle y corresponds to 0.5T (ω)1+ω2) Angle z corresponds to θ -t1ω1-0.5T*(ω1+ω2)/2。
The above-mentioned prediction of omega2The calculation process of (2) is as follows:
the track height difference delta h between the static track where the satellite is located before track change and the target track is preset by the ground control system, then the drift distance is calculated according to the requirement, as shown in the example of fig. 2, and aTargetA- Δ h, wherein aTargetIs the semi-major axis of the target track, consisting of
Can calculate omega2。
In addition, the Δ t is set toInner partFor the initial value of the regulation duration set by the ground regulation system, Δ t may be set if the approach is achieved 16 hours after the initial settingInner part16 hours, corresponding to n 0; based on t1Range of values of (c), calculated t1If the value is not in the range, if the calculated value is negative, n is n +1, and the next t is calculated continuously1Value up to t1Meets the requirements. For example, Δ tInner part16 hours, minus a track-change duration tRail changing device0.5T, 4 hours, then at TBB'And tCC'Between these 4 hours, and the actual tCC'If it takes 5 hours, t satisfying the requirement cannot be calculated1Value, therefore, when n is 1, that is, the control period of the orbital transfer control becomes (24+16) hours, t is calculated123 hours, i.e. tBB'When the time is 23 hours, t is counted from the initial time1And (3) calculating a first orbital transfer time, and executing orbital transfer operation to realize approach, wherein the initial time is 14 pm of the day, and the 23 hour later, namely 11 pm of the next day, is the first orbital transfer time.
Specifically, for the case of in-plane drifting approach, the process of calculating the first orbital transfer time is as follows:
obtaining the Δ tInner partCorresponding to θ ═ Δ tInner part+nT)*ω1The omega1Corresponding to
The T is defined;
using said equation one, calculating t1In the above-mentioned
Then, n is taken as n +1, and the t is recalculated1Up to said
Starting to time t from the initial time1And the time length is used for calculating the first track changing time.
In the drift-down approach mode, the initial position of the satellite is behind the initial position of the target satellite, and the satellite tracks the target satellite, so that the drift-down approach is adopted, the running speed of the satellite is increased by reducing the track height of the running track of the satellite, and the tracking is realized.
Referring to fig. 3, fig. 3 is a schematic diagram of the satellite drifting to the target satellite in the embodiment of the present invention, and in fig. 3, the initial position of the satellite is located in front of the target satellite, so that the traveling speed of the satellite is reduced by raising the orbit height of the traveling orbit of the satellite by using the drifting to achieve the approaching. In the example of fig. 3, similar control of orbital transfer of my satellite can be found in the related contents, which are not described herein, except that aTargetA + Δ h, then
Calculate omega2。
See FIG. 3, where angle x corresponds to t1ω1Angle y corresponds to 0.5T (ω)1+ω2) Angle z corresponds to θ -t1ω1-0.5T*(ω1+ω2)/2。
And for the case that the orbital transfer is carried out of the plane, wherein the out of the plane is before and after orbital transfer of my star, and the plane of the initial orbit is not in the same plane as the plane of the target orbit. The regulation and control time length is equal to the sum of the orbit changing time length of the high orbit satellite and the operation time length on the orbit, and the regulation and control time length comprises the following equation two:
to the left of this equation: Δ tOuter coverThe initial value of the regulation and control duration is equal to the duration used by the ground regulation and control system for monitoring the position of the target satellite on the stationary orbit from the initial moment to the intersection point position of the stationary orbit and the plane where the equator is located; setting the Δ tOuter coverThe initial value for regulating and controlling the time length mainly comprises the following steps: the Δ tOuter coverThe ground control system can monitor the situation, and the approaching of the target satellite and the satellite at the corresponding intersection point of the orbit where the target satellite is located and the equatorial plane is set, namely when the target satellite runs to the intersection point position from the initial position, the satellite also needs to run to the approaching position of the intersection point of the target orbit and the equatorial plane from the initial position through orbital transfer, and the approaching is achieved. And, due to the closeness in this case, the two stars are closest apart, thus benefiting the completion of the task. Wherein the content of the first and second substances,
the actual regulation and control duration is. In the above equation two
The meanings of the other parameters can be found in the above relevant text.
Referring to fig. 4, fig. 4 is a schematic diagram of two approaching positions of two stars when two stars approach outside of the plane in the embodiment of the present invention. Further, the target satellite operates on the stationary orbit, and in a stationary orbit operation period T, the approaching positions are at two positions, which are respectively corresponding to the point a 'and the point C', and the point a "and the point C". Wherein the two corresponding points are different from the running time
I.e. one weekWithin period T, my star has two opportunities to approach, in calculating T1The actual control duration is
This is a difference between in-plane and out-of-plane switching control.
Specifically, for the out-of-plane case, the process of calculating the first track change instant is as follows:
obtaining the Δ tOuter coverCorresponding to
ω1Corresponding to omega2，T；
Calculating t using said equation two1In the above, at
Then, n is taken as n +1, and the t is recalculated1Up to said
Starting to time t from the initial time1And the time length is used for calculating the first track changing time.
The above is the description of the case where the orbital maneuver mode to be executed is the drift mode or the approach mode in the embodiment of the present invention.
In the following, the embodiment of the present invention is explained for the case where the track maneuver mode to be executed is the follow-up mode:
wherein the initial track is a stationary track; the target track includes: the system comprises a first target track and a second target track, wherein the second target track is an initial static track;
the orbital transfer regulation parameters may include: a second orbital transfer regulation parameter and a third orbital transfer regulation parameter; wherein, the second orbital transfer regulation parameter is: a track height difference Δ h between the initial track and the first target track; the third track regulation parameter is: the high-orbit satellite is transferred from the first target orbit to a second transfer time of the second target orbit.
In a specific implementation, the step 103 may include:
acquiring an orbit transfer parameter for realizing the orbit transfer from the initial orbit to the first target orbit or the orbit transfer from the first target orbit to the second target orbit by the high-orbit satellite orbit transfer regulation and control system according to the delta h;
at an initial moment corresponding to the initial position, performing first orbital transfer of the high-orbit satellite to the first target orbit by using the orbital transfer parameters;
and when the high-orbit satellite runs on the first target orbit for a second running time to reach the second orbital transfer time, executing second orbital transfer of the high-orbit satellite from the first target orbit to the initial orbit by using the orbital transfer parameters, and directly reaching the expected position which is away from the target satellite by a preset accompanying flight distance.
In the approach mode, Δ h is set by the ground control system, while in the accompanying flight mode, Δ h is unknown, so that Δ h needs to be calculated first, and then an orbit transfer parameter needs to be calculated, so as to realize the orbit transfer.
The companion needs to be in-plane. Referring to fig. 5, fig. 5 is a schematic diagram of the embodiment of the invention, wherein the satellite realizes accompanying flight through downward floating. In fig. 5, point B represents the initial position of my star at the initial time; the point A represents the position of the target satellite at the moment corresponding to the position of the point B; point B is located behind point a, so i need to accelerate by drifting down to catch up to the target satellite; point C represents the position of my star on the first target trajectory after the first orbital transfer; point C' represents the position of my star on the first target track at the second orbital transfer moment; point D represents the position where i star reached the second target orbit, i.e., the original stationary orbit, i.e., the expected position, after the second orbital transfer; point a' represents the location of the target satellite at time point D.
In fig. 5, the corresponding time length of the path from point B to point C is the time length t for realizing the first track transferRail changing deviceThe corresponding operation is first track transfer when the value is 0.5T; and the corresponding time length of the path from the point C' to the point D is the time length t used for realizing the second orbital transferRail changing deviceThe corresponding operation is the second orbital transfer when the value is 0.5T; the specific implementation of orbital transfer can refer to Hoeman orbital transfer; the corresponding time length of the path from the point C to the point C' is the running time length of the satellite on the first target orbit, and the corresponding second running time length t in the accompanying flight modeCC'. The control duration is the duration t for the star to run from the point B to the point DBD. Then, the adjustment and control duration is equal to the sum of the orbit changing duration of the high orbit satellite and the operation duration on the orbit, which is comparable to:
tBD＝trail transfer+tCC'+tRail changing device。
Wherein, tBDThe known quantity can be set by a ground regulation system according to specific conditions. The time t taken for the target satellite to travel from point A to point AAA'＝tBDBased on the monitoring and actual tasks of the ground regulation and control system on the target satellite, t can be obtained in advanceAA'And then knows tBDIn the flight accompanying mode, since the flight accompanying distance is set in advance, the distance from the point D to the point a is known and is set as D.
Specifically, the sum of the high-orbit satellite orbit changing time and the on-orbit operation time in the satellite flight mode includes the following equation:
the equation to the left of three: delta t is an initial value of the regulation and control duration preset by the ground regulation and control system, and delta t + nT is the actual regulation and control duration corresponding to the tBD；
Equation three to the right:
the sum of the two 0.5T values indicates the total time length used by the twice track changes of the first track change and the second track change; corresponding to the above tBD＝tRail changing device+tCC'+tRail transferTwo in (t)Rail changing device；
Wherein T is the known running period of the star on the static orbit; referring also to FIG. 5, in FIG. 5, θ1For predicting a geocentric angle, θ, between an initial location of the high-orbit satellite and a location of the high-orbit satellite at the expected location while the target satellite is located1＝(Δt+nT)*ω1；θ2The geocentric angle between the expected position of the satellite and the position of the target satellite at the same time can be determined
Calculating, wherein D is the distance between the point D and the point A, and a is the semi-major axis of the stationary track; omega1For the known angular velocity, omega, of my star's travel on stationary orbit3The running angular speed of the star on the first target track is to be solved.
Specifically, obtaining the second orbital transfer regulation parameter may include:
obtaining Δ t, θ1＝(Δt+nT)*ω1、
ω1、T；
Using the above integer three to calculate omega3(ii) a For the case of proximity by downward drift as shown in FIG. 5, ω3＞ω1If ω is calculated3＜ω1Then, n is equal to n +1, and the calculation is repeated until ω is satisfied3＞ω1To obtain omega3；
By
Calculate a1(ii) a In the case shown in FIG. 5, a1＜a；
From Δ h ═ a-a1Calculating a second orbital transfer regulation parameter delta h; calculating a track-changing parameter according to the delta h;
wherein a is the semi-major axis of a known stationary orbit, said a1Is the semi-major axis of the first target track, μ is a known gravitational constant; if calculated a1A, the first targetThe track is located above the stationary track.
Further, calculating a third orbital transfer regulation parameter includes:
subtracting 0.5T from the known regulation and control time length to obtain the sum of the time length used for the first time of track change and the second operation time length, namely TCC'+tRail changing device＝tBD-tRail changing deviceCalculating;
then, the second track-changing time is calculated according to the sum of the initial time and the time length used for the first track-changing and the second operation time length, namely, the initial time is added with tCC'+tRail changing deviceThe time at which the second orbital transfer is performed at point C' shown in fig. 5 can be estimated.
Referring to fig. 5, the angle i and the angle j in fig. 5 correspond to 0.5T (ω), respectively1+ω3) Angle k corresponds to θ,/21-θ2-0.5T*(ω1+ω3)。
Referring to fig. 6, fig. 6 is a schematic diagram of the embodiment of the invention, wherein the satellite flies by floating up. In fig. 6, point B represents the initial position of my star at the initial time; the point A represents the position of the target satellite at the moment corresponding to the position of the point B; the point B is positioned before the point A, so that the satellite needs to approach the target satellite through upward floating and decelerating to realize accompanying flight; wherein, point C represents the position of my star on the first target trajectory after the first orbital transfer; point C' represents the position of my star on the first target track at the second orbital transfer moment; point D represents the position where i star reached the second target orbit, i.e., the original stationary orbit, i.e., the expected position, after the second orbital transfer; point a' represents the location of the target satellite at time point D.
In fig. 6, based on the orbital transfer regulation relation of the present invention, the specific way of performing orbital transfer regulation on my star may be referred to the above description. Referring to fig. 6, the angles i and j in fig. 6 correspond to 0.5T (ω), respectively1+ω3) Angle k corresponds to θ,/21-θ2-0.5T*(ω1+ω3)。
Specifically, in the case shown in fig. 6, obtaining the second orbital transfer control parameter may include:
obtaining Δ t, θ1、θ2、ω1、T；
Using the above integer three to calculate omega3(ii) a For the case of approaching by the upper drift shown in FIG. 6, ω3＜ω1If ω is calculated3＞ω1Taking n as n +1, and recalculating until omega is satisfied3＜ω1To obtain omega3；
By
Calculate a1(ii) a In the case shown in FIG. 6, a1＞a；
From Δ h ═ a-a1Calculating a second orbital transfer regulation parameter delta h; calculating a track change parameter according to the delta h;
the process of calculating the second track change time is described above in relation to the above.
The above is the description of the case where the orbit maneuver mode to be performed is the follow-up mode in the embodiment of the present invention.
In the specific implementation of the invention, a ground control system can be arranged to calculate each parameter for orbital transfer control, and by monitoring the operation of the satellite, the satellite is instructed to carry out orbital transfer operation when the orbital transfer moment comes; or the ground control system can be set to indicate each parameter for orbital transfer control to the satellite and indicate the satellite to monitor the operation of the satellite, and the orbital transfer can be automatically executed when the orbital transfer moment comes.
It should be noted that, specifically, how to obtain the track-changing parameter based on the known track height difference Δ h between the two tracks, can be referred to the following related contents, including:
based on the known Δ h, the tracking parameters are calculated using the following calculation:
calculate Δ v1And/or Δ ν2Wherein, Δ v1Correspondingly, the air injection speed for changing the static orbit of the star into the elliptical orbit is changed; v is2To changeThe elliptical orbit is the air injection speed of the circular orbit; r is the radius of the static track;
according to
Calculating the air injection time length for changing the track shape: Δ tJet 1And/or Δ tJet 2(ii) a m is the mass of the satellite, F is the thrust of the satellite thruster
Based on learned Δ v1、Δυ2And corresponding Δ tJet 1、ΔtJet 2And the track transfer can be realized, such as the track transfer from a static track to a target track.
Based on the above method for regulating and controlling the orbital transfer of the high-orbit satellite provided by the embodiment of the present invention, the embodiment of the present invention further provides a system for regulating and controlling the orbital transfer of the high-orbit satellite, including:
the high-orbit satellite orbit-transfer regulation and control system is suitable for predetermining an orbit maneuvering mode to be executed by a high-orbit satellite; acquiring orbital transfer regulation parameters for transferring the high-orbit satellite from an initial orbit to a target orbit; and performing orbital transfer regulation on the high-orbit satellite by using the orbital transfer regulation parameters, and regulating the high-orbit satellite from the initial position on the initial orbit to the expected position of the high-orbit satellite, wherein the relative position of the high-orbit satellite and a target satellite meets the orbital maneuver mode.
In the embodiment of the invention, the specific implementation of the high-orbit satellite orbital transfer regulation and control system can be referred to above.
In summary, according to the technical solution provided by the present invention, the inventor proposes an orbital transfer regulation and control relational expression based on his own findings, and obtains and utilizes orbital transfer regulation and control parameters to realize orbital transfer regulation and control of a high-orbit satellite in a predetermined orbit maneuver mode based on the orbital transfer regulation and control relational expression.
Furthermore, in the embodiment of the invention, based on the acquired orbital transfer regulation and control parameters as orbital transfer moments, orbital transfer regulation and control can be realized conveniently according to actual requirements, so that corresponding tasks are realized.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A high-orbit satellite orbit-changing regulation and control method is characterized by comprising the following steps:
the high-orbit satellite orbit-transfer regulating and controlling system predetermines an orbit maneuvering mode to be executed by the high-orbit satellite;
acquiring an orbit transfer regulation parameter for transferring the high-orbit satellite from an initial orbit to a target orbit by using a preset orbit transfer regulation relational expression;
and performing orbital transfer regulation on the high-orbit satellite by using the orbital transfer regulation parameters, and regulating the high-orbit satellite from the initial position on the initial orbit to the expected position of the high-orbit satellite, wherein the relative position of the high-orbit satellite and a target satellite meets the orbital maneuver mode.
2. The method of claim 1, wherein the step of regulating the orbital transfer is performed,
the preset orbital transfer regulation relation comprises:
the regulation and control duration is equal to the sum of the orbit change duration of the high-orbit satellite and the operation duration on the orbit
The regulation and control duration is as follows: a total length of time it takes for the high earth orbit satellite to travel from the initial position to the desired position;
the track transfer duration includes: in the process that the high-orbit satellite runs from the initial position to the expected position, the time length used for one-time orbit transfer or the total time length used for multiple times of orbit transfer is realized;
the running time on the track is as follows: a first operation duration for the high-orbit satellite to operate in the initial orbit and/or a second operation duration for the high-orbit satellite to operate in the target orbit before reaching the desired position.
3. The method for controlling according to claim 2,
the orbital maneuver modes to be performed include: drift mode or near mode;
the initial track is a static track;
the orbital transfer regulation parameters comprise: a first orbital transfer regulation parameter;
the first orbital transfer regulation parameter is as follows: and executing the first orbital transfer moment of orbital transfer, wherein the corresponding orbital transfer is that the orbital transfer of the high-orbit satellite from the static orbit to the target orbit is carried out.
4. The method for controlling according to claim 3, wherein the using the orbital transfer control parameter to perform orbital transfer control on the high-orbit satellite, and the controlling the high-orbit satellite from an initial position on the initial orbit to an expected position with respect to a target satellite, which satisfies the orbit maneuver mode, comprises:
the high-orbit satellite orbital transfer regulating and controlling system monitors the first running time of the high-orbit satellite running on the initial orbit from the initial time corresponding to the initial position of the high-orbit satellite according to the acquired first orbital transfer time, and executes the orbital transfer by the high-orbit satellite according to the acquired orbital transfer parameters for realizing the orbital transfer until the first orbital transfer time arrives; and after orbital transfer, the high-orbit satellite operates the second operation time length on the target orbit until the expected position is reached.
5. The method for controlling according to claim 3 or 4,
the orbital transfer is carried out in the plane, and the regulation and control time length equal to the sum of the orbital transfer time length of the high-orbit satellite and the operation time length on the orbit comprises the following equation:
wherein, the equation one is to the left: the Δ tInner partSetting an initial value of the regulation duration for the high-orbit satellite orbital transfer regulation system; the Δ tInner part+ nT is the regulation duration; or the like, or, alternatively,
the orbital transfer is carried out outside the plane, and the regulation and control time length equal to the sum of the orbital transfer time length of the high-orbit satellite and the operation time length on the orbit comprises the following equation two:
wherein, the second left side of the equation: the Δ tOuter coverThe initial value of the regulation and control duration is equal to the duration for the target satellite, which is monitored by the high-orbit satellite orbital transfer regulation and control system, to run to the intersection point position of the plane where the stationary orbit and the equator are located from the position on the stationary orbit at the initial moment; the above-mentioned
The regulation duration is the regulation duration;
the first equation or the second equation is right: said t is1The first operation duration to be solved; the 0.5T is the time length for realizing the one-time track transfer; the above-mentioned
The second operation time length;
the T is the known operating period of the high orbit satellite on the static orbit; the theta is a geocentric angle between the predicted initial position of the high-orbit satellite and the position of the target satellite when the high-orbit satellite arrives at the expected position, and the omega is1For a known angular velocity, ω, at which the high-orbit satellite is operating in the stationary orbit2Predicting an angular velocity of the high-orbit satellite in motion in the target orbit; wherein n is 0, 1, 2, 3 …,
the acquiring the first orbital transfer regulation parameter comprises:
obtaining the Δ tInner partOr said Δ tOuter coverCorresponding to theta, omega1Corresponding to omega2The said T;
calculating corresponding t by using the first expression or the second expression1In the above-mentioned
Then, n is taken as n +1, and the t is recalculated1Up to said
Starting to time t from the initial time1And the time length is used for calculating the first track changing time.
6. The method for controlling according to claim 2,
the orbital maneuver modes to be performed include: a companion flight mode;
the initial track is a static track;
the target track includes: a first target track and a second target track, and the second target track is the stationary track;
the orbital transfer regulation parameters comprise: a second orbital transfer regulation parameter and a third orbital transfer regulation parameter;
the second orbital transfer regulation and control parameter is as follows: a track height difference Δ h between the initial track and the first target track;
the third track regulation and control parameter is as follows: the high-orbit satellite is transferred from the first target orbit to a second transfer time of the second target orbit.
7. The method for controlling according to claim 6, wherein the using the orbital transfer control parameters to transfer the orbital satellite from the initial position in the initial orbit to the expected position with respect to the target satellite in the orbital maneuver mode comprises:
the high-orbit satellite orbital transfer regulating and controlling system acquires orbital transfer parameters for realizing orbital transfer from the initial orbit to the first target orbit or orbital transfer from the first target orbit to the second target orbit according to the delta h;
at an initial moment corresponding to the initial position, the high-orbit satellite performs first orbit transfer from the high-orbit satellite to the first target orbit by using the acquired orbit transfer parameters;
when the high-orbit satellite runs on the first target orbit for a second running time to reach the second orbital transfer time, the high-orbit satellite performs second orbital transfer of the high-orbit satellite from the first target orbit to the initial orbit by using the orbital transfer parameters, and directly reaches an expected position which is away from the target satellite by a preset accompanying flight distance.
8. The method for controlling according to claim 7,
the regulation and control time length is equal to the sum of the orbit changing time length of the high orbit satellite and the operation time length on the orbit, and the regulation and control time length comprises the following equation three:
wherein the equation three left: the delta t is an initial value of the regulation and control duration preset by the high-orbit satellite orbital transfer regulation and control system, and the delta t + nT is the regulation and control duration;
the third right side of the equation:
the two 0.5T sums indicate that the total time length used for realizing the twice track changes of the first track change and the second track change is long;
the above-mentioned
A second operating duration for the high earth orbit satellite on the first target orbit;
the T is the known operation period of the high-orbit satellite on the static orbit; theta is described1The predicted geocentric angle between the initial position of the high-orbit satellite and the position of the target satellite when the high-orbit satellite reaches the expected position; theta is described2The predicted geocentric angle between the expected position of the high orbit satellite and the position of the target satellite at the same time is obtained; the omega1For a known angular velocity of the high orbit satellite in the stationary orbit, the ω3The operation angular speed of the high-orbit satellite to be solved on the first target orbit is obtained;
9. the regulation method of claim 8, wherein the obtaining the orbital transfer regulation parameter comprises:
acquiring the second orbital transfer regulation parameter, including:
obtaining the delta t and the theta1Theta of2The omega1The T;
using said formula three, calculating said ω3The method comprises the following steps:
the approach is through the downward drift approach, if ω is calculated3＜ω1Then, n is equal to n +1, and the calculation is repeated until ω is satisfied3＞ω1To obtain omega3(ii) a Or, the approach is the approach by upward floating, if ω is calculated3＞ω1Then, n is equal to n +1, and the calculation is repeated until ω is satisfied3＜ω1To obtain omega3；
By
Calculate a1；
From Δ h ═ a-a1Calculating the second orbital transfer regulation parameter delta h;
the orbital transfer regulation and control method further comprises the following steps: acquiring the orbital transfer parameter by using the delta h;
said a is the known semi-major axis of said stationary track, said a1Is the semi-major axis of the first target trajectory, the μ is a known gravitational constant;
acquiring the third orbital transfer regulation parameter comprises:
subtracting 0.5T from the known regulation and control time length to obtain the sum of the time length for realizing the first orbital transfer and the second operation time length;
and calculating the second track transfer time according to the initial time and the sum of the time length used for the first track transfer and the second operation time length.
10. A high-orbit satellite orbital transfer regulation and control system is characterized by comprising:
the high-orbit satellite orbit-transfer regulation and control system is suitable for predetermining an orbit maneuvering mode to be executed by a high-orbit satellite; acquiring an orbit transfer regulation parameter for transferring the high orbit satellite from an initial orbit to a target orbit; and performing orbital transfer regulation on the high-orbit satellite by using the orbital transfer regulation parameters, and regulating the high-orbit satellite from the initial position on the initial orbit to the expected position of the high-orbit satellite, wherein the relative position of the high-orbit satellite and a target satellite meets the orbital maneuver mode.
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