CN114852375A - Method and device for estimating relative orbit change of formation satellite - Google Patents
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Abstract
A method and a device for estimating relative orbit change of formation satellites do not depend on high-precision relative orbit root estimation of inter-satellite measurement links, real-time extrapolation calculation is carried out by injecting target satellite orbit root parameters on the ground, a recursive filtering algorithm based on relative orbit kinematics is proposed to carry out on-line estimation on a long-period drifting item, the problem of high-precision estimation of relative orbit change is solved under the condition that inter-satellite measurement is infeasible, and the high-precision relative orbit root estimation which does not depend on the inter-satellite measurement links is realized.
Description
Technical Field
The invention relates to a method and a device for estimating relative orbit change of formation satellites, and belongs to the technical field of spacecraft control.
Background
And generating a new model of the earth gravitational field by the low-low tracking gravity measurement satellite every 15-30 days in the task period. The mission requires that two satellites are 170-270 km apart and are formed into a formation to fly in tandem. The variation of the earth gravitational field is represented as the difference of the perturbations of the two common rail satellite orbits. The traditional method needs to measure the change of the distance between two satellites by relying on a high-precision high-frequency inter-satellite measurement link, the accurate measurement value of a triaxial accelerometer is used for eliminating the contribution of a non-gravity component to the change of the distance between the satellites after being processed, and a high-precision GNSS is used for accurately determining the orbit of the satellite, so that the spatial distribution of gravity parameters is measured, and an earth gravitational field model is estimated. In some satellite application scenes, a real-time inter-satellite communication means does not exist between two satellites, so that when double-satellite inter-satellite pointing control is carried out, double-satellite relative distance information cannot be directly obtained through measurement, and new requirements for relative distance estimation are provided.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method and the device for estimating the relative orbit change of the formation satellites overcome the defects of the prior art, do not depend on the high-precision relative orbit root estimation of the inter-satellite measurement link, perform real-time extrapolation calculation by injecting target satellite orbit root parameters on the ground, and provide a recursive filtering algorithm based on relative orbit kinematics to perform online estimation on a long-period drift term, solve the problem of high-precision estimation of the relative orbit change under the condition that inter-satellite measurement is infeasible, and realize the high-precision relative orbit root estimation which does not depend on the inter-satellite measurement link.
The purpose of the invention is realized by the following technical scheme:
the embodiment of the invention provides a method for estimating relative orbit change of formation satellites, which comprises the following steps:
obtaining effective local satellite orbit parameters and target satellite orbit parameters injected from the ground in the period;
estimating relative flat track angular velocity, relative track eccentricity component and relative track eccentricity change rate by adopting a filtering algorithm;
calculating the relative star spacing, the relative semi-major axis and the relative eccentricity variation;
the relative semi-major axis target amount and the drift velocity target amount are calculated.
Preferably, it is first determined whether the local satellite orbit parameter and the target satellite orbit parameter injected from the ground are received in the present period, and if the local satellite orbit parameter and the target satellite orbit parameter are received, it is further determined whether the local satellite orbit parameter and the target satellite orbit parameter are valid.
Preferably, the effective local star orbit parameters and target star orbit parameters of the surface injection at least include: the reference time of the relative orbit and the variation thereof, the relative star spacing of the two stars and the variation thereof, the relative orbit eccentricity component, the relative orbit semi-major axis of the orbit injection, and the average value of the reference time of the two stars orbit.
Preferably, the filtering algorithm is used to estimate the relative flat track angular velocity, the relative track eccentricity component, and the relative track eccentricity change rate, and the iteration process is as follows:
e xRM ＝e*cos(ω)-e T *cos(ω T )
e yRM ＝e*sin(ω)-e T *sin(ω T )
e xdotRM ＝k fedot (e xRM -e xRM0 )/Dt RM +(1-k fedot )e xdotRM0
e ydotRM ＝k fedot (e yRM -e yRM0 )/Dt RM +(1-k fedot )e ydotRM0
in the formula, k fedot For filter gain, e is eccentricity, ω is orbital argument of perigee, v RM As drift velocity, v dotRM As rate of change of drift velocity, e xRM And e yRM As a component of relative track eccentricity, e xdotRM And e ydotRM For the amount of change thereof,
is a semi-major axis flat root,
the orbital angular velocity, Re, the earth radius, μ 398600km 3 /s 2 Subscript 0 represents the state variable of the last beat, and subscript T represents the state variable of the target star, which is the gravity constant; t is t RM0 Reference time, Dt, relative to the track RM0 Is t RM0 Amount of change of (Dr) RM0 Is the relative star spacing of two stars, Dr RM Is Dr RM0 Amount of change of e xRM 、e yRM Are all relative orbital eccentricity components, Δ a kRM Relative orbit semi-major axis, t, for orbit injection midRM Is the average of the two-star orbit reference time.
Preferably, the calculating the relative inter-satellite distance r RM Relative semi-major axis Deltaa RM Relative eccentricity change amount Δ e xRM And Δ e yRM The method comprises the following steps:
Δt RM ＝t-t RM0
Δe xRM ＝e xRM +e xdotRM Δt RM
Δe yRM ＝e yRM +e ydotRM Δt RM 。
preferably, the calculation is relative to the semimajor axis target amount Δ a TRM And a target amount v of drift velocity TRM The method comprises the following steps:
wherein, Δ L TRM Is the target star spacing variation.
The embodiment of the invention provides a device for estimating relative orbit change of formation satellites, which comprises:
the acquisition module is used for receiving effective local satellite orbit parameters and target satellite orbit parameters injected into the ground in the period;
the estimation module estimates the relative flat track angular velocity, the relative track eccentricity component and the relative track eccentricity change rate by adopting a filtering algorithm;
the first calculation module is used for calculating the relative star spacing, the relative semi-major axis and the relative eccentricity variation;
and the second calculation module is used for calculating the relative semi-major axis target quantity and the drift velocity target quantity.
Preferably, the obtaining module first determines whether the local satellite orbit parameter and the target satellite orbit parameter injected from the ground are received in the current period, and if the local satellite orbit parameter and the target satellite orbit parameter are received, further determines whether the local satellite orbit parameter and the target satellite orbit parameter are valid.
Preferably, the effective local star orbit parameters and target star orbit parameters of the surface injection at least include: the reference time of the relative orbit and the variation thereof, the relative star spacing of the two stars and the variation thereof, the relative orbit eccentricity component, the relative orbit semi-major axis of the orbit injection, and the average value of the reference time of the two stars orbit.
Embodiments of the present invention provide a computer-readable storage medium having stored thereon computer program instructions, which, when loaded and executed by a processor, cause the processor to perform the above-mentioned method for estimating relative orbital change of a formation satellite.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention provides a method for estimating relative orbit change of formation satellites, which is a novel solving method aiming at the relative orbit position change of the formation satellites and breaks through the limitation that the satellites such as high-precision gravity measurement need to rely on inter-satellite links to measure the distance change between two satellites.
(2) The method fully excavates the relative orbit kinematics characteristics of the low-low tracking satellite, skillfully solves the problem of estimating the relative distance of two satellites in formation by combining nineteen relative orbit extrapolation with a novel filtering design, realizes high-precision estimation of the inter-satellite distance without depending on inter-satellite distance measurement, and is simple and feasible.
(3) The invention provides a new solution for the problem of relative distance estimation in the low-low tracking satellite formation process, no additional data input is needed, the calculation is simple, the requirement of double-satellite relative position prediction accuracy can be well met by using the algorithm, and the algorithm has strong engineering practicability.
Drawings
FIG. 1 is a control flow chart of the present invention.
Fig. 2 is a prediction error curve of relative positions of two stars.
FIG. 3 is a plot of star spacing versus relative semi-major axis.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the method for estimating relative orbital change of a formation satellite of the present invention includes the following steps:
firstly, initializing orbit parameters on the premise that the orbit parameters of a local satellite and the orbit parameters of a target satellite which are injected from the ground are received and confirmed to be effective in the period;
calculating relative flat track angular velocity, relative track eccentricity vector and relative track eccentricity change rate based on filtering estimation;
calculating relative star spacing, relative semi-major axis and relative eccentricity variation;
and step four, calculating the relative semi-major axis target quantity and the drift velocity target quantity.
The specific process of the step one is as follows:
judging whether the local satellite orbit parameter and the target satellite orbit parameter injected from the ground are received in the period, if so, further confirming whether the local satellite orbit parameter and the target satellite orbit parameter are effective, and performing initialization assignment on the orbit parameters under the effective condition, wherein the relevant parameters comprise: reference time t relative to the track RM0 And its variation Dt RM0 Double star relative star spacing Dr RM0 And its variation Dr RM Relative track eccentricity component e xRM 、e yRM Relative orbit semi-major axis Deltaa of orbit injection kRM Mean value t of reference time of two-star orbit midRM 。
In the second step, the angular velocity of the relative flat track, the component of the relative track eccentricity and the change rate of the relative track eccentricity are estimated by using a filtering algorithm, namely
e xRM ＝e*cos(ω)-e T *cos(ω T )
e yRM ＝e*sin(ω)-e T *sin(ω T )
e xdotRM ＝k fedot (e xRM -e xRM0 )/Dt RM +(1-k fedot )e xdotRM
e ydotRM ＝k fedot (e yRM -e yRM0 )/Dt RM +(1-k fedot )e ydotRM
In the formula, k fedot For filter gain, e is eccentricity, ω is orbital argument of perigee, v RM As drift velocity, v dotRM As rate of change of drift velocity, e xRM And e yRM As a component of relative track eccentricity, e xdotRM And e ydotRM For the variation, a is the half-major axis flat root, n is the orbital angular velocity, Re is the earth radius, μ 398600km 3 /s 2 Is the gravitational constant, () 0 State variable of the last beat, () T Is the state variable of the target star.
In the third step, on the basis of the calculation of the second variable in the step, the relative satellite distance r is calculated RM Relative semi-major axis Deltaa RM And relative eccentricity change amount Δ e xRM 、Δe yRM The calculation is carried out according to the following specific algorithm
Note Δ t RM ＝t-t RM0
Δe xRM ＝e xRM +e xdotRM Δt RM
Δe yRM ＝e yRM +e ydotRM Δt RM
In the fourth step, the target amount Δ a is calculated with respect to the semimajor axis TRM And a target amount v of drift velocity TRM Is calculated, i.e.
Wherein, Δ L TRM A modification may be injected for the target star spacing variation.
The invention is further illustrated by the following examples.
Example 1:
taking a certain satellite as an example, mathematical simulation analysis is carried out on the relative orbit change estimation algorithm provided by the invention, the satellite runs in a sun synchronous circular orbit of 500km, and two satellite orbit parameters are set at the beginning and shown in table 1.
TABLE 1
In the simulation, star A is in front, the star spacing is 269km, the semi-major axis of star A is slightly lower, and two stars continue to be far away. Performing 200-day simulation, wherein simulation results are shown in fig. 2 to fig. 3, fig. 2 is a relative semi-major axis curve, mutation at X165.6 is caused by the star pitch maintaining orbit control, and fig. 3 is a relationship curve between the star pitch and the relative semi-major axis; the change in relative semimajor axis difference is not absolutely uniform, which is related to the change in atmospheric density.
Example 2:
a method for estimating relative orbit change of formation satellites comprises the following steps:
obtaining effective local satellite orbit parameters and target satellite orbit parameters injected into the ground in the period;
estimating relative flat track angular velocity, relative track eccentricity component and relative track eccentricity change rate by adopting a filtering algorithm;
calculating the relative star spacing, the relative semi-major axis and the relative eccentricity variation;
the relative semi-major axis target amount and the drift velocity target amount are calculated.
An apparatus for estimating relative orbital variation of a formation satellite, comprising:
the acquisition module is used for receiving effective local satellite orbit parameters and target satellite orbit parameters injected into the ground in the period;
the estimation module estimates the relative flat track angular velocity, the relative track eccentricity component and the relative track eccentricity change rate by adopting a filtering algorithm;
the first calculation module is used for calculating the relative star spacing, the relative semi-major axis and the relative eccentricity variation;
and the second calculation module is used for calculating the relative semi-major axis target quantity and the drift velocity target quantity.
A computer readable storage medium having stored thereon computer program instructions which, when loaded and executed by a processor, cause the processor to perform the above-described method of estimating relative orbital change of a formation satellite.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (10)
1. A method for estimating relative orbital change of formation satellites is characterized by comprising the following steps:
obtaining effective local satellite orbit parameters and target satellite orbit parameters injected into the ground in the period;
estimating relative flat track angular velocity, relative track eccentricity component and relative track eccentricity change rate by adopting a filtering algorithm;
calculating the relative star spacing, the relative semi-major axis and the relative eccentricity variation;
the relative semi-major axis target amount and the drift velocity target amount are calculated.
2. The estimation method according to claim 1, wherein it is determined whether the local satellite orbit parameter and the target satellite orbit parameter are received during the local period, and if the local satellite orbit parameter and the target satellite orbit parameter are received, it is further determined whether the local satellite orbit parameter and the target satellite orbit parameter are valid.
3. The estimation method according to claim 1, wherein the effective local star orbit parameters and target star orbit parameters of the surface injection at least comprise: the reference time of the relative orbit and the variation thereof, the relative star spacing of the two stars and the variation thereof, the relative orbit eccentricity component, the relative orbit semi-major axis of the orbit injection, and the average value of the reference time of the two stars orbit.
4. The estimation method according to claim 1, wherein the filtering algorithm is used to estimate the relative flat track angular velocity, the relative track eccentricity component, and the relative track eccentricity change rate, and the iteration process is as follows:
e xRM ＝e*cos(ω)-e T *cos(ω T )
e yRM ＝e*sin(ω)-e T *sin(ω T )
e xdotRM ＝k fedot (e xRM -e xRM0 )/Dt RM +(1-k fedot )e xdotRM0
e ydotRM ＝k fedot (e yRM -e yRM0 )/Dt RM +(1-k fedot )e ydotRM0
in the formula, k fedot For filter gain, e is eccentricity, ω is orbital argument of perigee, v RM As drift velocity, v dotRM As rate of change of drift velocity, e xRM And e yRM Is a counter railComponent of track eccentricity, e xdotRM And e ydotRM For the amount of change thereof,
is a semi-major axis flat root,
the orbital angular velocity, Re, the earth radius, μ 398600km 3 /s 2 Subscript 0 represents the state variable of the last beat, and subscript T represents the state variable of the target star, which is the gravity constant; t is t RM0 Reference time, Dt, relative to the track RM0 Is t RM0 Amount of change of (Dr) RM0 Is the relative star spacing of two stars, Dr RM Is Dr RM0 Amount of change of e xRM 、e yRM Are all relative orbital eccentricity components, Δ a kRM Relative orbit semi-major axis, t, for orbit injection midRM Is the average of the two-star orbit reference time.
5. The estimation method according to claim 4, characterized in that said calculation of the relative inter-satellite distance r is carried out RM Relative semi-major axis Deltaa RM Relative eccentricity change amount Δ e xRM And Δ e yRM The method comprises the following steps:
Δt RM ＝t-t RM0
Δe xRM ＝e xRM +e xdotRM Δt RM
Δe yRM ＝e yRM +e ydotRM Δt RM 。
6. according to the claimsThe estimation method according to claim 5, wherein the calculation of the relative semi-major axis target amount Δ a TRM And a target amount v of drift velocity TRM The method comprises the following steps:
wherein, Δ L TRM Is the target star spacing variation.
7. An apparatus for estimating relative orbital change of a formation satellite, comprising:
the acquisition module is used for receiving effective local satellite orbit parameters and target satellite orbit parameters injected into the ground in the period;
the estimation module estimates the relative flat track angular velocity, the relative track eccentricity component and the relative track eccentricity change rate by adopting a filtering algorithm;
the first calculation module is used for calculating the relative star spacing, the relative semi-major axis and the relative eccentricity variation;
and the second calculation module is used for calculating the relative semi-major axis target quantity and the drift velocity target quantity.
8. The estimation apparatus as claimed in claim 7, wherein the obtaining module first determines whether the local satellite orbit parameter and the target satellite orbit parameter of the ground injection are received in the current period, and if so, further determines whether the local satellite orbit parameter and the target satellite orbit parameter are valid.
9. The estimation apparatus according to claim 7, wherein the surface injected effective and target star orbit parameters at least comprise: the reference time of the relative orbit and the variation thereof, the relative star spacing of the two stars and the variation thereof, the relative orbit eccentricity component, the relative orbit semi-major axis of the orbit injection, and the average value of the reference time of the two stars orbit.
10. A computer readable storage medium having stored thereon computer program instructions which, when loaded and executed by a processor, cause the processor to perform the method of any of claims 1 to 6.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117311394A (en) * | 2023-11-28 | 2023-12-29 | 中国西安卫星测控中心 | Inter-satellite phase overrun control method in non-strict multi-satellite serial formation system |
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