CN115072007B - Full electric propulsion satellite orbit transfer method based on autonomous mission planning - Google Patents

Full electric propulsion satellite orbit transfer method based on autonomous mission planning Download PDF

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CN115072007B
CN115072007B CN202210894734.3A CN202210894734A CN115072007B CN 115072007 B CN115072007 B CN 115072007B CN 202210894734 A CN202210894734 A CN 202210894734A CN 115072007 B CN115072007 B CN 115072007B
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electric propulsion
transfer
satellite
orbit
time
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CN115072007A (en
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陈占胜
吕旺
顾军
刘伟亮
施晓廉
俞航
何慧群
周绍辉
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Shanghai Aerospace Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/242—Orbits and trajectories
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Abstract

The invention provides a full electric propulsion satellite orbit transfer method based on autonomous mission planning, which comprises the following steps: step S1: the ground measurement, operation and control system makes an orbit transfer strategy and injects the made orbit transfer strategy to the satellite; step S2: the on-board computer triggers autonomous task planning according to a phase angle in the orbit transfer strategy to generate an orbit transfer task; and step S3: the electric propulsion system dispatches and executes the corresponding track transfer action through the satellite-borne computer according to the corresponding execution time of each track transfer action in the track transfer task; the track transfer task comprises a plurality of track transfer actions and execution time corresponding to the plurality of track transfer actions.

Description

Full electric propulsion satellite orbit transfer method based on autonomous mission planning
Technical Field
The invention relates to the technical field of aerospace, in particular to a full-electric propulsion satellite orbit transfer method based on autonomous task planning, and more particularly to an autonomous task planning method of full-electric propulsion satellite orbit transfer.
Background
All-Electric Propulsion satellites (All-Electric Propulsion Satellite) have attracted a lot of attention in the international market in recent years, being able to consume less fuel to obtain the same speed increment due to the superior specific impulse of Electric thrusters. Therefore, the full-electric propulsion satellite has great advantages in the aspects of payload carrying capacity and on-orbit service life, and is gradually replacing a complex two-component chemical propulsion system to realize the tasks of satellite transfer orbit orbital transfer after separation of satellites and arrows, on-orbit position maintenance, angular momentum unloading, off-orbit and the like after satellite orbit entry. However, the thrust of electric thrusters is generally very low and they require a considerable time to provide a large speed increment, with the duration of the orbital transfer lasting several months or even more than a year.
Aiming at the problem, the invention provides an orbit transfer strategy based on autonomous mission planning. The strategy can support the completion of various orbit transfer tasks, so that the satellite can autonomously operate for a long time. Meanwhile, the method has the advantages of simple form, low implementation difficulty, small on-satellite calculation amount and the like, and the dependence on the ground measurement and control system is reduced to the greatest extent.
Patent document CN106168998B (application number: 201610527877.5) discloses an orbit transfer optimization method for a full-electric-propulsion spacecraft considering solar wing radiation damage, and belongs to the technical field of orbit subject optimization design in the overall design of geostationary-orbit spacecraft. According to the position parameters and the running time in the spacecraft orbit transfer process, the damage effect of charged particles in the earth radiation band on the solar wing is calculated, and then the power degradation value of the solar wing is calculated. On the basis, a multi-target physical planning model comprehensively considering the track transfer time and the solar wing output power reduction coefficient is established and solved by using heredity to obtain an optimal track transfer scheme. The invention is not described with respect to the specific operation of the track transfer.
Patent document CN112278330a (application number: 202011033010.7) discloses an electric propulsion position holding method based on star-hour driving, which preprocesses electric propulsion ignition task parameters and divides the parameters into strategy parameters and attribute parameters according to whether the parameters change according to the characteristics of the task; through the star-hour driving, the initialization work, the steering adjustment of a vector adjusting mechanism, the parameter configuration of the electric thruster and the starting arc section processing before the ignition of each rail of the electric thruster are sequentially carried out according to the time sequence. The invention needs to inject a group of strategy parameter variable values from the ground before each bit-preserving ignition task, and is not suitable for long-term multiple execution. For example, an average of 14 shots per day for a period of 3 months would require about 1260 top-fill operations on the ground. Whereas with the proposed method of the invention only 1 remark is needed. The advantage of the invention is that the mission plan of each rail is triggered by phase angle, whereas the invention is based on a star-hour drive.
Patent document CN108490963A (application number: 201810128311.4) discloses a position holding method and system under a failure mode of an all-electric propulsion satellite electric thruster, the method includes the following steps: when a certain electric thruster of the full-electric propulsion satellite fails, the branch of the electric thruster is not used, and the two electric thrusters of the other branch are used for keeping and controlling the position; wherein the position maintenance control includes the steps of: the method comprises the following steps: calculating the control quantity required by each track element according to the track measurement data; step two: calculating the total eccentricity vector control quantity according to the inclination angle control quantity and the coupling relation maintained between the south position and the north position and between the south position and the east position and the west position; step three: calculating an ignition position deflection angle of the electric thruster; step four: calculating the ignition speed increment of the electric thruster and the right ascension of the midpoint of an ignition arc section; step five: and calculating the ignition time and the ignition duration of the electric thruster. The invention calculates parameters such as control quantity, ignition starting time, ignition duration and the like required by each track element according to the track measuring data. The invention needs to perform a tedious calculation every ignition task. The invention has the advantages that the task planning logic and algorithm are simple, and the specific process of autonomous task planning is disclosed.
The patent document US9108748B2 (application number: US 12925386) discloses a device and a method for lifting a satellite orbit by using an electrically propelled thruster, a satellite attitude sensor and a positioning system. The method requires that the electric propulsion track lifting profile include an auto-repeat of a propeller firing phase, a combustion phase, and a shutdown phase. The method takes the phase as the trigger condition of electric propulsion ignition and shutdown. The invention is superior to the method in that the method is triggered in a time form, so that the on-board computer can be conveniently executed according to the time sequence scheduling.
Patent document CN111114833B (application number: 201911268075.7) discloses a method and system for compatible application of track maintenance and relay based on autonomous task planning, wherein a data transmission relay working mode is configured to be periodic working, and working instructions are arranged in a job table form; and (3) the operation table is noted to an on-satellite computer, the on-satellite computer calculates the busy and idle states of the data transmission relay and the duration of the busy and idle states, the autonomous orbit keeping control is completed within enough time for the data transmission relay to be idle, a completion identifier is given, and the ground measures the orbit according to the completion identifier. The invention is superior to the method in that the workload of satellite-ground interaction operation is reduced to the maximum extent.
Patent document CN113636106a (application number: 202111080582.5) discloses a method and system for continuous low-thrust high-orbit target track-changing approach, and discloses a method for coplanar approach, out-of-plane small-inclination approach and out-of-plane large-inclination continuous low-thrust approach of a high-orbit target. Compared with the prior art, the invention has the advantages that not only are modes for realizing various track transfer targets provided, but also the specific operation flow of track transfer is disclosed.
The article "Minimum Time Trajectory Optimization for Multi-turn Low Thrust Earth Orbit transfer" of Multiple Revolition Low-speed Earth Orbit transfer (Graham K F, rao A V. Minimum-Time Orbit Optimization of Multiple Revolition Low-speed Earth Orbit-Orbit Transfers [ J ]. Journal of space and tracks 2015, 52 (3): 711-727.Https:// doi.org/10.2514/1. A33187) discloses a problem of determining high precision Minimum Time Earth Orbit transfer using Low Thrust propulsion. Such articles focus on the optimization problem of low thrust orbital transfer and are essentially theoretical studies. Although the invention is not controlled according to the optimal method, the invention is more advantageous than the method in that the invention is very beneficial to the engineering realization, namely the engineering realization cost saved by the invention is far more than the loss caused by the suboptimal method.
An on-Orbit calculation and Optimization problem of an All-electric Propulsion satellite Orbit transmission Strategy is intensively researched by an Engineering Optimization Method of an All-electric Propulsion satellite Orbit Transfer Strategy (Mingren Han and Yufeng Wang 2021J Phys, conf.2029 012011 https:/doi.org/10.1088/1742-6596/2029/1/012011), a simplified low-thrust Orbit Transfer Strategy of an All-electric Propulsion satellite is disclosed, and a bidirectional random gradient descent Method suitable for satellite-borne calculation is provided. Compared with the method, the method has the advantages that complex orbit recursion and optimization search are not required to be carried out by using an on-board computer, logic flow is directly utilized, orbit transfer task planning is triggered through a phase angle, and orbit transfer action implementation is triggered through time, the method is simple in form, low in implementation difficulty and small in on-board calculation amount, and the satellite can be supported to independently complete various orbit transfer tasks for a long time.
Patent document CN107977746a (application number: 201711252579.0) discloses an agile earth-to-ground satellite motion planning method, which converts a mission planning scheme such as earth observation and data transmission into a motion sequence with motion start and stop time. On the premise of meeting task constraints, resource constraints and action constraints, the task planning scheme is completed to the maximum extent. The method provided by the invention is not suitable for the problems of long-term operation and periodic repetition of full-electric propulsion satellite orbit transfer. The present invention is superior in that it is capable of periodically conducting autonomous mission planning for orbital transfer over a period of up to several months and even over a year.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a full electric propulsion satellite orbit transfer method based on autonomous mission planning.
The invention provides a full electric propulsion satellite orbit transfer method based on autonomous mission planning, which comprises the following steps:
step S1: the ground measurement, operation and control system makes an orbit transfer strategy and injects the made orbit transfer strategy to the satellite;
step S2: the on-board computer triggers autonomous task planning according to a phase angle in the orbit transfer strategy to generate an orbit transfer task;
and step S3: the electric propulsion system dispatches and triggers to execute the corresponding track transfer action through the spaceborne computer according to the corresponding execution time of each track transfer action in the track transfer task;
the track transfer task comprises a plurality of track transfer actions and execution time corresponding to the plurality of track transfer actions.
Preferably, the step S1 employs: the formulated one or more orbit transfer strategies are annotated to the satellite; each track transfer strategy comprises a set of track transfer strategy parameters;
the set of track transfer strategy parameters comprises: mission planning phase angle
Figure 131339DEST_PATH_IMAGE001
Phase angle of electric propulsion working center
Figure 66934DEST_PATH_IMAGE002
Duration of electric propulsion
Figure 214143DEST_PATH_IMAGE003
Electric propulsion working attitude
Figure 260597DEST_PATH_IMAGE004
Moment when track transfer policy takes effect
Figure 42608DEST_PATH_IMAGE005
And track transfer strategy revocation time
Figure 149104DEST_PATH_IMAGE006
；
The mission planning phase angle
Figure 547725DEST_PATH_IMAGE007
Is a phase angle used for triggering the on-board computer to perform autonomous mission planning calculation;
the electric propulsion work center phase angle
Figure 427562DEST_PATH_IMAGE008
Is in the working period of electric propulsionThe phase angle corresponding to the heart time;
length of operation of the electric propulsion
Figure 64080DEST_PATH_IMAGE009
Is the duration of time from ignition of the electric propulsion to shutdown;
the electric propulsion operating attitude
Figure 607057DEST_PATH_IMAGE010
The attitude of the satellite body system relative to an attitude reference system during electric propulsion work;
moment when the track transfer policy takes effect
Figure 961815DEST_PATH_IMAGE011
The current orbit transfer strategy is only used when the actual time of the satellite is greater than the effective moment of the orbit transfer strategy
Figure 382694DEST_PATH_IMAGE011
The effect is achieved;
the track transfer strategy abolishes time
Figure 139298DEST_PATH_IMAGE012
When the actual time of the satellite exceeds the disuse moment of the orbit transfer strategy
Figure 587597DEST_PATH_IMAGE013
And when the satellite-borne computer automatically abolishes and deletes the current track transfer strategy.
Preferably, the first and second electrodes are formed of a metal,
length of operation of the electric propulsion
Figure 695230DEST_PATH_IMAGE014
The method comprises the following steps of (1) formulating according to the performance index of the electric propulsion product, the energy balance condition of a satellite platform and the efficiency of an ignition arc section;
the electric propulsion work center phase angle
Figure 668869DEST_PATH_IMAGE008
Formulating according to the satellite orbit transfer target; the guardThe star orbit transfer target comprises: a basic track transfer target and a specific track transfer target;
the basic track transfer target comprises track height lifting, track height reducing, track eccentricity control and track inclination angle adjustment;
the specific track transfer target includes: satellite obstacle avoidance, orbit position maintenance of a stationary satellite, fixed point position drift of the stationary satellite, hoeman orbit change and satellite off-orbit; and the specific track transfer target is realized by one or more basic track transfer target combinations;
the electric propulsion operating attitude
Figure 14400DEST_PATH_IMAGE015
According to the installation position of the thruster on the star and the designation of a satellite orbit transfer target, the thrust is ensured to point to the required direction during the electric propulsion work;
the mission planning phase angle
Figure 633600DEST_PATH_IMAGE016
The method comprises the following steps:
Figure 431792DEST_PATH_IMAGE017
wherein the content of the first and second substances,
Figure 693009DEST_PATH_IMAGE018
a time advance representing a calculated time of the autonomous mission plan relative to an electric propulsion ignition time;
Figure 627467DEST_PATH_IMAGE019
representing the electric propulsion working time length;
Figure 184612DEST_PATH_IMAGE020
representing a gravitational constant;
Figure 735679DEST_PATH_IMAGE021
is a satellite orbit semi-major axis;
the track transfer strategyMoment of effect
Figure 3850DEST_PATH_IMAGE022
Formulating according to the on-orbit working state and task arrangement of the satellite;
the transfer policy revocation time
Figure 120710DEST_PATH_IMAGE023
According to the total length of the propelling work required for completing the track transfer target
Figure 642565DEST_PATH_IMAGE024
And (5) formulating.
Preferably, the electric propulsion work center phase angle
Figure 149770DEST_PATH_IMAGE025
The method comprises the following steps: when the satellite orbit transfer target is an orbit altitude elevation,
Figure 752789DEST_PATH_IMAGE026
(ii) a When the satellite orbit transfer target is a decrease in orbit height,
Figure 458577DEST_PATH_IMAGE027
(ii) a When the satellite orbit transfer target is the orbit eccentricity control,
Figure 357525DEST_PATH_IMAGE028
or
Figure 883185DEST_PATH_IMAGE029
(ii) a When the satellite orbit transfer target is an orbital inclination adjustment,
Figure 758737DEST_PATH_IMAGE030
or
Figure 787873DEST_PATH_IMAGE031
。
Preferably, the step S2 employs: according to the effective moment of the track transfer strategy
Figure 356257DEST_PATH_IMAGE032
And track transfer strategy revocation time
Figure 103633DEST_PATH_IMAGE033
Determining an effective period of the track transfer strategy; during the effective period of the orbit transfer strategy, the on-board computer plans a phase angle based on the tasks in the orbit transfer strategy
Figure 818429DEST_PATH_IMAGE034
Triggering the spaceborne computer to carry out autonomous task planning and generate a track transfer task; when the track phase angle reaches the mission plan phase angle
Figure 967651DEST_PATH_IMAGE035
The spaceborne computer carries out one-time autonomous task planning and generates a new orbit transfer task after planning;
the track transfer task includes a plurality of track transfer actions including: establishing an electric propulsion working attitude, preparing electric propulsion ignition, working electric propulsion ignition, shutting down electric propulsion, returning attitude, ending and deleting tasks.
Preferably, the respective execution times of the plurality of track transfer actions include: starting time of attitude maneuver
Figure 441358DEST_PATH_IMAGE036
Electric propulsion preparation time
Figure 941609DEST_PATH_IMAGE037
Ignition time of electric propulsion
Figure 893385DEST_PATH_IMAGE038
Electrically-propelled shutdown time
Figure 664157DEST_PATH_IMAGE039
And task end time
Figure 105502DEST_PATH_IMAGE040
；
The attitude maneuver starterMoment of action
Figure 93050DEST_PATH_IMAGE041
Is that
Figure 878210DEST_PATH_IMAGE042
Starting attitude maneuver of the satellite at the moment until the attitude required by the propelling work is established;
the electric propulsion preparation time
Figure 2024DEST_PATH_IMAGE043
Is that
Figure 614271DEST_PATH_IMAGE044
The satellite-borne computer sends an instruction to the electric propulsion module at the moment, and starts to execute self-checking and preheating preparation work before propulsion ignition;
the ignition time of the electric propulsion
Figure 620273DEST_PATH_IMAGE045
Is that
Figure 415316DEST_PATH_IMAGE046
Electric propulsion ignition is executed at any moment;
the electrically-propelled shutdown time
Figure 128057DEST_PATH_IMAGE047
Is that
Figure 707943DEST_PATH_IMAGE048
The electric propulsion is powered off at any moment, and meanwhile, the attitude maneuver is started to return to the conventional flight attitude of the satellite;
the task end time
Figure 935662DEST_PATH_IMAGE049
Is that
Figure 791186DEST_PATH_IMAGE050
And deleting the track transfer task at any moment.
Preferably, the electric propulsion ignition moment
Figure 889592DEST_PATH_IMAGE051
The method comprises the following steps:
Figure 578062DEST_PATH_IMAGE052
wherein the content of the first and second substances,
Figure 27498DEST_PATH_IMAGE053
representing the satellite average orbital angular velocity;
Figure 429923DEST_PATH_IMAGE054
represents the phase angle advance;
Figure 117256DEST_PATH_IMAGE055
representing the current time when the on-board computer performs the autonomous mission planning;
Figure 711048DEST_PATH_IMAGE056
representing the electric propulsion working time length;
Figure 382201DEST_PATH_IMAGE057
wherein the content of the first and second substances,
Figure 883590DEST_PATH_IMAGE058
is at present
Figure 720702DEST_PATH_IMAGE059
The orbit semimajor axis of the moment;
Figure 954238DEST_PATH_IMAGE060
represents a gravitational constant;
Figure 847107DEST_PATH_IMAGE061
wherein, the first and the second end of the pipe are connected with each other,
Figure 355449DEST_PATH_IMAGE035
representing a mission plan phase angle;
Figure 315577DEST_PATH_IMAGE062
representing an electric propulsion work center phase angle;
the electrically-propelled shutdown time
Figure 516751DEST_PATH_IMAGE063
The method comprises the following steps:
Figure 162496DEST_PATH_IMAGE064
the electric propulsion preparation time
Figure 740108DEST_PATH_IMAGE065
The method comprises the following steps:
Figure 557672DEST_PATH_IMAGE066
wherein the content of the first and second substances,
Figure 929748DEST_PATH_IMAGE067
representing the time required for self-checking and preheating preparation work before the ignition of the electric propulsion module;
the starting time of the attitude maneuver
Figure 797210DEST_PATH_IMAGE068
The method comprises the following steps:
Figure 178512DEST_PATH_IMAGE069
wherein the content of the first and second substances,
Figure 50916DEST_PATH_IMAGE070
representing maneuvers from conventional flight attitude to electric propulsion operating attitude
Figure 859472DEST_PATH_IMAGE015
The required time is obtained by real-time calculation of the satellite-borne computer;
the task end time
Figure 214230DEST_PATH_IMAGE071
The method comprises the following steps:
Figure 602486DEST_PATH_IMAGE072
wherein the content of the first and second substances,
Figure 857624DEST_PATH_IMAGE073
representing working attitude propelled from electricity
Figure 571502DEST_PATH_IMAGE074
The time required for the maneuver to return to normal flight attitude.
Preferably, each execution of the track transfer task during the validation period of the track transfer policy includes:
step S3.1:
Figure 147977DEST_PATH_IMAGE075
starting attitude maneuver at all times;
step S3.2:
Figure 339924DEST_PATH_IMAGE076
starting electric propulsion preparation at the moment;
step S3.3: the attitude maneuver is in place, and the electric propulsion working attitude is established;
step S3.4:
Figure 685455DEST_PATH_IMAGE038
electric propulsion ignition is carried out at any moment;
step S3.5:
Figure 337278DEST_PATH_IMAGE077
the electric propulsion is shut down at any moment, and then the attitude maneuver is started immediately to return to the conventional flight attitude;
step S3.6: the gesture maneuver returns to the place;
step S3.7:
Figure 401049DEST_PATH_IMAGE078
and (4) ending the current task at the moment, and deleting the current task in the task queue.
Preferably, after the on-board computer performs autonomous task planning to generate an orbit transfer task, whether the newly generated orbit transfer task has time overlap with the satellite service work task, the queued orbit transfer task and the ground-specified forbidden time interval is judged, when the time overlap exists, the queue is considered to be in conflict, the current task planning result is invalidated, otherwise, the newly generated orbit transfer task is added into the orbit transfer task queue.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention minimizes the workload of the ground operation and control satellite by dividing the orbit transfer process into three layers of strategy, task and action and respectively adopting the technical characteristics of the ground system, the satellite-borne computer and the electric propulsion system, thereby realizing the technical effect that the satellite autonomously executes the orbit transfer task for a long time;
2. the invention solves the engineering optimization problem of the full-electric propulsion satellite orbit transfer strategy. The autonomous task planning method disclosed by the invention can support the realization of various orbit transfer targets, so that the satellite can autonomously execute the orbit transfer task for a long time; meanwhile, the method has the advantages of simple form, low implementation difficulty, small on-satellite calculation amount and the like, reduces the dependence on the ground measurement and control system to the greatest extent, and has higher application value.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a timing diagram illustrating the execution of the full-electric propulsion satellite orbit transfer action.
Fig. 2 is a flow chart of an implementation of a full electric propulsion satellite orbit transfer strategy.
Fig. 3 is a schematic diagram of variation of the semi-major axis during track transfer.
Fig. 4 is a schematic diagram of the change of eccentricity during track transfer.
Fig. 5 is a schematic diagram of the track height variation during track transfer.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the invention.
Example 1
With the continuous development of the full-electric propulsion satellite and the problem of long duration of the full-electric propulsion satellite orbit transfer, the application value of the autonomous mission planning in the full-electric propulsion satellite orbit transfer becomes more and more important. In order to implement autonomous mission planning for full electrically propelled satellite orbit transfer, the orbit transfer process comprises: executing three levels of strategies, tasks and actions; firstly, strategy level: setting a group of orbit transfer strategy parameters on the ground, and annotating the orbit transfer strategy parameters to a satellite; then the task layer: during the in-orbit flight of the satellite, the orbital phase angle is from 0 to
Figure 396687DEST_PATH_IMAGE079
Periodically changing, and automatically performing task planning by the spaceborne computer when the track phase angle reaches a task planning phase angle in the track transfer strategy parameters; the autonomous task planning comprises generating a track transfer action and executing time corresponding to the generated track transfer action; finally, the action layer: and triggering the corresponding track transfer action by the electric propulsion system according to the corresponding execution time of the generated track transfer action. The operation of the three layers realizes the autonomous mission planning of the orbit transfer of the full electric propulsion satellite, and the electric propulsion system periodically and repeatedly works.
Specifically, as shown in fig. 2, the autonomous mission planning method for full-electric propulsion satellite orbit transfer according to the present invention includes:
step S1: the ground measurement, operation and control system makes an orbit transfer strategy and injects the made orbit transfer strategy to the satellite;
step S2: the on-board computer triggers autonomous task planning according to a phase angle in the orbit transfer strategy to generate an orbit transfer task;
and step S3: the electric propulsion system carries out corresponding track transfer actions through the scheduling trigger of the spaceborne computer according to corresponding execution moments of all track transfer actions in the track transfer tasks;
the track transfer task comprises a plurality of track transfer actions and execution time corresponding to the plurality of track transfer actions.
Generally, each orbit of the satellite implements autonomous mission planning and is triggered in a phase angle mode, so that the ground can conveniently make a periodically repeated orbital transfer scheme; the track transfer action is triggered in a time form, so that the satellite-borne computer can conveniently execute the track transfer action according to the scheduling of a time sequence.
Specifically, the track transfer policy includes a plurality of track transfer policy parameters, including: mission planning phase angle
Figure 596724DEST_PATH_IMAGE007
Phase angle of electric propulsion working center
Figure 917984DEST_PATH_IMAGE062
Duration of electric propulsion
Figure 532085DEST_PATH_IMAGE080
Electric propulsion working attitude
Figure 393731DEST_PATH_IMAGE081
Moment when track transfer policy takes effect
Figure 245012DEST_PATH_IMAGE082
And track transfer strategy revocation time
Figure 940436DEST_PATH_IMAGE023
；
The phase angle is an angle parameter for describing the satellite orbit phase, and latitude argument, true anomaly angle, mean anomaly angle and the like of the satellite orbit can be selected. In the present embodiment, the satellite orbit mean anomaly angle is selected as the phase angle.
The mission planning phase angle
Figure 480264DEST_PATH_IMAGE083
Is a phase angle used for triggering the on-board computer to perform autonomous mission planning calculation; in this example, take
Figure 817704DEST_PATH_IMAGE084
A range;
the electric propulsion work center phase angle
Figure 726754DEST_PATH_IMAGE062
Is a phase angle corresponding to the central moment of the electric propulsion working period; in this example, take
Figure 389817DEST_PATH_IMAGE085
A range;
length of operation of the electric propulsion
Figure 649897DEST_PATH_IMAGE086
Is the duration of time from ignition of the electric propulsion to shutdown;
the electric propulsion operating attitude
Figure 525449DEST_PATH_IMAGE087
The attitude of the satellite body system relative to an attitude reference system during electric propulsion work; the attitude reference system can adopt a satellite orbit system, an inertia system and the like; in this embodiment, the attitude reference system is selected from a satellite orbit system. The description mode of the electric propulsion working attitude can adopt Euler angles, quaternions, direction cosine matrixes and the like; in this embodiment, the description mode of the electric propulsion working attitude selects quaternion, which includes four components
Figure 584279DEST_PATH_IMAGE088
。
Moment when the track transfer policy takes effect
Figure 152663DEST_PATH_IMAGE090
The current orbit transfer strategy is only used when the actual time of the satellite is greater than the effective moment of the orbit transfer strategy
Figure 962356DEST_PATH_IMAGE091
The effect is achieved;
the track transfer strategy abolishes time
Figure 408643DEST_PATH_IMAGE092
When the actual time of the satellite exceeds the disuse moment of the orbit transfer strategy
Figure 557865DEST_PATH_IMAGE093
And when the satellite-borne computer automatically abolishes and deletes the current track transfer strategy.
Length of operation of electric propulsion
Figure 297151DEST_PATH_IMAGE003
The method is formulated according to the performance indexes of the electric propulsion product, the energy balance condition of the satellite platform, the ignition arc section efficiency and other conditions. In this embodiment, the electric propulsion is performed for a long time
Figure 266244DEST_PATH_IMAGE094
Taking the mixture for 5 to 15 minutes.
Phase angle of electric propulsion working center
Figure 14757DEST_PATH_IMAGE025
And (5) making according to the satellite orbit transfer target. The basic orbit transfer target includes: the orbit transfer targets such as the satellite obstacle avoidance, the geostationary satellite orbit position maintenance, the geostationary satellite fixed point position drift, the Hoeman orbit change, the satellite off-orbit and the like can be realized by one or more combinations of the basic orbit transfer targets. In this embodiment, orbital altitude elevation may produce a square satellite airspeed near the apogeeThe thrust in the direction of the air flow,
Figure 522880DEST_PATH_IMAGE095
(ii) a The reduced orbital altitude may produce thrust in the opposite direction to the satellite's flight velocity near the apogee,
Figure 433067DEST_PATH_IMAGE096
(ii) a The orbital eccentricity control can generate thrust in the positive direction or the negative direction of the flight speed of the satellite near the near place or the far place,
Figure 155035DEST_PATH_IMAGE097
or
Figure 441660DEST_PATH_IMAGE098
(ii) a Orbital inclination adjustment can produce thrust perpendicular to the orbital plane near the satellite elevation point or the lowering point,
Figure 831053DEST_PATH_IMAGE099
or
Figure 413606DEST_PATH_IMAGE100
。
Electric propulsion working attitude
Figure 91712DEST_PATH_IMAGE101
The thrust is ensured to point to the required direction during the electric propulsion work according to the installation position of the thruster on the star body and the satellite orbit transfer target.
Mission planning phase angle
Figure 182028DEST_PATH_IMAGE083
The design method comprises the following steps: timing advance of calculated time relative to electric propulsion ignition time for autonomous mission planning
Figure 425928DEST_PATH_IMAGE102
Must be greater than the time required to establish the electric propulsion operating attitude and the time required for electric propulsion ignition preparation, mission planning phase angle
Figure 677917DEST_PATH_IMAGE103
The calculation method is as follows:
Figure 138592DEST_PATH_IMAGE104
，
wherein the content of the first and second substances,
Figure 235861DEST_PATH_IMAGE105
in this embodiment, the minimum value of the variation range of the semi-major axis in the orbit transfer process is taken as the satellite orbit semi-major axis;
Figure 803109DEST_PATH_IMAGE106
is the gravitational constant, in this embodiment, taken
Figure 960421DEST_PATH_IMAGE107
。
Moment when track transfer strategy takes effect
Figure 144277DEST_PATH_IMAGE022
And formulating according to the on-orbit working state and the task arrangement of the satellite.
Track transfer strategy abrogation time
Figure 45237DEST_PATH_IMAGE093
According to the total duration of the propelling work required for completing the track transfer target
Figure 765194DEST_PATH_IMAGE108
And (5) formulating. In this embodiment, the whole orbit transfer target is completed at one time, and
Figure 358986DEST_PATH_IMAGE109
(ii) a The whole track transfer target is completed in n times, namely
Figure 498981DEST_PATH_IMAGE110
。
Specifically, when the orbit transfer strategy is injected on the ground, the phase angle advance is immediately calculated:
Figure 203631DEST_PATH_IMAGE111
treating the angle range in
Figure 11050DEST_PATH_IMAGE112
Within the range. Planning the mission by phase angle
Figure 533999DEST_PATH_IMAGE113
Phase angle of electric propulsion working center
Figure 161290DEST_PATH_IMAGE114
Duration of electric propulsion
Figure 200790DEST_PATH_IMAGE115
Electric propulsion working attitude
Figure 862715DEST_PATH_IMAGE116
Moment when track transfer policy takes effect
Figure 63889DEST_PATH_IMAGE117
Time of track transfer policy extinction
Figure 945520DEST_PATH_IMAGE118
Phase angle advance
Figure 991973DEST_PATH_IMAGE119
These parameters are stored as a set of orbit transfer strategy parameters in the on-board computer storage device for polling decisions. The ground may post one or more orbit transfer strategies to the satellite, each strategy comprising a set of orbit transfer strategy parameters.
Specifically, the step S2 employs: according to the effective moment of the track transfer strategy
Figure 508405DEST_PATH_IMAGE022
And track transfer strategy revocation time
Figure 880481DEST_PATH_IMAGE118
Determining an effective period of the track transfer strategy; during the effective period of the orbit transfer strategy, the on-board computer plans a phase angle based on the tasks in the orbit transfer strategy
Figure 216784DEST_PATH_IMAGE120
Triggering the spaceborne computer to carry out autonomous task planning and generate a track transfer task; when the track phase angle reaches the mission plan phase angle
Figure 801349DEST_PATH_IMAGE121
The on-board computer performs one-time autonomous task planning, and generates a new orbit transfer task after planning, wherein the new orbit transfer task comprises a plurality of orbit transfer actions and execution time parameters corresponding to the plurality of orbit transfer actions;
the track transfer task includes a plurality of track transfer actions including: establishing an electric propulsion working attitude, preparing electric propulsion ignition, working electric propulsion ignition, shutting down electric propulsion, returning attitude, ending and deleting tasks.
The execution time parameters corresponding to the plurality of track transfer actions include: starting time of attitude maneuver
Figure 936402DEST_PATH_IMAGE122
Electric propulsion preparation time
Figure 479379DEST_PATH_IMAGE123
Electrically propelled ignition timing
Figure 834137DEST_PATH_IMAGE124
Electrically-propelled shutdown time
Figure 786175DEST_PATH_IMAGE063
And the task end time
Figure 73937DEST_PATH_IMAGE078
。
The starting time of the attitude maneuver
Figure 53394DEST_PATH_IMAGE125
The satellite begins attitude maneuver at that time until the attitude required for propulsion work is established.
The electric propulsion preparation time
Figure 364290DEST_PATH_IMAGE126
At the moment, the satellite-borne computer sends an instruction to the electric propulsion module to start a series of preparations such as self-checking, preheating and the like before propulsion ignition.
The ignition moment of the electric propulsion
Figure 857369DEST_PATH_IMAGE127
At this point, the electric propulsion is ignited.
The electric propulsion shutdown time
Figure 468479DEST_PATH_IMAGE128
At the moment, the electric propulsion is shut down, and meanwhile, the attitude maneuver is started to return to the conventional flight attitude of the satellite.
The task end time
Figure 87679DEST_PATH_IMAGE129
The sub track transfer task is deleted at that time.
The ignition moment of the electric propulsion
Figure 885871DEST_PATH_IMAGE130
The method comprises the following steps:
Figure 147088DEST_PATH_IMAGE131
wherein the content of the first and second substances,
Figure 645327DEST_PATH_IMAGE132
representing the average orbital angular velocity of the satellite;
Figure 435429DEST_PATH_IMAGE133
represents the phase angle advance;
Figure 986496DEST_PATH_IMAGE134
representing the current time when the on-board computer performs the autonomous mission planning;
Figure 520245DEST_PATH_IMAGE094
representing the electric propulsion working time length;
Figure 574789DEST_PATH_IMAGE135
wherein, the first and the second end of the pipe are connected with each other,
Figure 270213DEST_PATH_IMAGE136
is at present
Figure 338269DEST_PATH_IMAGE137
The orbit semimajor axis of the moment;
Figure 144551DEST_PATH_IMAGE138
representing a gravitational constant;
Figure 319181DEST_PATH_IMAGE139
the electrically-propelled shutdown time
Figure 716664DEST_PATH_IMAGE140
The method comprises the following steps:
Figure 242323DEST_PATH_IMAGE141
the electric propulsion preparation time
Figure 619340DEST_PATH_IMAGE123
The method comprises the following steps:
Figure 179635DEST_PATH_IMAGE142
wherein the content of the first and second substances,
Figure 13598DEST_PATH_IMAGE143
representing the time required for self-checking and preheating preparation work before the ignition of the electric propulsion module;
the starting time of the attitude maneuver
Figure 73825DEST_PATH_IMAGE144
The method comprises the following steps:
Figure 753068DEST_PATH_IMAGE145
wherein the content of the first and second substances,
Figure 902290DEST_PATH_IMAGE146
shows that the conventional flight attitude maneuver is calculated to the electric propulsion working attitude according to the capability of an attitude control actuating mechanism and the efficiency of a control algorithm
Figure 375997DEST_PATH_IMAGE087
The time required;
the task end time
Figure 345090DEST_PATH_IMAGE147
The method comprises the following steps:
Figure 359182DEST_PATH_IMAGE148
wherein, the first and the second end of the pipe are connected with each other,
Figure 598796DEST_PATH_IMAGE149
shows that the satellite calculates the working attitude of the electric propulsion according to the capability of an attitude control actuating mechanism and the efficiency of a control algorithm
Figure 508983DEST_PATH_IMAGE150
The time required for the maneuver to return to normal flight attitude.
During the effective period of the track transfer strategy, each track transfer task execution comprises the following steps:
step 1:
Figure 230951DEST_PATH_IMAGE122
starting the attitude maneuver at all times.
Step 2:
Figure DEST_PATH_IMAGE151
electric propulsion preparation is started at that moment.
And step 3: and (5) maneuvering the attitude in place, and establishing an electric propulsion working attitude to finish.
And 4, step 4:
Figure 517576DEST_PATH_IMAGE124
and (4) electric propulsion ignition at the moment.
And 5:
Figure 906969DEST_PATH_IMAGE077
the electric propulsion is shut down at the moment, and then the attitude maneuver is immediately started to return to the conventional flight attitude.
And 6: the gesture maneuvers return to position.
And 7:
Figure 955434DEST_PATH_IMAGE152
and at the moment, the current task is finished, and the task is deleted in the task queue.
Specifically, after the on-board computer performs autonomous task planning each time to generate an orbit transfer task, whether the newly generated orbit transfer task has time overlap with a satellite service work task, the queued orbit transfer task and a ground-specified forbidden time interval is judged, when the time overlap exists, the queue is considered to be in conflict, the current task planning result is abandoned, and otherwise, the newly generated orbit transfer task is added into an orbit transfer task queue.
As shown in fig. 1, the system for transferring an all-electric propulsion satellite orbit based on autonomous mission planning provided by the present invention can be implemented by the steps and flows of the method for transferring an all-electric propulsion satellite orbit based on autonomous mission planning provided by the present invention. The person skilled in the art can understand the fully electrically-propelled satellite orbit transfer method based on autonomous mission planning as a preferred example of a fully electrically-propelled satellite orbit transfer system based on autonomous mission planning.
Example 2
Example 2 is a preferred example of example 1
The autonomous mission planning method for full-electric propulsion satellite orbit transfer proposed by the present invention is further described in detail with reference to the accompanying drawings and specific embodiments.
The method provided by the invention is further described in detail by taking the example that the sun synchronous orbit full electric propulsion satellite carries out the operation of derailing. The satellite parameters are shown in the following table:
Figure 430278DEST_PATH_IMAGE153
the autonomous task planning method for the full electric propulsion satellite orbit transfer provided by the invention divides the orbit transfer process into three layers of strategy, task and action to be executed, and the three layers are respectively executed by a ground system, an on-board computer and an electric propulsion system. Establishing an orbit transfer strategy on the ground, and uploading orbit transfer strategy parameters to a satellite; the on-board computer periodically develops autonomous task planning to generate a track transfer task; and when the preset time is reached, the on-board computer schedules and executes a corresponding orbit transfer action.
Autonomous mission planning is implemented on each orbit of the satellite and triggered in a phase angle mode, so that a periodically repeated orbital transfer scheme is conveniently formulated on the ground; the track transfer action is triggered in a time form, so that the satellite-borne computer can conveniently execute the track transfer action according to the scheduling of a time sequence.
The track transfer strategy parameters include: mission planning phase angle
Figure 255015DEST_PATH_IMAGE121
Phase angle of electric propulsion working center
Figure 30073DEST_PATH_IMAGE154
Duration of electric propulsion
Figure DEST_PATH_IMAGE155
Electricity, electricityPropulsion of working attitude
Figure 49106DEST_PATH_IMAGE156
Moment when track transfer policy takes effect
Figure 480088DEST_PATH_IMAGE117
Time of track transfer strategy abrogation
Figure 374094DEST_PATH_IMAGE118
。
The method for designing the track transfer strategy parameters on the ground is as follows:
electric propulsion working duration taking
Figure DEST_PATH_IMAGE157
。
For lowering the height of the track, taking the phase angle of the electric propulsion centre
Figure 39212DEST_PATH_IMAGE158
。
Electric propulsion working attitude
Figure 196524DEST_PATH_IMAGE159
To ensure that the thrust is directed in the opposite direction of the speed during operation of the electric propulsion.
Time advance measurement of calculation time of autonomous mission planning relative to ignition time of electric propulsion
Figure 114801DEST_PATH_IMAGE160
. Mission planning phase angle
Figure 546920DEST_PATH_IMAGE034
And (3) calculating:
Figure DEST_PATH_IMAGE161
the track transfer strategy takes epoch as the effective time,
Figure 594772DEST_PATH_IMAGE162
。
the total length of the propelling work required for completing the track transfer target is taken
Figure DEST_PATH_IMAGE163
When the whole track transfer target is completed at one time, the method comprises the following steps
Figure 985302DEST_PATH_IMAGE164
。
The track transfer strategy parameters designed according to the present invention are as follows:
Figure 951728DEST_PATH_IMAGE165
when the orbit transfer strategy is poured on the ground, the phase angle lead is immediately calculated:
Figure 656379DEST_PATH_IMAGE166
. Planning the mission by phase angle
Figure 994956DEST_PATH_IMAGE016
Phase angle of electric propulsion working center
Figure 25229DEST_PATH_IMAGE114
Electric propulsion operation duration
Figure 652520DEST_PATH_IMAGE167
Electric propulsion working attitude
Figure 662326DEST_PATH_IMAGE087
And the moment when the track transfer strategy takes effect
Figure 324252DEST_PATH_IMAGE022
Time of track transfer strategy abrogation
Figure 994267DEST_PATH_IMAGE118
Phase angle advance
Figure 640012DEST_PATH_IMAGE168
These parameters are stored as a set of orbit transfer strategy parameters in the on-board computer storage device for polling decisions. The ground may post one or more orbit transfer strategies to the satellite, each strategy comprising a set of orbit transfer strategy parameters.
The track transfer task includes a series of track transfer actions: establishing an electric propulsion working attitude, preparing electric propulsion ignition, working the electric propulsion ignition, shutting down the electric propulsion, returning the attitude, ending and deleting tasks.
When the actual time of the satellite is at the moment when the orbit transfer strategy takes effect
Figure 686466DEST_PATH_IMAGE169
And track transfer strategy revocation time
Figure 202898DEST_PATH_IMAGE118
In between, is the effective period of the track transfer policy. During the active period of the track transfer strategy, each time the track phase angle arrives
Figure 536491DEST_PATH_IMAGE034
Is/are as follows
Figure DEST_PATH_IMAGE170
At any moment, the spaceborne computer carries out one-time autonomous task planning to generate a new orbit transfer task, which comprises five orbit transfer action parameters: attitude maneuver starting time
Figure 669532DEST_PATH_IMAGE171
Electric propulsion preparation time
Figure DEST_PATH_IMAGE172
Ignition time of electric propulsion
Figure 847572DEST_PATH_IMAGE173
Electrically-propelled shutdown time
Figure 218511DEST_PATH_IMAGE048
And the task end time
Figure 262952DEST_PATH_IMAGE174
。
First-time arrival mission plan phase angle
Figure 883289DEST_PATH_IMAGE121
At the moment of
Figure DEST_PATH_IMAGE175
Taking the first autonomous task plan as an example, the calculation process of five track transfer action parameters is introduced:
step 1: calculating the average orbital angular velocity of the satellite
Figure 599442DEST_PATH_IMAGE176
Figure DEST_PATH_IMAGE177
Step 2: calculating ignition time of electric propulsion
Figure 182476DEST_PATH_IMAGE051
Figure 427513DEST_PATH_IMAGE178
And step 3: calculating the time of electric propulsion shutdown
Figure DEST_PATH_IMAGE179
Figure 36611DEST_PATH_IMAGE180
And 4, step 4: calculating electric propulsion preparation time
Figure 228558DEST_PATH_IMAGE181
The time required for the preparation work of self-checking, preheating and the like of the electric propulsion module is taken
Figure 105247DEST_PATH_IMAGE182
。
Figure 724447DEST_PATH_IMAGE183
And 5: calculating starting time of attitude maneuver
Figure 788218DEST_PATH_IMAGE184
Calculating the working attitude from conventional flight attitude maneuver to electric propulsion according to the capability of the attitude control actuating mechanism and the efficiency of the control algorithm
Figure DEST_PATH_IMAGE185
Taking the required time
Figure 616147DEST_PATH_IMAGE186
。
Figure DEST_PATH_IMAGE187
And 6: calculating task end time
Figure 144080DEST_PATH_IMAGE071
The satellite calculates the working attitude of the electric propulsion according to the capability of the attitude control executing mechanism and the efficiency of the control algorithm
Figure 966805DEST_PATH_IMAGE188
The time required for the maneuver to return to conventional flight attitude is taken
Figure DEST_PATH_IMAGE189
。
Figure 845768DEST_PATH_IMAGE190
During the effective period of the track transfer strategy, each track transfer task execution comprises the following steps:
step 1:
Figure 379517DEST_PATH_IMAGE171
starting the attitude maneuver at all times.
And 2, step:
Figure 463755DEST_PATH_IMAGE076
electric propulsion preparation is started at that moment.
And step 3: and the attitude maneuver is in place, and the electric propulsion working attitude is established.
And 4, step 4:
Figure 690337DEST_PATH_IMAGE173
and (4) electric propulsion ignition at the moment.
And 5:
Figure 994279DEST_PATH_IMAGE191
the electric propulsion is shut down at the moment, and then the attitude maneuver is immediately started to return to the conventional flight attitude.
Step 6: the gesture maneuver returns to the position.
And 7:
Figure 331719DEST_PATH_IMAGE152
and at the moment, the current task is finished, and the task is deleted in the task queue.
The satellite orbit change situation during the effective period of the whole orbit transfer strategy is shown in fig. 3, fig. 4 and fig. 5.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (9)

1.A full electric propulsion satellite orbit transfer method based on autonomous mission planning is characterized by comprising the following steps:
step S1: the ground measurement, operation and control system makes an orbit transfer strategy and injects the made orbit transfer strategy to the satellite;
step S2: the on-board computer triggers autonomous task planning according to a phase angle in the orbit transfer strategy to generate an orbit transfer task;
and step S3: the electric propulsion system dispatches and triggers to execute the corresponding track transfer action through the spaceborne computer according to the corresponding execution time of each track transfer action in the track transfer task;
the track transfer task comprises a plurality of track transfer actions and execution time corresponding to the plurality of track transfer actions.
2. An all-electric propulsion satellite orbit transfer method based on autonomous mission planning according to claim 1, characterized in that said step S1 employs: the formulated one or more orbit transfer strategies are annotated to the satellite; each track transfer strategy comprises a set of track transfer strategy parameters;
the set of track transfer strategy parameters comprises: mission planning phase angle
Figure DEST_PATH_IMAGE001
Phase angle of electric propulsion working center
Figure 812400DEST_PATH_IMAGE002
Electric propulsion operation duration
Figure DEST_PATH_IMAGE003
Electric propulsion working attitude
Figure 990440DEST_PATH_IMAGE004
Moment when track transfer policy takes effect
Figure DEST_PATH_IMAGE005
And track transfer policy revocation time
Figure 267705DEST_PATH_IMAGE006
；
The mission planning phase angle
Figure DEST_PATH_IMAGE007
Is a phase angle used for triggering the on-board computer to perform autonomous mission planning calculation;
the electric propulsion work center phase angle
Figure 872999DEST_PATH_IMAGE008
Is a phase angle corresponding to the central moment of the electric propulsion working period;
length of operation of the electric propulsion
Figure DEST_PATH_IMAGE009
Is the duration of time from ignition of the electric propulsion to shutdown;
the electric propulsion working attitude
Figure 791538DEST_PATH_IMAGE010
The attitude of the satellite body system relative to an attitude reference system during electric propulsion work;
the track transfer strategy effective time
Figure DEST_PATH_IMAGE011
The current orbit transfer strategy is only used when the actual time of the satellite is greater than the effective moment of the orbit transfer strategy
Figure 507690DEST_PATH_IMAGE012
The effect is achieved;
the track transfer strategy abolishes time
Figure 231671DEST_PATH_IMAGE013
When the actual time of the satellite exceeds the disuse moment of the orbit transfer strategy
Figure 742286DEST_PATH_IMAGE013
And when the satellite-borne computer automatically abolishes and deletes the current track transfer strategy.
3. Full electric propulsion satellite orbit transfer method based on autonomous mission planning according to claim 2,
length of operation of the electric propulsion
Figure 584340DEST_PATH_IMAGE003
The method comprises the following steps of (1) formulating according to the performance index of the electric propulsion product, the energy balance condition of a satellite platform and the efficiency of an ignition arc section;
the electric propulsion work center phase angle
Figure 510708DEST_PATH_IMAGE002
Formulating according to the satellite orbit transfer target; the satellite orbit transfer target comprises: a basic track transfer target and a specific track transfer target;
the basic track transfer target comprises track height lifting, track height reducing, track eccentricity control and track inclination angle adjustment;
the specific track transfer target includes: satellite obstacle avoidance, orbit position maintenance of a stationary satellite, fixed point position drift of the stationary satellite, hoeman orbit change and satellite off-orbit; and the specific track transfer target is realized by one or more basic track transfer target combinations;
the electric propulsion operating attitude
Figure 888862DEST_PATH_IMAGE014
According to the installation position of the thruster on the star body and the satellite orbit transfer target designation, the thrust is ensured to point to the required direction during the electric propulsion work;
the mission planning phase angle
Figure 39221DEST_PATH_IMAGE015
The method comprises the following steps:
Figure 634150DEST_PATH_IMAGE016
wherein the content of the first and second substances,
Figure 160946DEST_PATH_IMAGE017
a time advance representing a calculated time of the autonomous mission plan relative to an electric propulsion ignition time;
Figure 927695DEST_PATH_IMAGE018
representing the electric propulsion working time length;
Figure 717796DEST_PATH_IMAGE019
representing a gravitational constant;
Figure 268863DEST_PATH_IMAGE020
is a satellite orbit semi-major axis;
moment when the track transfer policy takes effect
Figure 835236DEST_PATH_IMAGE021
Formulating according to the on-orbit working state and task arrangement of the satellite;
the transfer policy revocation time
Figure 952097DEST_PATH_IMAGE013
According toTotal length of propulsion work required to complete a track transfer target
Figure DEST_PATH_IMAGE022
And (5) formulating.
4. An all-electric propulsion satellite orbit transfer method based on autonomous mission planning according to claim 3, characterized in that the electric propulsion work center phase angle
Figure 240996DEST_PATH_IMAGE023
The method comprises the following steps: when the satellite orbit transfer target is an orbit altitude elevation,
Figure DEST_PATH_IMAGE024
(ii) a When the satellite orbit transfer target is a decrease in orbit height,
Figure 574632DEST_PATH_IMAGE025
(ii) a When the satellite orbit transfer target is the orbit eccentricity control,
Figure 646493DEST_PATH_IMAGE026
or
Figure DEST_PATH_IMAGE027
(ii) a When the satellite orbit transfer target is the orbit inclination adjustment,
Figure 712800DEST_PATH_IMAGE028
or
Figure DEST_PATH_IMAGE029
。
5. An autonomous mission planning based all-electric propulsion satellite orbit transfer method according to claim 2, characterized in that said step S2 employs: according to the effective moment of the track transfer strategy
Figure 641442DEST_PATH_IMAGE030
And track transfer strategy revocation time
Figure 963839DEST_PATH_IMAGE013
Determining an effective period of the track transfer strategy; during the effective period of the orbit transfer strategy, the on-board computer plans a phase angle based on the tasks in the orbit transfer strategy
Figure 573812DEST_PATH_IMAGE015
Triggering the spaceborne computer to carry out autonomous task planning and generate a track transfer task; when the track phase angle reaches the mission plan phase angle
Figure 626782DEST_PATH_IMAGE001
The spaceborne computer carries out one-time autonomous task planning and generates a new orbit transfer task after planning;
the track transfer task includes a plurality of track transfer actions including: establishing an electric propulsion working attitude, preparing electric propulsion ignition, working electric propulsion ignition, shutting down electric propulsion, returning attitude, ending and deleting tasks.
6. An all-electric propulsion satellite orbit transfer method based on autonomous mission planning according to claim 1, wherein the respective execution times of the plurality of orbit transfer actions include: starting time of attitude maneuver
Figure 460746DEST_PATH_IMAGE031
Electric propulsion preparation time
Figure DEST_PATH_IMAGE032
Ignition time of electric propulsion
Figure 473701DEST_PATH_IMAGE033
Electrically-propelled shutdown time
Figure 152944DEST_PATH_IMAGE034
And task end time
Figure DEST_PATH_IMAGE035
；
The starting time of the attitude maneuver
Figure 600368DEST_PATH_IMAGE036
Is that
Figure DEST_PATH_IMAGE037
Starting attitude maneuver of the satellite at the moment until the attitude required by the propelling work is established;
the electric propulsion preparation time
Figure 198709DEST_PATH_IMAGE038
Is that
Figure 666337DEST_PATH_IMAGE038
The time satellite-borne computer sends an instruction to the electric propulsion module to start to execute self-checking and preheating preparation work before propulsion ignition;
the ignition time of the electric propulsion
Figure 149271DEST_PATH_IMAGE039
Is that
Figure DEST_PATH_IMAGE040
Electric propulsion ignition is executed at any moment;
the electrically-propelled shutdown time
Figure 215316DEST_PATH_IMAGE041
Is that
Figure DEST_PATH_IMAGE042
The electric propulsion is powered off at any moment, and meanwhile, the attitude maneuver is started to return to the conventional flight attitude of the satellite;
the task end time
Figure 656661DEST_PATH_IMAGE043
Is that
Figure DEST_PATH_IMAGE044
And deleting the track transfer task at any moment.
7. An all-electric propulsion satellite orbit transfer method based on autonomous mission planning according to claim 6, characterized in that the electric propulsion ignition moment
Figure 207991DEST_PATH_IMAGE045
The method comprises the following steps:
Figure 963457DEST_PATH_IMAGE046
wherein, the first and the second end of the pipe are connected with each other,
Figure DEST_PATH_IMAGE047
representing the satellite average orbital angular velocity;
Figure 352850DEST_PATH_IMAGE048
represents the phase angle advance;
Figure DEST_PATH_IMAGE049
representing the current time when the on-board computer performs the autonomous mission planning;
Figure 650DEST_PATH_IMAGE018
indicating the electric propulsion working time length;
Figure 741073DEST_PATH_IMAGE050
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE051
is at present
Figure 395170DEST_PATH_IMAGE052
The orbit semimajor axis of the moment;
Figure DEST_PATH_IMAGE053
represents a gravitational constant;
Figure 966966DEST_PATH_IMAGE054
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE055
representing a mission planning phase angle;
Figure 779808DEST_PATH_IMAGE056
representing an electric propulsion work center phase angle;
the electrically-propelled shutdown time
Figure 7527DEST_PATH_IMAGE057
The method comprises the following steps:
Figure 104796DEST_PATH_IMAGE058
the electric propulsion preparation time
Figure 468781DEST_PATH_IMAGE059
The method comprises the following steps:
Figure 127558DEST_PATH_IMAGE060
wherein the content of the first and second substances,
Figure 576994DEST_PATH_IMAGE061
representing the time required for self-checking and preheating preparation work before the ignition of the electric propulsion module;
the starting time of the attitude maneuver
Figure 477954DEST_PATH_IMAGE062
The method comprises the following steps:
Figure 430866DEST_PATH_IMAGE063
wherein the content of the first and second substances,
Figure 337510DEST_PATH_IMAGE064
representing maneuvers from conventional flight attitude to electric propulsion operating attitude
Figure 8662DEST_PATH_IMAGE065
The required time is obtained by real-time calculation of the satellite-borne computer;
the task end time
Figure 510051DEST_PATH_IMAGE044
The method comprises the following steps:
Figure 848628DEST_PATH_IMAGE066
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE067
representing working attitude propelled from electricity
Figure 973841DEST_PATH_IMAGE068
The time required for the maneuver to return to normal flight attitude.
8. An all-electric propulsion satellite orbit transfer method based on autonomous mission planning according to claim 5, wherein each execution of an orbit transfer mission within the validation period of the orbit transfer strategy comprises:
step S3.1:
Figure DEST_PATH_IMAGE069
starting attitude maneuver at all times;
step S3.2:
Figure 693142DEST_PATH_IMAGE070
starting electric propulsion preparation at the moment;
step S3.3: the attitude maneuver is in place, and the electric propulsion working attitude is established;
step S3.4:
Figure DEST_PATH_IMAGE071
electric propulsion ignition is carried out at any moment;
step S3.5:
Figure 263801DEST_PATH_IMAGE072
the electric propulsion is shut down at any moment, and then the attitude maneuver is started immediately to return to the conventional flight attitude;
step S3.6: the gesture maneuver returns to the place;
step S3.7:
Figure DEST_PATH_IMAGE073
and (4) ending the current task at the moment, and deleting the current task in the task queue.
9. A full electric propulsion satellite orbit transfer method based on autonomous mission planning as claimed in claim 1, characterized in that after the on-board computer performs autonomous mission planning to generate orbit transfer tasks, it determines whether there is time overlap between the newly generated orbit transfer tasks and the satellite service work tasks, the queued orbit transfer tasks and the ground-specified forbidden time intervals, and if there is time overlap, it considers the queue conflict and the current mission planning result is cancelled, otherwise, it adds the newly generated orbit transfer tasks into the orbit transfer task queue.
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