CN115892512A - Variable double-vector attitude control method for large elliptic orbit satellite - Google Patents
Variable double-vector attitude control method for large elliptic orbit satellite Download PDFInfo
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- CN115892512A CN115892512A CN202211288348.6A CN202211288348A CN115892512A CN 115892512 A CN115892512 A CN 115892512A CN 202211288348 A CN202211288348 A CN 202211288348A CN 115892512 A CN115892512 A CN 115892512A
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Abstract
The invention discloses a variable double-vector attitude control method for a large elliptic orbit satellite, which comprises the following steps: determining satellite orbit operation tasks, and segmenting the satellite operation orbits according to different satellite orbit operation tasks to obtain satellite orbit segments of different tasks; constructing a reference coordinate system corresponding to each task satellite orbit segment, and constructing a satellite body attitude coordinate system; and tracking a reference coordinate system corresponding to each task satellite orbit segment through a satellite body attitude coordinate system so as to control the satellite attitude. The invention can plan the satellite attitude according to the satellite task characteristics, the illumination condition and the satellite angular momentum condition of different height sections of the large elliptic orbit.
Description
Technical Field
The invention relates to the technical field of satellite attitude control, in particular to a variable double-vector attitude control method for a large elliptic orbit satellite.
Background
The eccentricity of the large elliptic orbit satellite is far greater than 0.1, the angular motion is slow at a far place, and the large elliptic orbit satellite can have long residence time and is convenient for observing a ground target. The lightning track invented by scientists at present is the track of the type, is used for long-term observation in high-latitude areas, and can be used for communication, weather and other purposes. In the service life of the satellite, due to the complex relation between the satellite orbit and the sun, if the conventional earth satellite attitude is adopted, the layout of the on-satellite sensor, the radiating surface and the like are difficult to implement. Therefore, new measures need to be taken to cope with the satellite attitude control on the large elliptical orbit.
Disclosure of Invention
The present invention is directed to solving, at least in part, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a variable double-vector attitude control method for a large elliptic orbit satellite, so as to be able to plan the attitude of the satellite according to the task characteristics, illumination conditions and the angular momentum condition of the satellite at different height segments of the large elliptic orbit.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a variable double-vector attitude control method for a large elliptic orbit satellite comprises the following steps:
determining satellite orbit operation tasks, and segmenting the satellite operation orbit according to different satellite orbit operation tasks to obtain satellite orbit segments of different tasks;
constructing a reference coordinate system corresponding to the satellite orbit segment of each task, and constructing a satellite body attitude coordinate system;
and tracking the reference coordinate system corresponding to the satellite orbit segment of each task through the satellite body attitude coordinate system so as to control the satellite attitude.
Optionally, the step of constructing a reference coordinate system corresponding to the satellite orbit segment includes:
determining a target pointed by a satellite attitude under the satellite orbit section;
respectively determining the position vectors of the satellite and the target, and determining the Z-axis vector of the reference coordinate system according to the satellite position vector and the target position vector;
determining a sun vector of a satellite pointing to the sun, and determining a Y-axis vector of a reference coordinate system according to the Z-axis vector of the reference coordinate system and the sun vector;
and determining a reference coordinate system corresponding to the satellite orbit segment according to the Z-axis vector of the reference coordinate system and the Y-axis vector of the reference coordinate system.
Optionally, the satellite orbit segment includes a high orbit task segment, a middle orbit task segment and a low orbit task segment.
Optionally, the step of constructing the attitude coordinate system of the satellite body includes:
determining the orientation of the satellite load as an axis vector of a satellite body attitude coordinate system Zb, and determining a direction vector in a fixed sunlight plane vertical to the orientation of the satellite load as an axis vector of a satellite body attitude coordinate system Xb;
and determining the satellite body attitude coordinate system according to the Zb axis vector of the satellite body attitude coordinate system and the Xb axis vector of the satellite body attitude coordinate system.
Optionally, the method further includes:
and determining a satellite operation avoidance area, and controlling the satellite to enter an avoidance mode when the satellite operates to the satellite operation avoidance area.
Optionally, it is determined that a satellite altitude interval corresponding to the case where an included angle between the sun vector and a vector of the satellite pointing to the target is smaller than a first preset value or larger than a second preset value is the satellite operation avoidance area.
Optionally, in the avoidance mode, the satellite attitude is controlled by using a virtual target avoidance method or a method using the orbit coordinate system as the reference coordinate system.
Optionally, the virtual target avoidance method specifically includes:
and constructing a virtual target point so that an included angle between the sun vector and a vector pointing to the virtual target point of the satellite is between the first preset value and the second preset value, constructing the reference coordinate system by constructing a Z-axis vector of the reference coordinate system and a Y-axis vector of the reference coordinate system again, and controlling the attitude of the satellite by using the reconstructed reference coordinate system as a control target so as to adjust the pointing direction of the attitude coordinate system of the satellite body.
Optionally, the step of constructing the orbit coordinate system includes:
taking a direction vector pointing to the earth center direction as a Z-axis vector of the orbit coordinate system, and taking a direction vector pointing to the negative normal direction of the orbit surface as a Y-axis vector of the orbit coordinate system;
and constructing the track coordinate system according to the Z-axis vector of the track coordinate system and the Y-axis vector of the track coordinate system.
Optionally, the method further includes: and when the satellite runs to the low-orbit mission segment, unloading management is carried out on the angular momentum of the satellite by adopting the geomagnetic field.
The invention has at least the following technical effects:
the satellite attitude control method realized by tracking the reference coordinate system corresponding to each satellite orbit section through the constructed satellite body attitude coordinate system can meet the task requirements of the satellite at different orbit height sections, can enable the satellite to have a fixed radiating surface and is beneficial to the layout of a star sensor, can ensure the supply of satellite energy only through the driving of a one-dimensional solar cell array, and can realize the management of the angular momentum of the satellite. In addition, the invention can realize the control of the satellite entering the avoidance area by a virtual target avoidance method and a method taking the orbit coordinate system as a reference coordinate system.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart of a variable double-vector attitude control method for a large elliptic orbit satellite according to an embodiment of the present invention;
fig. 2 is a track segmentation diagram of segments of different track heights according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present embodiments, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The variable double-vector attitude control method for a large elliptic orbit satellite of the present embodiment is described below with reference to the drawings.
Fig. 1 is a flowchart of a variable double-vector attitude control method for a large elliptic orbit satellite according to an embodiment of the present invention. As shown in fig. 1, the method includes:
step S1: and determining satellite orbit operation tasks, and segmenting the satellite operation orbit according to different satellite orbit operation tasks to obtain satellite orbit segments of different tasks.
In particular, the satellite orbiting tasks may include high orbit orbiting tasks, mid orbit orbiting tasks, and low orbit orbiting tasks. In this embodiment, the satellite orbit may be segmented according to the orbital motion tasks to obtain satellite orbit segments of different tasks, as shown in fig. 2, for example, including a high orbit task segment, a middle orbit task segment, and a low orbit task segment.
Step S2: and constructing a reference coordinate system corresponding to each satellite orbit segment and constructing a satellite body attitude coordinate system.
The method comprises the following steps of constructing a reference coordinate system corresponding to a satellite orbit segment: determining a target pointed by a satellite attitude under a satellite orbit section; respectively determining the position vectors of the satellite and the target, and determining the Z-axis vector of the reference coordinate system according to the satellite position vector and the target position vector; determining a sun vector of the satellite pointing to the sun, and determining a Y-axis vector of a reference coordinate system according to the Z-axis vector of the reference coordinate system and the sun vector; and determining a reference coordinate system corresponding to the satellite orbit segment according to the Z-axis vector and the Y-axis vector of the reference coordinate system.
Specifically, after the orbit is segmented according to the task requirement, the target point pointed by each segment of attitude satellite can be determined. Then, a vector pointing to a target point of the satellite is used as a Z-axis vector of a reference coordinate system, the sun vector Vect is used as another tracking vector, a unit vector obtained by cross multiplication of the Z-axis vector and the sun vector Vect is used as a reference Y-axis, and an X-axis is perpendicular to Y and Z-axes, so that the reference coordinate system can be constructed.
As an example, it is possible to define the position vector of the target point as R _ target, and the current position vector of the satellite as R _ now, and the unit vector of the satellite pointing to the sun, i.e. the sun vector, as Vect. Further, the Z-axis vector of the reference coordinate system can be obtained as follows:
the Y-axis vector of the reference coordinate system is:
since X = Y × Z, the reference coordinate system is derived from this, from which a dual-vector reference attitude transformation matrix a _ out can be calculated:
A_out＝[X Y Z] T (3)
in one embodiment of the invention, the step of constructing the attitude coordinate system of the satellite body comprises the following steps: determining the orientation of the satellite load as an axis vector of a satellite body attitude coordinate system Zb, and determining a direction vector in a fixed sunlight plane vertical to the orientation of the satellite load as an axis vector of a satellite body attitude coordinate system Xb; and determining the satellite body attitude coordinate system according to the axis vector of the satellite body attitude coordinate system Zb and the axis vector of the satellite body attitude coordinate system Xb.
Specifically, the satellite orientation can be selected as the axis of the satellite body attitude coordinate system Zb, a fixed sun plane perpendicular to the load orientation is defined as a + Xb plane, and one direction of the fixed sun plane is defined as the axis of the satellite body attitude coordinate system Xb.
And step S3: and tracking the reference coordinate system corresponding to each satellite orbit segment through the satellite body attitude coordinate system so as to control the satellite operation.
In one embodiment of the invention, the method further comprises: and determining a satellite operation avoidance area, and controlling the satellite to enter an avoidance mode when the satellite operates to the satellite operation avoidance area.
And determining a satellite height interval corresponding to the satellite when an included angle between the sun vector and a vector of the satellite pointing to the target is smaller than a first preset value or larger than a second preset value as a satellite operation avoidance area.
Specifically, a satellite height interval in which an angle between the sun vector and a vector of the satellite pointing to the target is smaller than a first preset value (e.g., 20 °) or larger than a second preset value (e.g., 160 °) may be determined as the satellite operation avoidance region. For example, when the condition | Z × Vect | ≦ sin (20 °) is satisfied between the satellite entering the target vector Z, i.e., the vector at which the satellite points to the target, and the sun vector Vect, it may be determined that the satellite enters the satellite operation avoidance zone at the corresponding point in time. And, the satellite can autonomously control to enter the avoidance mode in this section.
In the embodiment, in the avoidance mode, the satellite attitude can be controlled by adopting a virtual target avoidance method or a method of using an orbit coordinate system as a reference coordinate system.
The virtual target avoidance method specifically comprises the following steps: and constructing a virtual target point so that an included angle between the sun vector and a vector pointing to the virtual target point of the satellite is between a first preset value and a second preset value, constructing a reference coordinate system by constructing a Z-axis vector of the reference coordinate system and a Y-axis vector of the reference coordinate system again, and controlling the attitude of the satellite by using the reconstructed reference coordinate system as a control target so as to adjust the pointing direction of the attitude coordinate system of the satellite body.
Specifically, a virtual target point may be constructed such that an angle between a vector of the satellite pointing to the virtual target point and a sun vector is, for example, 20 ° to 160 °, then the reference coordinate system of the avoidance area is reconstructed using the above-mentioned reference coordinate system construction method, and the satellite attitude is controlled with the reconstructed reference coordinate system as a control target, so as to adjust the satellite body attitude coordinate system pointing direction.
In one embodiment of the invention, the step of constructing the orbital coordinate system comprises: taking a direction vector pointing to the earth center direction as a Z-axis vector of the orbit coordinate system, and taking a direction vector pointing to the negative normal direction of the orbit surface as a Y-axis vector of the orbit coordinate system; and constructing an orbit coordinate system according to the Z-axis vector and the Y-axis vector of the orbit coordinate system.
For example, the Zo axis may be defined as pointing to the center of the earth, the Yo axis may be defined as pointing to the negative normal of the orbital plane, and the Xo axis may be defined as perpendicular to the Yo and Zo axes, thereby establishing an orbital coordinate system and using it as a reference coordinate system.
In one embodiment of the invention, the method further comprises: and when the satellite runs to a low-orbit task section, unloading management is carried out on the angular momentum of the satellite by adopting the geomagnetic field.
Specifically, 12000km of the orbit height of the satellite can be selected as a low-orbit operation judgment threshold, and when the operation height of the satellite is lower than 12000km, the operation height of the satellite is judged to be lower. When the satellite orbit height is low, the earth magnetic field can be used for unloading the satellite angular momentum so as to realize the satellite angular momentum management.
In summary, the satellite attitude control method realized by tracking the reference coordinate system corresponding to each satellite orbit segment through the constructed satellite body attitude coordinate system can meet the task requirements of the satellite at different orbit height segments, can enable the satellite to have a fixed radiating surface, is beneficial to star sensor layout, can ensure the supply of satellite energy only through one-dimensional solar cell array driving, and can realize the management of satellite angular momentum. In addition, the invention can realize the control of the satellite entering the avoidance area by a virtual target avoidance method and a method taking the orbit coordinate system as a reference coordinate system.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (10)
1. A variable double-vector attitude control method for a large elliptic orbit satellite is characterized by comprising the following steps:
determining satellite orbit operation tasks, and segmenting the satellite operation orbit according to different satellite orbit operation tasks to obtain satellite orbit segments of different tasks;
constructing a reference coordinate system corresponding to the satellite orbit segment of each task, and constructing a satellite body attitude coordinate system;
and tracking the reference coordinate system corresponding to the satellite orbit section of each task through the satellite body attitude coordinate system so as to control the satellite attitude.
2. The variable double-vector attitude control method for large elliptic orbit satellites as claimed in claim 1, wherein the step of constructing the reference coordinate system corresponding to the satellite orbit segment comprises:
determining a target pointed by a satellite attitude under the satellite orbit section;
respectively determining the position vectors of the satellite and the target, and determining the Z-axis vector of the reference coordinate system according to the satellite position vector and the target position vector;
determining a sun vector of a satellite pointing to the sun, and determining a Y-axis vector of a reference coordinate system according to the Z-axis vector of the reference coordinate system and the sun vector;
and determining a reference coordinate system corresponding to the satellite orbit segment according to the Z-axis vector of the reference coordinate system and the Y-axis vector of the reference coordinate system.
3. The variable double vector attitude control method of a large elliptic orbit satellite according to claim 1, wherein the satellite orbit segments include a high orbit task segment, a middle orbit task segment and a low orbit task segment.
4. The variable double-vector attitude control method of large elliptic orbit satellites as claimed in claim 1, wherein the step of constructing the attitude coordinate system of the satellite body comprises:
determining the orientation of the satellite load as an axis vector of a satellite body attitude coordinate system Zb, and determining a direction vector in a fixed sunlight plane vertical to the orientation of the satellite load as an axis vector of a satellite body attitude coordinate system Xb;
and determining the satellite body attitude coordinate system according to the Zb axis vector of the satellite body attitude coordinate system and the Xb axis vector of the satellite body attitude coordinate system.
5. The method of variable double vector attitude control for large elliptic orbit satellites as claimed in claim 2, wherein said method further comprises:
and determining a satellite operation avoidance area, and controlling the satellite to enter an avoidance mode when the satellite operates to the satellite operation avoidance area.
6. The method for controlling the variable double-vector attitude of the large elliptic orbit satellite according to claim 5, wherein a satellite altitude interval corresponding to the case that an included angle between the sun vector and a vector pointing to a target of the satellite is smaller than a first preset value or larger than a second preset value is determined as the satellite operation avoidance area.
7. The variable double-vector attitude control method of large elliptic orbit satellites as claimed in claim 6, characterized in that in the avoidance mode, the satellite attitude is controlled by adopting a virtual target avoidance method or a method using an orbit coordinate system as the reference coordinate system.
8. The variable double-vector attitude control method for large elliptic orbit satellites as claimed in claim 7, wherein the virtual target avoidance method specifically comprises:
and constructing a virtual target point so that an included angle between the sun vector and a vector pointing to the virtual target point of the satellite is between the first preset value and the second preset value, constructing the reference coordinate system by constructing a Z-axis vector of the reference coordinate system and a Y-axis vector of the reference coordinate system again, and controlling the attitude of the satellite by using the reconstructed reference coordinate system as a control target so as to adjust the pointing direction of the attitude coordinate system of the satellite body.
9. The variable double-vector attitude control method for large elliptic orbit satellites as claimed in claim 7, wherein said orbital coordinate system construction step comprises:
taking a direction vector pointing to the earth center direction as a Z-axis vector of the orbit coordinate system, and taking a direction vector pointing to the negative normal direction of the orbit surface as a Y-axis vector of the orbit coordinate system;
and constructing the track coordinate system according to the Z-axis vector of the track coordinate system and the Y-axis vector of the track coordinate system.
10. The method of variable double vector attitude control for large elliptic orbit satellites of claim 3 further comprising: and when the satellite runs to the low-orbit task section, unloading management is carried out on the angular momentum of the satellite by adopting the geomagnetic field.
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