CN115952646A - Satellite dynamic capture capability evaluation system and method facing precision chain and time chain - Google Patents

Satellite dynamic capture capability evaluation system and method facing precision chain and time chain Download PDF

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CN115952646A
CN115952646A CN202211507810.7A CN202211507810A CN115952646A CN 115952646 A CN115952646 A CN 115952646A CN 202211507810 A CN202211507810 A CN 202211507810A CN 115952646 A CN115952646 A CN 115952646A
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time
capture
target
evaluation factor
satellite
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CN115952646B (en
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张晟宇
胡海鹰
李宇晴
封家鹏
裴文良
田龙飞
董士涵
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Shanghai Engineering Center for Microsatellites
Innovation Academy for Microsatellites of CAS
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Innovation Academy for Microsatellites of CAS
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Abstract

The invention discloses a satellite dynamic capture capability evaluation system and method facing to a precision chain and a time chain. The invention comprises a modeling and dynamic capture capability evaluation method of a capture model. The signal-to-noise ratio, the capturing angular speed, the capturing view field and the maneuvering angle which are highly related to the time precision are taken as evaluation elements, the elements are decoupled by combining with the highly dynamic capturing model analysis, the capturing capability model of the satellite aiming at a specific target is constructed through the normalized targeting score, and the important input of the multi-satellite mission planning is formed.

Description

Satellite dynamic capture capability evaluation system and method facing precision chain and time chain
Technical Field
The invention relates to the fields of space technology, mission planning technology, moving target capturing and tracking and the like, and is mainly used for the application of a multi-satellite system in planning, handover guidance and the like aiming at space targets such as space debris, spacecrafts and the like.
Background
In the constellation multi-satellite cooperative observation scheduling process, for a target with initial position and speed information, how to judge whether the allocated satellite can complete the target acquisition at a specified time point or not needs a dynamic tracking capability evaluation method according to tasks. And the multi-satellite mission planning main body completes the distribution of the mission observation arc according to the evaluation of the dynamic tracking capacity of the satellite on a specific target at a specific moment.
The acquisition capability of the satellite for a specific target is determined by the self capability and the external observation condition. And performing key factors of target task allocation in multi-star task planning when the capturing capability of a specific target is analyzed at a specified moment. Since the acquisition of the satellite to the space target is a highly dynamic process, the input accuracy of the target and the dynamic change of the observation condition determine a process of coupling an accuracy chain and a time chain when the satellite acquires the target dynamically. A rapid and effective evaluation model of the dynamic satellite capturing capability needs to be constructed to support the distribution of tasks in the multi-satellite collaborative planning process.
Disclosure of Invention
In order to overcome the technical defects, the first aspect of the present invention provides a satellite dynamic acquisition capability evaluation system facing an accuracy chain and a time chain, comprising the following modules: the satellite dynamic acquisition system comprises a problem modeling module and a capability evaluation module, wherein the problem modeling module is used for modeling satellite dynamic acquisition from the aspects of time and precision, data output by the problem modeling module is used as an input parameter of the capability evaluation module, construction of a satellite acquisition capability model aiming at a specific target is completed through Monte Carlo targeting, and the capability evaluation module is used for carrying out capability evaluation.
Modeling the problemThe module calculates the observed SNR of the target at the moment of capture, if the minimum capture threshold requirement is met
Figure BDA0003963704960000011
I.e. at the acquisition instant t cap Signal-to-noise ratio at target capture time:
Figure BDA0003963704960000021
wherein I t Is the radiation intensity of the target; NEFD is the capability constant of the detection system; at t i At the moment, the coordinates of the satellite in the earth inertial system are ^>
Figure BDA0003963704960000022
The coordinates of the object are
Figure BDA0003963704960000023
Then, at this time, the distance between the satellite and the target is:
Figure BDA0003963704960000024
L obs (t cap ) The distance between the target and the satellite at the acquisition time; capture time t cap Planning the time t for the current period ini Plus a preparation time t, t cap ＝t ini + t, the time t taken from the starting point to the capture point, T @>
Figure BDA0003963704960000025
If the time of the satellite for performing attitude maneuver and capture exceeds the difference between the visible time and the planning time of the target, the preparation time is the attitude maneuver time, and if the difference between the visible time and the planning time is more than the maneuvering and capture time, the preparation time is the difference between the visible time and the current planning time after maneuvering in place and waiting; the problem modeling module calculates a position error delta E of a target at a predicted capture time cap (t), where Δ P is the initial position error of the target, Δ V is the velocity error, Δ E cap (t) = Δ P + t · Δ V, and in order to guarantee capture of a target, there is a target forecast to capture timeThe error constraint indicating that the capture is a target, should be less than a small value of the lateral and longitudinal projection sizes in the field of view,
Figure BDA0003963704960000026
wherein the projection size of the capture field of view at the capture point is H × V
Figure BDA0003963704960000027
The size of the transverse and longitudinal projections at the capture point is determined by the transverse direction H AN And a longitudinal direction V AN Number of pixels, capture point detection distance L obs (t cap ) And instantaneous field size IFOV determination; the problem modeling module also calculates the intersection angular velocity omega of the satellite and the target at the capturing moment cap (L obs ) Should be less than the maximum meeting angular velocity constraint>
Figure BDA0003963704960000028
I.e. is>
Figure BDA0003963704960000029
The capability assessment module calculates
Figure BDA00039637049600000210
As an evaluation value of the satellite's ability to target at the time of acquisition,
Figure BDA00039637049600000211
wherein w 1 As signal-to-noise ratio weight, Q SNR A signal-to-noise ratio evaluation factor; w is a 2 To capture the angular velocity weight, Q ω Evaluating factors for capturing angular velocity; w is a 3 To capture field of view weights, Q FOV Evaluating a factor for a capture field of view; w is a 4 As maneuvering angle weight, Q mav Evaluating factors for maneuvering angles; the signal-to-noise ratio evaluation factor Q SNR The calculation of (2):
Figure BDA0003963704960000031
When the signal-to-noise ratio is lower than the threshold, the capture evaluation factor is 0, and the target saturation is reached when the threshold is reachedThe evaluation factor is the ratio of the signal-to-noise ratio to the threshold, and after the evaluation factor is larger than the saturation value, the evaluation factor is the ratio x of the preliminary saturation value to the threshold; the capture angular velocity evaluation factor Q ω The calculation of (2):
Figure BDA0003963704960000032
When the capture angular velocity is greater than the maximum angular velocity, the capture cannot be performed, and the evaluation factor is 0; when the capture angular velocity is lower than the maximum acceleration and is greater than 1/2 of the maximum angular velocity, the capture is unstable, and the evaluation factor is the ratio of the maximum capture velocity to 2 times of the capture velocity; when the angular velocity is lower than 1/2 of the maximum angular velocity, the capture is stable, and the evaluation factor is 1; the capture field of view evaluation factor Q FOV The calculation of (c):
Figure BDA0003963704960000033
when the projection size of the 1/2 view field is smaller than the target prediction error, the target prediction error cannot be captured, and the evaluation factor is 0; when the projection size of the 1/2 view field is between the error and the double error, the capture probability is higher, and the evaluation factor is 0.8; when the 1/2 field projection size is larger than the error of two times, the capture can be determined, and the evaluation factor is 1; the angle evaluation factor Q mav The calculation of (c):
Figure BDA0003963704960000034
Wherein motorized angle>
Figure BDA0003963704960000035
Based on the angular motorized speed->
Figure BDA0003963704960000036
If the required angle maneuvering time is less than 5 seconds, maneuvering does not affect capturing, and the evaluation factor is 0; when the maneuvering time is 5s-15s, the planning flexibility is reduced, and the evaluation factor is-0.5; when the maneuvering time is 15s-30, the influence of maneuvering is large, and the evaluation factor is-1; determining a weight w 1 、w 2 、w 3 、w 4 And carrying out Monte Carlo targeting by configuring different handover condition combinations, and further optimizing and determining the weight of each evaluation factor by traversing for 1s-30s at t time.
The second aspect of the invention provides a satellite dynamic acquisition capability assessment method facing to a precision chain and a time chain, comprising the following steps: step S1, problem modeling and step S2, dynamic capture capability evaluation.
The step S1 comprises the following steps: the precondition for calculating the observed SNR of the target at the moment of capture is that the lowest capture threshold requirement is met
Figure BDA0003963704960000041
I.e. at the acquisition instant t cap Signal-to-noise ratio at target acquisition time:
Figure BDA0003963704960000042
in which I t Is the radiation intensity of the target; NEFD is the capacity constant of the detection system; at t i At a time instant in the earth's inertial system the coordinates of the satellite are &>
Figure BDA0003963704960000043
Target coordinate is>
Figure BDA0003963704960000044
Then, at this time, the distance between the satellite and the target is:
Figure BDA0003963704960000045
L obs (t cap ) The distance between the target and the satellite at the acquisition time; capture time t cap Planning the time t for the current period ini Plus a preparation time t, t cap ＝t ini + t, the time t taken from the starting point to the capture point, T @>
Figure BDA0003963704960000046
The method comprises the steps that if the time for attitude maneuver and capture of a satellite exceeds the difference between the visible time and the planning time of a target, the preparation time is the attitude maneuver time, and if the difference between the visible time and the planning time is larger than the maneuver and capture time, the preparation time is the difference between the visible time and the current planning time when the satellite needs to wait after the satellite maneuvers in place.
Calculating the position error Delta E of the target at the predicted capture time cap (t), where Δ P is the initial position error of the target, Δ V is the velocity error, Δ E cap (t) = ap + t · av, in order to guarantee that for capture of the target, there is an error constraint from the target forecast to the time of capture, the position error indicating that capture is the target should be smaller than a small value of the lateral and longitudinal projection size in the field of view,
Figure BDA0003963704960000047
wherein the projection size of the capture field of view at the capture point is H × V
Figure BDA0003963704960000051
The size of the transverse and longitudinal projections at the capture point is determined by the transverse direction H AN And a longitudinal direction V AN Number of pixels, capture point detection distance L obs (t cap ) And an instantaneous field size IFOV determination.
Further step S1 further comprises: calculating the intersection angular velocity omega of the satellite and the target at the acquisition moment cap (L obs ) Should be less than the maximum intersection angular velocity constraint
Figure BDA0003963704960000052
I.e. based on>
Figure BDA0003963704960000053
The step S2 comprises the following steps: establishing a satellite dynamic acquisition capability evaluation model to
Figure BDA0003963704960000054
Evaluation value for the satellite's ability to target at the time of acquisition>
Figure BDA0003963704960000055
Wherein w 1 As signal-to-noise ratio weight, Q SNR A signal-to-noise ratio evaluation factor; w is a 2 To capture the angular velocity weight, Q ω Evaluating factors for capturing angular velocity; w is a 3 To capture field of view weight, Q FOV Evaluating a factor for a capture field of view; w is a 4 Is made into a machineDynamic angle weight, Q mav The factor is evaluated for the maneuver angle. Wherein the signal-to-noise ratio evaluation factor Q SNR Is calculated as follows:
Figure BDA0003963704960000056
when the signal-to-noise ratio is lower than the threshold, the capture evaluation factor is not 0. Between reaching the threshold and the target saturation, the evaluation factor is the ratio of the signal-to-noise ratio to the threshold. And when the evaluation factor is larger than the saturation value, the evaluation factor is the ratio x of the preliminary saturation value to the threshold. Wherein an angular velocity evaluation factor Q is captured ω Is calculated as follows:
Figure BDA0003963704960000057
When the capture angular velocity is greater than the maximum angular velocity, the capture cannot be performed, and the evaluation factor is 0; when the capture angular velocity is lower than the maximum acceleration and is greater than 1/2 of the maximum angular velocity, the capture is unstable, and the evaluation factor is the ratio of the maximum capture velocity to 2 times of the capture velocity; below 1/2 of the maximum angular velocity, the capture is smooth with an evaluation factor of 1. Wherein a capture field of view evaluation factor Q FOV Is calculated as follows:
Figure BDA0003963704960000061
when the projection size of the 1/2 view field is smaller than the target prediction error, the target prediction error cannot be captured, and the evaluation factor is 0; when the projection size of the 1/2 view field is between the error and the double error, the capture probability is higher, and the evaluation factor is 0.8; when the 1/2 field projection size is larger than twice the error, the capture can be determined, and the evaluation factor is 1. Wherein the maneuvering angle evaluation factor Q mav Is calculated as follows:
Figure BDA0003963704960000062
Wherein the motorized angle pick>
Figure BDA0003963704960000063
Based on the angular motorized speed->
Figure BDA0003963704960000064
The required angle maneuver time is less than 5 seconds,the maneuver does not influence the capture, and the evaluation factor is 0; when the maneuvering time is 5s-15s, the planning flexibility is reduced, and the evaluation factor is-0.5; when the maneuvering time is 15s-30, the influence of maneuvering is large, and the evaluation factor is-1.
Step S2 further comprises a weight w 1 、w 2 、w 3 、w 4 Is determined. And (4) carrying out Monte Carlo targeting by configuring different handover condition combinations, and further optimizing and determining the weight of each evaluation factor by traversing for 1s-30s at t time.
By adopting the steps, an evaluation model of the satellite dynamic capturing capability can be effectively established, so that the distribution of tasks in the multi-satellite collaborative planning process is supported.
Drawings
FIG. 1 is a diagram of a system for evaluating dynamic acquisition capability of a satellite;
FIG. 2 is a diagram of a method for evaluating dynamic acquisition capability of a satellite;
fig. 3 is a schematic diagram of the capture process.
Detailed Description
The advantages of the invention are further illustrated by the following detailed description of the preferred embodiments in conjunction with the drawings. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
As shown in fig. 1, the satellite dynamic capturing capability evaluation system facing to the precision chain and the time chain comprises a problem modeling module and a capability evaluation module, wherein the problem modeling module models a satellite dynamic capturing problem and respectively calculates an observation signal-to-noise ratio, a capturing angular velocity, a capturing view field and a maneuvering angle. Inputting the parameters into a capability evaluation module as evaluation factors, decoupling the factors, evaluating the dynamic capturing capability of the satellite through normalized targeting scoring, completing the construction of a capturing capability model of the satellite aiming at a specific target, and forming important input of multi-satellite task planning
As shown in FIG. 2, the satellite dynamic acquisition capability evaluation method facing the precision chain and the time chain comprises an acquisition problem modeling and dynamic acquisition capability evaluation method.
1. Modeling of a Capture problem
As shown in fig. 3, from the viewpoint of time and accuracy, at t i The coordinates of the satellites in the earth's inertial system at the time of day are
Figure BDA0003963704960000071
Target coordinate is>
Figure BDA0003963704960000072
Then at t i At that time, the distance between the satellite and the target is:
Figure BDA0003963704960000073
the precondition for the target being captured is that the observed signal-to-noise ratio of the target at the time of capture meets the lowest capture threshold requirement
Figure BDA0003963704960000074
And (4) requiring. I.e. at the acquisition time t cap Signal-to-noise ratio at target capture time:
Figure BDA0003963704960000075
wherein I t NEFD is the capacity constant of the detection system, L, for the intensity of the radiation of the target obs (t cap ) Is the distance between the target and the satellite at the time of acquisition.
Wherein the capturing time t cap When planning for the current periodCarving t ini Plus a preparation time t.
t cap ＝t ini +t
Time t taken from the start point to the capture point
Figure BDA0003963704960000076
The formula shows that if the time for the satellite to perform attitude maneuver and capture exceeds the difference between the visible time and the planning time of the target, the preparation time is the attitude maneuver time, and if the difference between the visible time and the planning time is greater than the maneuvering and capture time, the preparation time is the difference between the visible time and the current planning time after maneuvering in place and waiting.
Position error Δ E of target predicted to capture time cap (t), where Δ P is the initial position error of the target and Δ V is the velocity error.
ΔE cap (t)＝ΔP+t·ΔV
To ensure the capture of the target, there is an error constraint that the target predicts to the time of capture, and the position error indicating that the capture is a target should be less than a small value of the lateral and longitudinal projection sizes in the field of view.
Figure BDA0003963704960000081
Wherein the projection size of the capture field of view at the capture point is H × V
Figure BDA0003963704960000082
The size of the transverse and longitudinal projections at the capture point is determined by the transverse direction H AN And a longitudinal direction V AN Number of pixels, capture point detection distance L obs (t cap ) And an instantaneous field size IFOV determination.
And at the acquisition time, the angular velocity ω of the satellite's intersection with the target cap (L obs ) Should be less than the maximum intersection angular velocityConstraining
Figure BDA0003963704960000083
Figure BDA0003963704960000084
2. Dynamic capture capability evaluation method
Satellite dynamic acquisition capability evaluation model
Figure BDA0003963704960000085
The ability of the satellite to the target at the time of acquisition is evaluated.
Figure BDA0003963704960000086
Wherein w 1 As signal-to-noise ratio weight, Q SNR And evaluating the factor by the signal-to-noise ratio. w is a 2 To capture the angular velocity weight, Q ω To capture the angular velocity evaluation factor. w is a 3 To capture field of view weights, Q FOV The factors are evaluated for the field of capture. w is a 4 As maneuvering angle weight, Q mav The factor is evaluated for the maneuver angle.
(1) Signal-to-noise ratio evaluation factor Q SNR ：
Figure BDA0003963704960000091
When the signal-to-noise ratio is lower than the threshold, the capture evaluation factor is 0, and when the threshold is reached to the target saturation, the evaluation factor is the ratio of the signal-to-noise ratio to the threshold. And when the evaluation factor is larger than the saturation value, the evaluation factor is the ratio x of the preliminary saturation value to the threshold.
(2) Capture angular velocity evaluation factor Q ω
Figure BDA0003963704960000092
When the capture angular velocity is greater than the maximum angular velocity, the capture cannot be performed, and the evaluation factor is 0. When the capture angular velocity is lower than the maximum acceleration and greater than 1/2 of the maximum angular velocity, the capture is unstable, and the evaluation factor is the ratio of the maximum capture velocity to 2 times of the capture velocity. Below 1/2 of the maximum angular velocity, the capture is smooth with an evaluation factor of 1.
(3) Capture field of view evaluation factor Q FOV
Figure BDA0003963704960000093
When the size of the 1/2 field projection is smaller than the target prediction error, the capture cannot be performed, when the size of the 0.1/2 field projection is between the error and the double error, the capture probability is higher, when the size of the 0.8.1/2 field projection is larger than the double error, the capture can be determined, and then the evaluation factor is 1.
(4) Maneuvering angle evaluation factor Q mav
Figure BDA0003963704960000094
Maneuvering angle
Figure BDA0003963704960000095
Based on the angular motorized speed->
Figure BDA0003963704960000096
The required angle maneuver time is less than 5 seconds, the maneuver does not affect the capture, the evaluation factor is 0, the maneuver time is 5s-15s, the flexibility of the planning is reduced, and the evaluation factor is-0.5. When the maneuvering time is 15s-30, the influence of the maneuvering is large, and the evaluation factor is-1 °>
(5) Weight determination
w 1 、w 2 、w 3 、w 4 The determining method comprises the steps of carrying out Monte Carlo targeting by configuring different handover condition combinations, and further optimizing and determining the weight of each evaluation factor by traversing for 1s-30s at t time.
It should be noted that the embodiments of the present invention have been described in terms of preferred embodiments, and not by way of limitation, and that those skilled in the art can make modifications and variations of the embodiments described above without departing from the spirit of the invention.

Claims (6)

1. A satellite dynamic acquisition capability evaluation system facing an accuracy chain and a time chain is characterized by comprising the following modules: the problem modeling module is used for modeling satellite dynamic acquisition from the aspects of time and precision, data output by the problem modeling module is used as input of the capability evaluation module, and the capability evaluation module is used for carrying out capability evaluation.
2. The precision-chain and time-chain oriented satellite dynamic acquisition capability assessment system according to claim 1, wherein the problem modeling module calculates the observed signal-to-noise ratio (SNR) of the target at the time of acquisition, when acquired, if the lowest acquisition threshold requirement is met
Figure FDA0003963704950000011
I.e. at the acquisition instant t cap Signal-to-noise ratio at target acquisition time:
Figure FDA0003963704950000012
in which I t Is the radiation intensity of the target; NEFD is the capacity constant of the detection system; at t i At the moment, the coordinates of the satellite in the earth inertial system are ^>
Figure FDA0003963704950000013
The coordinates of the object are
Figure FDA0003963704950000014
Then, at this time, the distance between the satellite and the target is:
Figure FDA0003963704950000015
L obs (t cap ) The distance between the target and the satellite at the acquisition time; capture time t cap Planning the time t for the current period ini Plus a preparation time t, t cap ＝t ini + t, the time t taken from the starting point to the capture point, T @>
Figure FDA0003963704950000016
If the time for the satellite to perform attitude maneuver and capture exceeds the difference between the visible time of the target and the planning time, the preparation time is the attitude maneuver time, and if the difference between the visible time and the planning time is greater than the maneuvering and capture time, the preparation time is the difference between the visible time and the current planning time after maneuvering is in place and waiting is needed; the problem modeling module calculates a position error delta E of a target at a predicted capture time cap (t), where Δ P is the initial position error of the target, Δ V is the velocity error, Δ E cap (t) = Δ P + t · Δ V, and to ensure capture of a target, there is an error constraint that the target forecasts to the time of capture, and the position error indicating that capture is a target should be less than a small value, based on the size of the lateral and longitudinal projections in the field of view, and/or based on the value of the error in the location of the target>
Figure FDA0003963704950000017
Wherein the projection size of the capture field of view at the capture point is ≥>
Figure FDA0003963704950000021
The size of the transverse and longitudinal projections at the capture point is determined by the transverse direction H AN And a longitudinal direction V AN Number of pixels, capture point detection distance L obs (t cap ) And instantaneous field size IFOV determination; the problem modeling module also calculates the intersection angular velocity omega of the satellite and the target at the capturing moment cap (L obs ) Should be less than the maximum meeting angular velocity constraint>
Figure FDA0003963704950000022
I.e. is>
Figure FDA0003963704950000023
3. The precision chain and time chain oriented satellite dynamic acquisition capability assessment system according to claim 1, wherein said capability assessment module calculates
Figure FDA0003963704950000024
As the evaluation value of the satellite's ability to target at the time of acquisition,
Figure FDA0003963704950000025
wherein w 1 As signal-to-noise ratio weight, Q SNR A signal-to-noise ratio evaluation factor; w is a 2 To capture the angular velocity weight, Q ω Evaluating factors for capturing angular velocity; w is a 3 To capture field of view weights, Q FOV Evaluating a factor for a capture field of view; w is a 4 As maneuvering angle weight, Q mav Evaluating factors for maneuvering angles; the signal-to-noise ratio evaluation factor Q SNR The calculation of (2):
Figure FDA0003963704950000026
When the signal-to-noise ratio is lower than the threshold, the evaluation factor cannot be captured to be 0, when the signal-to-noise ratio reaches the threshold and reaches the target saturation, the evaluation factor is the ratio of the signal-to-noise ratio to the threshold, and when the signal-to-noise ratio is higher than the saturation value, the evaluation factor is the ratio x of the preliminary saturation value to the threshold; the capture angular velocity evaluation factor Q ω The calculation of (2):
Figure FDA0003963704950000027
when the acquisition angular velocity is greater than the maximum angular velocity, the acquisition cannot be carried out, the evaluation factor is 0, and the acquisitionWhen the acquisition angular velocity is lower than the maximum acceleration and is greater than 1/2 of the maximum angular velocity, the acquisition is unstable, the evaluation factor is the ratio of the maximum acquisition velocity to 2 times of the acquisition velocity, when the acquisition angular velocity is lower than 1/2 of the maximum angular velocity, the acquisition is stable, and the evaluation factor is 1; the capture field of view evaluation factor Q FOV The calculation of (2):
Figure FDA0003963704950000031
When the size of the 1/2 view field projection is smaller than a target prediction error, the capture cannot be performed, when the evaluation factor is 0, the size of the 1/2 view field projection is between the error and a double error, the capture probability is higher, when the evaluation factor is 0.8, and when the size of the 1/2 view field projection is larger than the double error, the capture can be determined, and then the evaluation factor is 1; the angle evaluation factor Q mav The calculation of (2):
Figure FDA0003963704950000032
wherein motorized angle>
Figure FDA0003963704950000033
Based on the angular motorized speed->
Figure FDA0003963704950000034
When the required angle maneuvering time is less than 5 seconds, maneuvering does not affect capturing, the evaluation factor is 0, the flexibility of planning is reduced when the maneuvering time is 5s-15s, the evaluation factor is-0.5, and when the maneuvering time is 15s-30, the maneuvering influence is large, and the evaluation factor is-1; determining the weight w 1 、w 2 、w 3 、w 4 And carrying out Monte Carlo targeting by configuring different handover condition combinations, and further optimizing and determining the weight of each evaluation factor by traversing for 1s-30s at t time.
4. A satellite dynamic acquisition capability assessment method facing an accuracy chain and a time chain is characterized by comprising a step S1 of problem modeling and a step S2 of capability assessment, wherein the problem modeling of the step S1 is used for modeling satellite dynamic acquisition from the aspects of time and accuracy, and the step S2 is used for completing the construction of an acquisition capability model for a satellite aiming at a specific target by taking data calculated in the step S1 as input and shooting through Monte Carlo.
5. The method for estimating the dynamic acquisition capability of the satellite facing the precision chain and the time chain according to claim 4, wherein the step S1 comprises: calculating the observed SNR of the target at the time of capture, if the minimum capture threshold requirement is met
Figure FDA0003963704950000035
I.e. at the acquisition instant t cap Signal-to-noise ratio at target acquisition time:
Figure FDA0003963704950000036
in which I t Is the radiation intensity of the target; NEFD is the capability constant of the detection system; at t i At the moment, the coordinates of the satellite in the earth inertial system are ^>
Figure FDA0003963704950000037
The coordinates of the object are
Figure FDA0003963704950000038
Then, at this time, the distance between the satellite and the target is:
Figure FDA0003963704950000041
L obs (t cap ) The distance between the target and the satellite at the acquisition time; capture time t cap Planning the time t for the current period ini Plus the time of preparation t,
t cap ＝t ini + t, the time t spent from the starting point to the capture point,
Figure FDA0003963704950000042
if the time for the satellite to perform attitude maneuver and capture exceeds the difference between the visible time of the target and the planning time, the preparation time is the attitude maneuver time, and if the difference between the visible time and the planning time is greater than the maneuvering and capture time, the preparation time is the difference between the visible time and the current planning time after maneuvering is in place and waiting is needed; calculating the position error Delta E of the target at the predicted acquisition time cap (t), where Δ P is the initial position error of the target, Δ V is the velocity error, Δ E cap (t) = Δ P + t · Δ V, and to ensure capture of a target, there is an error constraint that the target forecasts to the time of capture, and the position error indicating that capture is a target should be less than a small value, based on the size of the lateral and longitudinal projections in the field of view, and/or based on the value of the error in the location of the target>
Figure FDA0003963704950000043
Wherein the projection size of the capture field of view at the capture point is H x V @>
Figure FDA0003963704950000044
The size of the transverse and longitudinal projections at the capture point is determined by the transverse direction H AN And a longitudinal direction V AN Number of pixels, capture point detection distance L obs (t cap ) And instantaneous field size IFOV determination; calculating the intersection angular velocity omega of the satellite and the target at the acquisition moment cap (L obs ) Constraint which should be less than maximum angular speed of intersection>
Figure FDA0003963704950000045
Namely that
Figure FDA0003963704950000046
6. The method for evaluating the dynamic acquisition capability of the satellite facing the precision chain and the time chain according to claim 4, wherein the step S2 comprises: establishing a satellite dynamic acquisition capability evaluation model to
Figure FDA0003963704950000047
Evaluation value for the satellite's ability to target at the time of acquisition>
Figure FDA0003963704950000048
Wherein w 1 As signal-to-noise ratio weight, Q SNR A signal-to-noise ratio evaluation factor; w is a 2 To capture the angular velocity weight, Q ω Evaluating factors for capturing angular velocity; w is a 3 To capture field of view weight, Q FOV Evaluating a factor for a capture field of view; w is a 4 As maneuvering angle weight, Q mav Evaluating factors for maneuvering angles; the signal-to-noise ratio evaluation factor Q SNR The calculation of (2):
Figure FDA0003963704950000051
when the signal-to-noise ratio is lower than the threshold, the capture evaluation factor is 0, when the signal-to-noise ratio reaches the target saturation, the evaluation factor is the ratio of the signal-to-noise ratio to the threshold, and when the signal-to-noise ratio is higher than the saturation value, the evaluation factor is the ratio x of the preliminary saturation value to the threshold; the capture angular velocity evaluation factor Q ω The calculation of (2):
Figure FDA0003963704950000052
When the capture angular velocity is greater than the maximum angular velocity, the capture cannot be performed, the evaluation factor is 0, when the capture angular velocity is lower than the maximum acceleration and greater than 1/2 of the maximum angular velocity, the capture is unstable, the evaluation factor is the ratio of the maximum capture velocity to 2 times of the capture velocity, when the capture angular velocity is lower than 1/2 of the maximum angular velocity, the capture is stable, and the evaluation factor is 1; the capture field of view evaluation factor Q FOV The calculation of (2):
Figure FDA0003963704950000053
wherein, when the projection size of the 1/2 view field is smaller than the target prediction error, the capture can not be carried out, when the evaluation factor is 0, the projection size of the 1/2 view field is between the error and the double error, the capture probability is higher, the evaluation factor is 0.8, and the projection size of the 1/2 view field is largerAt double error, capture can be determined, and the evaluation factor is 1; the angle evaluation factor Q mav The calculation of (2):
Figure FDA0003963704950000054
Wherein the motorized angle pick>
Figure FDA0003963704950000055
For angle motorized speed>
Figure FDA0003963704950000056
When the required angle maneuvering time is less than 5 seconds, maneuvering does not affect capturing, the evaluation factor is 0, the flexibility of planning is reduced when the maneuvering time is 5s-15s, the evaluation factor is-0.5, and when the maneuvering time is 15s-30, the maneuvering influence is large, and the evaluation factor is-1; the weight w 1 、w 2 、w 3 、w 4 The determination method carries out Monte Carlo targeting by configuring different handover condition combinations, and further optimizes and determines the weight of each evaluation factor by traversing for 1s-30s at t time. />
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