CN116501077B - Rocket attitude angle automatic optimization method constrained by space-based measurement and control - Google Patents

Rocket attitude angle automatic optimization method constrained by space-based measurement and control Download PDF

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CN116501077B
CN116501077B CN202310764802.9A CN202310764802A CN116501077B CN 116501077 B CN116501077 B CN 116501077B CN 202310764802 A CN202310764802 A CN 202310764802A CN 116501077 B CN116501077 B CN 116501077B
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space
rocket
control
angle
based measurement
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CN116501077A (en
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邹延兵
李钧
陈辰
范威
黎桪
李晓苏
汪潋
王志军
孙小东
尹仕卿
张旭
王晓玮
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CASIC Rocket Technology Co
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CASIC Rocket Technology Co
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • 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
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to an automatic rocket attitude angle optimization method constrained by space-based measurement and control, which is used for solving the optimal roll angle and the pointing included angle of a space-based phased array antenna according to the information such as the position relation between a relay satellite and a rocket, the position relation between the rocket attitude and the space-based phased array antenna on the rocket and the like, so that the use of STK software to call trajectory data for measurement and control analysis can be avoided, the operand can be effectively reduced, the design period can be shortened, and the working efficiency can be improved. According to whether the pointing included angle of the antenna-based phased array antenna meets the measurement and control requirements or not and according to the optimal roll angle change rule, the rocket attitude angle meeting the measurement and control constraint is automatically and iteratively designed, and a measurement and control scheme is given, so that the manual design process is reduced. Meanwhile, the design method can design rocket attitude angles meeting space-based measurement and control constraints aiming at different launching tasks, so that the de-mission design of a measurement and control scheme is realized, and the development of a space-based measurement and control technology of the rocket is promoted to a certain extent.

Description

Rocket attitude angle automatic optimization method constrained by space-based measurement and control
Technical Field
The invention relates to the technical field of rocket trajectory and space-based measurement and control, in particular to an automatic rocket attitude angle optimization method constrained by space-based measurement and control.
Background
The space-based measurement and control is a technology for tracking and data transmission of a spacecraft by using a relay satellite. In the rocket flight process, the effective transmission of data can be ensured only when the angle between the vector of the rocket to the relay satellite and the direction of the space-based phased array antenna (the direction angle of the space-based phased array antenna for short) is within the range of the beam angle of the space-based phased array antenna. However, in the actual flight process, due to different rocket launching fields, target orbits, attitude angle changes in the flight process and the like, for a rocket of the same model, the space-based phased array antenna cannot point to a relay satellite in the whole course due to the fixed position of the space-based phased array antenna, and trajectory optimization and measurement and control schemes are required to be performed by adjusting the roll angle (the sideslip angle can influence the flight trajectory during the working of a rocket engine and is generally not used for optimizing the measurement and control schemes).
Patent CN 114036780A proposes a rocket attitude angle design method constrained by space-based measurement and control, which can avoid using STK software to call ballistic data for measurement and control analysis and can effectively improve design efficiency. But not sufficiently comprehensive (e.g. consider only the space-based phased array antenna pointing at arrow system 0Z 1 Axial direction), the operability is low.
On the basis of the patent CN 114036780A, a more operational rocket attitude angle automatic optimization method is needed, so that the space-based antenna can be calculated in any direction on the side face of the rocket, and software can automatically and rapidly design an optimal measurement and control scheme aiming at different launching tasks through self programming, thereby realizing the space-based measurement and control de-tasking requirement.
Disclosure of Invention
In order to solve the technical problems, the invention provides a rocket attitude angle design method constrained by space-based measurement and control, which can automatically optimize the attitude angle meeting the space-based measurement and control constraint in the rocket flight process according to the relative positions of a rocket and a relay satellite and by combining a trajectory, thereby realizing the space-based measurement and control de-tasking requirement.
The technical scheme provided by the invention is as follows: a rocket attitude angle automatic optimization method constrained by space-based measurement and control comprises the following steps:
selecting a relay satellite, and solving a space-based antenna pointing included angle Jiajiao at each moment according to the position relation between the relay satellite and the rocket, the rocket posture and the position of the space-based antenna on the rocket;
comparing the magnitude relation between the Jiajiao and the space-based antenna beam angle A0 after the rocket takes off;
if the rocket flying whole process Jiajiao is not more than A0, judging that the relay satellite and the roll angle meet the space-based measurement and control requirement;
if Jiajiao is larger than A0, determining that the current T0 moment antenna is disconnected from the relay satellite link, and adjusting the roll angle according to the following steps:
obtaining the optimal roll angle GAM at each moment in the whole flight process, and obtaining the maximum value GAM of the optimal roll angle before the moment T0 max ；
Adjusting roll angle to GAM for the first T seconds of time T0 max Calculating a space-based measurement and control coverage area;
if the space-based measurement and control coverage meets the requirement, judging that the currently designed roll angle meets the space-based measurement and control requirement; if the coverage of the space-based measurement and control does not meet the requirement, recalculating the disconnection time of the space-based measurement and control, and executing the following steps:
if the rolling angle is adjusted, calculating that the space-based measurement and control is disconnected before the T0 moment or the T0 moment, replacing the relay satellite to carry out the optimal rolling angle design process again;
if the rolling angle is adjusted, the connection disconnection of the space-based measurement and control after the time T0 is calculated, and then the next space-based link connection disconnection time and the optimal rolling angle are continuously judged until the space-based measurement and control coverage meets the requirement.
Based on the same inventive concept, the invention also provides another rocket attitude angle automatic optimization method constrained by space-based measurement and control, which comprises the following steps:
setting n adjustment moments for adjusting the roll angle in the rocket flight process; selecting a relay satellite, and solving a space-based antenna pointing included angle Jiajiao at each moment according to the position relation between the relay satellite and the rocket, the rocket posture and the position of the space-based antenna on the rocket;
comparing the beam angle A0 of the space-based antenna with the beam angle Jiajiao after the rocket takes off;
if the rocket flying whole process Jiajiao is not more than A0, judging that the relay satellite and the roll angle meet the space-based measurement and control requirement;
if Jiajiao is larger than A0, determining that the current T0 moment antenna is disconnected from the relay satellite link, and adjusting the roll angle according to the following steps:
solving an optimal roll angle GAM at each moment in the whole flight process;
let the nearest adjustment time after T0 be adjustment time k, k is an integer and is more than or equal to 1 and less than or equal to n;
maximum value GAM of optimum roll angle before adjustment time k is obtained max ；
Adjusting roll angle to GAM at adjustment time k-1 max Calculating a space-based measurement and control coverage area;
if the space-based measurement and control coverage meets the requirement, judging that the currently designed roll angle meets the space-based measurement and control requirement; if the space-based measurement and control coverage area does not meet the requirement, executing the following steps:
if the space-based measurement and control disconnection time T1 is still at or before the adjustment time k, replacing the relay satellite to carry out the optimal roll angle design process again;
if the space-based measurement and control disconnection time T1 is calculated to be after the adjustment time k, continuing to judge the disconnection time and the optimal rolling angle of the next space-based link until the space-based measurement and control coverage meets the requirement.
Further, the obtaining the position vector of the relay satellite in the transmitting coordinate system according to the position relation between the relay satellite and the rocket comprises obtaining the position vector of the relay satellite in the transmitting coordinate system according to the orbit longitude of the satelliteAnd then the position vector of the rocket in the launching coordinate system is obtained>The method comprises the steps of carrying out a first treatment on the surface of the Will->、/>Projecting the position vectors to a navigation coordinate system through coordinate conversion to obtain the position vectors of satellites under the navigation coordinate system>And rocket position vector->；
Calculating to obtain the position vector from rocket to relay satellite in navigation coordinate systemPosition vectorProjecting the position vector to an arrow body coordinate system through coordinate conversion to obtain a position vector from the rocket to a relay satellite under the arrow body coordinate system>（Rx DT ，Ry DT ，Rz DT ）。
Further, the arrow coordinate system is defined as: the origin of coordinates is located at the rocket centroid, OX 1 The axis is consistent with the longitudinal symmetry axis of the arrow body, and the arrow body coordinate system is defined as: the origin of coordinates is located at the rocket centroid, OX 1 The axis is consistent with the longitudinal symmetry axis of the arrow body and points to the head direction, OY 1 The axis being perpendicular to OX 1 An axis positioned in the rocket longitudinal symmetry plane and pointing upwards, OZ 1 Axis and OX 1 Shaft, OY 1 The shaft forms a right-hand rectangular coordinate system;
the optimal roll angle GAM at each moment is the vector projection of the rocket to the relay satellite to the rocket body coordinate system Y 1 OZ 1 An included angle pointed by the plane back and the space-based antenna; and the space-based antenna pointing included angle Jiajiao is an included angle between a vector from the rocket to the relay satellite and the space-based antenna pointing.
Further, the calculating the optimal roll angle GAM at each moment in the whole flight process includes:
along the longitudinal axis of the arrow body (OX) 1 ) Looking at the arrow, the antenna on the current day is pointed to turn the position vector at the smallest angle (i.e., shortest path)In Y 1 OZ 1 Plane projection, if its rotation direction is clockwise, GAM is positive:
，
the antenna is directed at the minimum angular steering position vectorIn Y 1 OZ 1 Plane projection, if its rotation direction is counterclockwise, GAM is negative:
。
further, the calculating the antenna-based antenna pointing angle Jiajiao at each moment includes:
antenna pointing direction and arrow body 0Z 1 The included angle of the axes is theta, which is more than or equal to-180 degrees and less than or equal to 180 degrees, and the antenna points to the arrow coordinate system X on the same day 1 0Z 1 The upper part of the plane is theta positive, otherwise negative;
calculated to obtainAfter that, find +.>The included angle Jiajiao pointed by the antenna is as follows:
。
further, n adjustment moments for adjusting the roll angle in the rocket flight process are set, and the n adjustment moments are set in an unpowered flight section of the rocket. If the process of adjusting the roll angle does not affect the flight safety, the roll angle can be set in a powered flight section.
Further, the calculating the space-based measurement and control coverage range includes:
judging measurement and control arc sections T_tj00-T_tj 01, T_tj10-T_tj 11 and T_tj20-T_tj … … T_ tjm-T_ tjm1 meeting the condition that Jiajiao is less than or equal to A0, and selecting a section T_ tjx 0-T_ tjx1 with the longest measurement and control arc section to obtain the space-base measurement and control coverage, wherein m is a positive integer, and x is more than or equal to 0 and less than or equal to m.
Further, the emission coordinate system is defined as: the origin of coordinates is located at the origin of emission, the OY axis takes the plumb line of the emission point, the upward direction is positive, the OX axis is perpendicular to the OY axis, the direction is directed to the theoretical direction, and the OZ axis, the OX axis and the OY axis form a right-hand rectangular coordinate system.
Further, the navigation coordinate system (OXd, OYd, OZd) is defined as: the navigation coordinate system coincides with the launching coordinate system at the rocket launching moment, after the rocket is launched, the origin position of the coordinates moves at the dragging speed of the launching point at the launching moment, and the direction of the coordinate axis OXd, OYd, OZd is kept unchanged; the dragging speed refers to the speed of the launching point at the launching moment under the inertia space, and is the speed of the launching point relative to the center of the earth.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the optimal roll angle and the space-based phased array antenna pointing included angle are obtained according to the information such as the position relation between the relay satellite and the rocket, the position relation between the rocket posture and the space-based phased array antenna on the rocket, and the like, so that the STK software can be prevented from calling ballistic data for measurement and control analysis, the calculation amount can be effectively reduced, the design period can be shortened, and the working efficiency can be improved.
According to whether the pointing included angle of the antenna-based phased array antenna meets the measurement and control requirements or not and according to the optimal roll angle change rule, the rocket attitude angle meeting the measurement and control constraint is automatically and iteratively designed, and a measurement and control scheme is given, so that the manual design process is reduced. Meanwhile, the design method can design rocket attitude angles meeting space-based measurement and control constraints aiming at different launching tasks, so that the de-mission design of a measurement and control scheme is realized, and the development of a space-based measurement and control technology of the rocket is promoted to a certain extent.
Drawings
FIG. 1 is a schematic view of an arrow body coordinate system;
FIG. 2 is a flowchart of an automatic optimization method for rocket attitude angle in example 2.
Detailed Description
The invention is further illustrated below with reference to examples.
The invention provides a rocket attitude angle design method constrained by space-based measurement and control, which can automatically optimize the attitude angle meeting the space-based measurement and control constraint in the rocket flight process according to the relative positions of a rocket and a relay satellite and by combining a trajectory, thereby meeting the space-based measurement and control de-tasking requirement.
Example 1
The invention relates to a rocket attitude angle automatic optimization method constrained by space-based measurement and control, which mainly comprises the following steps:
s1, selecting a relay satellite, and solving a space-based antenna pointing included angle Jiajiao (the range is 0-180, the unit is degree) at each moment according to the position relation between the relay satellite and the rocket, the rocket posture and the position of the space-based antenna on the rocket;
specifically, the emission coordinate system of the present embodiment is defined as: the origin of coordinates is located at the origin of emission, the OY axis takes the plumb line of the emission point, the upward direction is positive, the OX axis is perpendicular to the OY axis, the direction theory is emitted, and the OZ axis, the OX axis and the OY axis form a right-hand rectangular coordinate system;
specifically, the navigation coordinate system of the present embodiment is defined as: the navigation coordinate system coincides with the launching coordinate system at the rocket launching moment, after the rocket is launched, the origin position of the coordinates moves at the dragging speed of the launching point at the launching moment, and the direction of the coordinate axis OXd, OYd, OZd is kept unchanged; the dragging speed refers to the speed of the transmitting point at the transmitting moment under the inertial coordinate system, and is the speed of the transmitting point relative to the center of the earth.
Specifically, the arrow coordinate system of this embodiment is defined as: the origin of coordinates is located at the rocket centroid, OX 1 The axis is consistent with the longitudinal symmetry axis of the arrow body and points to the arrow bodyHead direction, OY 1 The axis being perpendicular to OX 1 An axis positioned in the rocket longitudinal symmetry plane and pointing upwards, OZ 1 Axis and OX 1 Shaft, OY 1 The axes form a right-hand rectangular coordinate system, see fig. 1, in which the four quadrants of the rocket are denoted by I, II, III, IV.
The concrete method for solving the included angle Jiajiao comprises the following steps:
obtaining the position vector of the relay satellite in the transmitting coordinate system according to the longitude of the orbit of the satelliteAnd then the position vector of the rocket in the launching coordinate system is obtained>The method comprises the steps of carrying out a first treatment on the surface of the Will->、/>Projecting the position vectors to a navigation coordinate system through coordinate conversion to obtain the position vectors of satellites under the navigation coordinate system>And rocket position vector->；
Calculating to obtain the position vector from rocket to relay satellite in navigation coordinate systemPosition vectorProjecting the position vector to an rocket body coordinate system through coordinate conversion to obtain a position vector from the rocket to a relay satellite under the rocket body coordinate system（Rx DT ，Ry DT ，Rz DT ）。
Antenna based on skyPointing direction and arrow body 0Z 1 The included angle of the axes is theta, which is more than or equal to-180 degrees and less than or equal to 180 degrees, and the antenna points to the arrow coordinate system X on the same day 1 0Z 1 Above the plane (refer to OY) 1 A positive side of the axis) θ is positive, otherwise negative;
calculated to obtainAfter that, find +.>The included angle Jiajiao pointed by the antenna is as follows:
。
the antenna is generally located on the side of the rocket, and for convenience of description, it is assumed that the antenna is pointed at the rocket body coordinate system-OZ 1 Axial direction, i.e. θ=180°;
；
s2, comparing the magnitude relation between the Jiajiao and the space-based antenna beam angle A0 after the rocket takes off;
if the rocket flying whole process Jiajiao is not more than A0, judging that the relay satellite and the roll angle meet the space-based measurement and control requirement;
if Jiajiao is larger than A0, determining that the current T0 moment antenna is disconnected from the relay satellite link, and adjusting the roll angle according to the step S3;
s3, obtaining the optimal roll angle GAM at each moment in the whole flight process, and obtaining the maximum value GAM of the optimal roll angle before the moment T0 max ；
The method for obtaining the optimal roll angle GAM at each moment comprises the following steps:
the base antenna is directed to turn the position vector at a minimum angle (i.e. shortest path) as seen from the arrow tail along the longitudinal axis of the arrow bodyIn Y 1 OZ 1 Projection of plane, if its rotation direction isClockwise, GAM is positive:
，
the antenna is directed at the minimum angular steering position vectorIn Y 1 OZ 1 Plane projection, if its rotation direction is counterclockwise, GAM is negative:
。
adjusting roll angle to GAM for the first T seconds of time T0 max Calculating a space-based measurement and control coverage area; t is generally 10-30.
Calculating the space-based measurement and control coverage comprises the steps of firstly obtaining measurement and control arc sections T_tj00-T_tj 01, T_tj10-T_tj 11 and T_tj20-T_tj … … T_ tjm-T_ tjm1 which meet the condition that Jiajiao is less than or equal to A0, and selecting a section T_ tjx 0-T_ tjx1 with the longest measurement and control arc section, wherein x is more than or equal to 0 and less than or equal to m, so that the space-based measurement and control coverage is obtained. And judging whether the space-based measurement and control coverage meets the requirement or not, namely judging whether T_ tjx 0-T_ tjx1 can cover the flying process of the rocket or not, and ensuring that the whole flying process of the rocket can establish data connection with the space-chain satellite. The form of the measurement and control arc section is a time section.
S4, if the space-based measurement and control coverage meets the requirement, judging that the currently designed roll angle meets the space-based measurement and control requirement; if the coverage of the space-based measurement and control does not meet the requirement, recalculating the disconnection time of the space-based measurement and control, and executing the following steps:
if the space-based measurement and control is disconnected after the moment T0 after the rolling angle is adjusted, the rolling angle is adjusted to GAM in the first T seconds of the moment T0 max On the basis of the above, the step S1 is returned to continue to judge the disconnection time and the optimal rolling angle of the next space-based link until the space-based measurement and control coverage meets the requirements.
If the rolling angle is adjusted and the space-based measurement and control is still disconnected at the time T0 or before the time T0, the situation that the measurement and control connection condition cannot be optimized by the method of adjusting the rolling angle is indicated, the currently selected relay satellite cannot meet the measurement and control requirement, and the relay satellite needs to be replaced to carry out the rolling angle design process of the steps S1 to S4 again.
In the method of this embodiment, the time for adjusting the roll angle is calculated by the system itself, and the adjustment time may be any time in the flight process.
Example 2
For the measurement and control scheme, the optimal scheme is that the rocket flies according to the corresponding optimal rolling angle at different moments, and in the actual design process, the rolling angle is generally adjusted by selecting a plurality of fixed moments, and the embodiment is designed based on the scheme;
as shown in FIG. 2, the rocket attitude angle automatic optimization method constrained by space-based measurement and control comprises the following steps:
s1, setting (distributing) n adjustment moments capable of adjusting a roll angle in the rocket flight process, wherein the adjustment moments are set in an unpowered flight section of the rocket so as to avoid affecting flight safety;
selecting a relay satellite, and solving a space-based antenna pointing included angle Jiajiao at each moment according to the position relation between the relay satellite and the rocket, the rocket posture and the position of the space-based antenna on the rocket;
s2, comparing the beam angle A0 of the Jiajiao and the space-based antenna after the rocket takes off;
if the rocket flying whole process Jiajiao is not more than A0, judging that the relay satellite and the roll angle meet the space-based measurement and control requirement;
if Jiajiao is larger than A0, determining that the current T0 moment antenna is disconnected from the relay satellite link, and adjusting the roll angle according to the step S3;
s3, obtaining an optimal roll angle GAM at each moment in the whole flight process;
let the nearest adjustment time after T0 be adjustment time k, k is an integer and is more than or equal to 1 and less than or equal to n;
maximum value GAM of optimum roll angle before adjustment time k is obtained max ；
Adjusting roll angle to GAM at adjustment time k-1 k-1 ，GAM k-1 =GAM max Calculating a space-based measurement and control coverage area;
calculating the space-based measurement and control coverage comprises the steps of firstly obtaining measurement and control arc sections T_tj00-T_tj 01, T_tj10-T_tj 11 and T_tj20-T_tj … … T_ tjm-T_ tjm1 which meet the condition that Jiajiao is less than or equal to A0, and selecting a section T_ tjx 0-T_ tjx1 with the longest measurement and control arc section, wherein x is more than or equal to 0 and less than or equal to m, so that the space-based measurement and control coverage is obtained. And judging whether the space-based measurement and control coverage meets the requirement or not, namely judging whether T_ tjx 0-T_ tjx1 can cover the flying process of the rocket or not, and ensuring that the whole flying process of the rocket can establish data connection with the space-chain satellite. The form of the measurement and control arc section is a time section.
S4, if the space-based measurement and control coverage meets the requirement, judging that the currently designed roll angle meets the space-based measurement and control requirement; if the space-based measurement and control coverage area does not meet the requirement, executing the following steps:
calculating the moment T1 of the disconnection of the space-based link, if the moment T1 of the disconnection of the space-based measurement and control is calculated to be after the adjustment moment k, indicating that the adjustment rolling angle is effective, and adjusting the rolling angle to GAM at the adjustment moment k-1 k-1 On the basis of the method, the next space-based link disconnection time and the optimal rolling angle are continuously judged until the space-based measurement and control coverage meets the requirements;
if it is calculated that the space-based measurement and control disconnection time T1 is still at or before the adjustment time k, it is indicated that the measurement and control connection condition cannot be optimized by the method of adjusting the roll angle, and the roll angle design process from step S1 to step S4 needs to be performed again by replacing the relay satellite.
In this embodiment, the method for obtaining the included angle Jiajiao and the optimal roll angle GAM is the same as in embodiment 1.
In this embodiment, the moment of adjusting the roll angle is selected from n adjustment moments set in advance, and compared with embodiment 1, the influence of the embodiment on the flight is smaller, and the embodiment 1 is safer, but the embodiment 1 has higher intelligent degree.

Claims (10)

1. The rocket attitude angle automatic optimization method constrained by space-based measurement and control is characterized by comprising the following steps:
selecting a relay satellite, and solving a space-based antenna pointing included angle Jiajiao at each moment according to the position relation between the relay satellite and the rocket, the rocket posture and the position of the space-based antenna on the rocket;
comparing the magnitude relation between the Jiajiao and the space-based antenna beam angle A0 after the rocket takes off;
if the rocket flying whole process Jiajiao is not more than A0, judging that the relay satellite and the roll angle meet the space-based measurement and control requirement;
if Jiajiao is larger than A0, determining that the current T0 moment antenna is disconnected from the relay satellite link, and adjusting the roll angle according to the following steps:
obtaining the optimal roll angle GAM at each moment in the whole flight process, and obtaining the maximum value GAM of the optimal roll angle before the moment T0 max ；
Adjusting roll angle to GAM for the first T seconds of time T0 max Calculating a space-based measurement and control coverage area;
if the space-based measurement and control coverage meets the requirement, judging that the currently designed roll angle meets the space-based measurement and control requirement; if the coverage of the space-based measurement and control does not meet the requirement, recalculating the disconnection time of the space-based measurement and control, and executing the following steps:
if the rolling angle is adjusted, calculating that the space-based measurement and control is disconnected before the T0 moment or the T0 moment, replacing the relay satellite to carry out the optimal rolling angle design process again;
if the rolling angle is adjusted, the connection disconnection of the space-based measurement and control after the time T0 is calculated, and then the next space-based link connection disconnection time and the optimal rolling angle are continuously judged until the space-based measurement and control coverage meets the requirement.
2. The rocket attitude angle automatic optimization method constrained by space-based measurement and control is characterized by comprising the following steps:
setting n adjustment moments for adjusting the roll angle in the rocket flight process; selecting a relay satellite, and solving a space-based antenna pointing included angle Jiajiao at each moment according to the position relation between the relay satellite and the rocket, the rocket posture and the position of the space-based antenna on the rocket;
comparing the beam angle A0 of the space-based antenna with the beam angle Jiajiao after the rocket takes off;
if the rocket flying whole process Jiajiao is not more than A0, judging that the relay satellite and the roll angle meet the space-based measurement and control requirement;
if Jiajiao is larger than A0, determining that the current T0 moment antenna is disconnected from the relay satellite link, and adjusting the roll angle according to the following steps:
solving an optimal roll angle GAM at each moment in the whole flight process;
let the nearest adjustment time after T0 be adjustment time k, k is an integer and is more than or equal to 1 and less than or equal to n;
maximum value GAM of optimum roll angle before adjustment time k is obtained max ；
Adjusting roll angle to GAM at adjustment time k-1 max Calculating a space-based measurement and control coverage area;
if the space-based measurement and control coverage meets the requirement, judging that the currently designed roll angle meets the space-based measurement and control requirement; if the space-based measurement and control coverage area does not meet the requirement, executing the following steps:
if the space-based measurement and control disconnection time T1 is still at or before the adjustment time k, replacing the relay satellite to carry out the optimal roll angle design process again;
if the space-based measurement and control disconnection time T1 is calculated to be after the adjustment time k, continuing to judge the disconnection time and the optimal rolling angle of the next space-based link until the space-based measurement and control coverage meets the requirement.
3. The method for automatically optimizing the attitude angle of the rocket constrained by space-based measurement and control according to claim 1 or 2, wherein the method comprises the following steps according to the position relation between the relay satellite and the rocket:
obtaining the position vector of the relay satellite in the transmitting coordinate system according to the longitude of the orbit of the satelliteAnd then the position vector of the rocket in the launching coordinate system is obtained>The method comprises the steps of carrying out a first treatment on the surface of the Will->、/>Projecting the position vectors to a navigation coordinate system through coordinate conversion to obtain the position vectors of satellites under the navigation coordinate system>And rocket position vector->；
Calculating to obtain the position vector from rocket to relay satellite in navigation coordinate systemPosition vector +.>Projecting the position vector to an arrow body coordinate system through coordinate conversion to obtain a position vector from the rocket to a relay satellite under the arrow body coordinate system>（Rx DT ，Ry DT ，Rz DT ）。
4. A rocket attitude angle automatic optimization method under space-based measurement and control constraint according to claim 3, wherein said rocket body coordinate system is defined as: the origin of coordinates is located at the rocket centroid, OX 1 The axis is consistent with the longitudinal symmetry axis of the arrow body and points to the head direction, OY 1 The axis being perpendicular to OX 1 An axis positioned in the rocket longitudinal symmetry plane and pointing upwards, OZ 1 Axis and OX 1 Shaft, OY 1 The shaft forms a right-hand rectangular coordinate system;
the optimal roll angle GAM at each moment is the vector projection of the rocket to the relay satellite to the rocket body coordinate system Y 1 OZ 1 An included angle pointed by the plane back and the space-based antenna; the space-based antenna pointing included angle Jiajiao is rocket-to-relay satelliteAn angle between a vector of (c) and the antenna pointing direction.
5. The method for automatically optimizing rocket attitude constrained by space-based measurement and control according to claim 4, wherein said determining the optimal roll angle GAM at each moment in the whole flight comprises:
the base antenna is directed to turn the position vector at a minimum angle when viewed from the arrow tail along the longitudinal axis of the arrow bodyIn Y 1 OZ 1 Plane projection, if its rotation direction is clockwise, GAM is positive:
，
the antenna is directed at the minimum angular steering position vectorIn Y 1 OZ 1 Plane projection, if its rotation direction is counterclockwise, GAM is negative:
。
6. the method for automatically optimizing the rocket attitude angle constrained by space-based measurement and control according to claim 4, wherein the step of obtaining the space-based antenna pointing angle Jiajiao at each moment comprises the steps of:
antenna pointing direction and arrow body 0Z 1 The included angle of the axes is theta, which is more than or equal to-180 degrees and less than or equal to 180 degrees, and the antenna points to the arrow coordinate system X on the same day 1 0Z 1 θ is positive when above the plane, or negative;
calculated to obtainAfter that, find +.>The included angle Jiajiao pointed by the antenna is as follows:
。
7. the automatic rocket attitude angle optimizing method constrained by space-based measurement and control according to claim 2, wherein n adjustment moments for adjusting the roll angle in the rocket flight process are set, and the n adjustment moments are set in an unpowered flight section of the rocket.
8. The method for automatically optimizing rocket attitude angle under the constraint of space-based measurement and control according to claim 1 or 2, wherein the step of calculating space-based measurement and control coverage comprises the following steps:
judging measurement and control arc sections T_tj00-T_tj 01, T_tj10-T_tj 11 and T_tj20-T_tj … … T_ tjm-T_ tjm1 meeting the condition that Jiajiao is less than or equal to A0, and selecting a section T_ tjx 0-T_ tjx1 with the longest measurement and control arc section to obtain the space-base measurement and control coverage, wherein m is a positive integer, and x is more than or equal to 0 and less than or equal to m.
9. A rocket attitude angle automatic optimization method under space-based measurement and control constraint according to claim 3, wherein said launching coordinate system is defined as: the origin of coordinates is located at the origin of emission, the OY axis takes the plumb line of the emission point, the upward direction is positive, the OX axis is perpendicular to the OY axis, the direction is directed to the theoretical direction, and the OZ axis, the OX axis and the OY axis form a right-hand rectangular coordinate system.
10. A rocket attitude angle automatic optimization method under space-based measurement and control constraint according to claim 3, wherein said navigation coordinate system is defined as: the navigation coordinate system coincides with the launching coordinate system at the rocket launching moment, after the rocket is launched, the origin position of the coordinates moves at the dragging speed of the launching point at the launching moment, and the direction of the coordinate axis OXd, OYd, OZd is kept unchanged; the dragging speed refers to the speed of the launching point at the launching moment under the inertia space, and is the speed of the launching point relative to the center of the earth.
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