CN117302559A - Regression orbit autonomous phase modulation control method and device - Google Patents
Regression orbit autonomous phase modulation control method and device Download PDFInfo
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Abstract
The invention provides a regression orbit autonomous phase modulation control method and a device, and relates to the technical field of spacecraft control, wherein the method comprises the following steps: acquiring ideal geographic longitudes of N intersection points of the target regression orbit according to the orbit regression characteristics; real-time monitoring the actual geographic longitude of each circle of the spacecraft when passing through the intersection point, and determining the geographic longitude error of the intersection point when the actual geographic longitude of each circle of the spacecraft is monitored; determining whether a phase modulation task is needed according to the magnitude relation between the geographic longitude error and an error threshold; and when the phase modulation task is determined to be needed, calculating an orbit control pulse for executing the phase modulation task, and executing the phase modulation task by utilizing the orbit control pulse so as to restore the orbit form of the spacecraft to the orbit form of the target return orbit. According to the scheme, the regression characteristic of the flight orbit can be maintained regularly, so that the flight orbit can be ensured to meet the constraint of reentry corridor regularly.
Description
Technical Field
The embodiment of the invention relates to the technical field of spacecraft control, in particular to a regression orbit autonomous phase modulation control method and device.
Background
In order to ensure that the spacecraft smoothly returns to land, the constraint of reentry corridor can be met after the spacecraft leaves orbit on the space standby orbit. For spacecraft such as airship, the orbit of the whole task flow can be planned at the initial stage of the task due to the relative determination of the on-orbit time and the flight task, and the orbit planning is used for ensuring that the flight orbit meets the constraint of reentry corridor.
However, for a long-term on-orbit space shuttle, the on-orbit time and the on-orbit trajectory are both changed along with the space task requirement, and have high uncertainty. Therefore, it is difficult to initially plan a track for the task flow that ensures that the constraints of the reentry corridor are satisfied.
Disclosure of Invention
The embodiment of the invention provides a regression orbit autonomous phase modulation control method and device, which can regularly maintain the regression characteristic of a flight orbit so as to ensure that the flight orbit can regularly meet the constraint of reentry corridor.
In a first aspect, an embodiment of the present invention provides a regression orbit autonomous phase modulation control method, including:
acquiring ideal geographic longitudes of N intersection points of the target regression orbit according to the orbit regression characteristics; the target regression orbit is a nominal circular orbit of N circles on M days; n and M are positive integers;
real-time monitoring the actual geographic longitude when passing through the intersection point in each circle of flight of the spacecraft, determining the target ideal geographic longitude which is closest to the actual geographic longitude in N ideal geographic longitudes each time the actual geographic longitude passing through the intersection point is monitored, and determining the difference value between the target ideal geographic longitude and the actual geographic longitude as the geographic longitude error of the intersection point; determining whether a phase modulation task is needed according to the magnitude relation between the geographic longitude error and an error threshold;
and when the phase modulation task is determined to be needed, calculating an orbit control pulse for executing the phase modulation task, and executing the phase modulation task by utilizing the orbit control pulse so as to restore the orbit form of the spacecraft to the orbit form of the target return orbit.
In a second aspect, an embodiment of the present invention further provides a return-track autonomous phase modulation control device, including:
the acquisition unit is used for acquiring ideal geographic longitudes of N intersection points of the target regression orbit according to the orbit regression characteristics; the target regression orbit is a nominal circular orbit of N circles on M days; n and M are positive integers;
the error monitoring unit is used for monitoring the actual geographic longitude passing through the intersection point in the process of each circle of flight of the spacecraft in real time, determining the target ideal geographic longitude closest to the actual geographic longitude in N ideal geographic longitudes each time the actual geographic longitude passing through the intersection point is detected, and determining the difference value between the target ideal geographic longitude and the actual geographic longitude as the geographic longitude error of the intersection point; determining whether a phase modulation task is needed according to the magnitude relation between the geographic longitude error and an error threshold;
and the phase modulation unit is used for calculating the track control pulse for executing the phase modulation task when the phase modulation task is determined to be required, and executing the phase modulation task by utilizing the track control pulse so as to restore the orbit form of the spacecraft to the orbit form of the target return orbit.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of the present specification is implemented.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform a method according to any of the embodiments of the present specification.
The embodiment of the invention provides a regression orbit autonomous phase modulation control method and device, which aim at a target regression orbit capable of enabling a flight orbit to meet reentry corridor constraint, acquire ideal geographic longitudes of N intersection points, calculate errors of target ideal geographic longitudes closest to the ideal geographic longitudes of the N intersection points by monitoring the actual geographic longitudes of the intersection points passing through in real time in each circle of flight of a spacecraft, determine whether a phase modulation task is needed according to the magnitude relation between the geographic longitudes errors and an error threshold value, and perform phase modulation when the phase modulation task is needed, and recover the spacecraft to the orbit form of the target regression orbit by utilizing the calculated orbit control pulse. Therefore, the scheme can regularly maintain the regression characteristic of the flight orbit so as to ensure that the flight orbit can regularly meet the constraint of reentry corridor.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a regression orbit autonomous phasing control method according to an embodiment of the invention;
FIG. 2 is a plot of change in geographic longitude errors during simulation provided by an embodiment of the present invention;
FIG. 3 is a graph showing the variation of the average semimajor axis of the track during simulation provided by an embodiment of the present invention;
FIG. 4 is a graph showing the variation of average eccentricity during simulation provided by an embodiment of the present invention;
FIG. 5 is a flight trajectory during simulation provided by an embodiment of the present invention;
FIG. 6 is a hardware architecture diagram of an electronic device according to an embodiment of the present invention;
fig. 7 is a block diagram of a return track autonomous phase modulation control device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a regression orbit autonomous phase modulation control method, which includes:
step 100, obtaining ideal geographic longitudes of N intersection points of a target regression orbit according to the orbit regression characteristics; the target regression orbit is a nominal circular orbit of N circles on M days; n and M are positive integers;
102, monitoring the actual geographic longitude of each circle of flying of the spacecraft in real time when passing through the intersection point, determining the target ideal geographic longitude closest to the actual geographic longitude in N ideal geographic longitudes each time the actual geographic longitude passing through the intersection point is monitored, and determining the difference value between the target ideal geographic longitude and the actual geographic longitude as the geographic longitude error of the intersection point; determining whether a phase modulation task is needed according to the magnitude relation between the geographic longitude error and an error threshold;
and 104, when the phase modulation task is determined to be required, calculating an orbit control pulse for executing the phase modulation task, and executing the phase modulation task by utilizing the orbit control pulse so as to restore the orbit form of the spacecraft to the orbit form of the target return orbit.
In the embodiment of the invention, for a target regression orbit capable of enabling a flight trajectory to meet the constraint of a reentry corridor, ideal geographic longitudes of N intersection points are obtained, the actual geographic longitudes when the intersection points pass through in each circle of flight of a spacecraft are monitored in real time, so that the error of the target ideal geographic longitudes closest to the ideal geographic longitudes of the N intersection points is calculated, whether a phase modulation task is needed or not is determined according to the magnitude relation between the geographic longitude error and an error threshold value, and the calculated orbit control pulse is utilized for phase modulation when the phase modulation task is needed, so that the spacecraft is restored to the orbit form of the target regression orbit. Therefore, the scheme can regularly maintain the regression characteristic of the flight orbit so as to ensure that the flight orbit can regularly meet the constraint of reentry corridor.
The manner in which the individual steps shown in fig. 1 are performed is described below.
First, for step 100, the ideal geographic longitude of the N intersection points of the target regression orbit is obtained from the orbit regression characteristics.
The target return orbit is a nominal circular orbit of N circles on M days, and when the spacecraft flies on the target return orbit, the flying orbit can meet the constraint of reentry corridor. Wherein M and N are positive integers.
The control target of the target regression orbit can ensure that the reentry task is guided, so that a nominal reentry point can be determined according to the reentry flight capacity of the spacecraft, and then the initial geographic longitude of the nominal reentry point when the previous circle of spacecraft passes through the ascending intersection point is obtained based on the nominal reentry point. Since the height and inclination of the target regression trajectory are determined in advance, and the nominal circular trajectory of N turns on M days is satisfied. Therefore, in the embodiment of the present invention, according to the track regression characteristics, the ideal geographic longitude of N intersection points of the target regression track may be obtained by the following method:
ideal geographical longitude of jth intersection pointIs obtained by the following formula:
；/>。
then, for step 102, real-time monitoring the actual geographic longitude passing through the intersection point in each circle of flight of the spacecraft, determining the target ideal geographic longitude closest to the actual geographic longitude in N ideal geographic longitudes each time the actual geographic longitude passing through the intersection point is monitored, and determining the difference value between the target ideal geographic longitude and the actual geographic longitude as the geographic longitude error of the intersection point; and determining whether a phase modulation task is needed according to the magnitude relation between the geographical longitude error and the error threshold value.
When the spacecraft flies around the ground, each circle passes through the intersection point (equator), and as the number of flying circles increases, the deviation of the actual geographic longitude passing through the intersection point from the nearest ideal geographic longitude gradually increases, and when the deviation is considered to be larger than a certain error threshold value, a phase modulation task is performed once, so that the orbit shape of the target circular orbit is recovered. Specifically:
in the flight process of the spacecraft, the autonomous orbit determination result is utilized to monitor the actual geographic longitude when passing through the intersection point in each circle of the spacecraft, and the actual geographic longitude is recorded asThe method comprises the steps of carrying out a first treatment on the surface of the Each time an actual geographical longitude passing the intersection point is detected, the and/or of the N ideal geographical longitudes is determined>Ideal geographic longitude +.>The method comprises the steps of carrying out a first treatment on the surface of the And calculates the geographical longitude error of the circle-ascending intersection by the following formula>：/>。
Assume that the error threshold for the geolongitude of the intersection point isComparing the magnitude relation between the geographic longitude error and the error threshold value, if +.>Determining that the phase modulation task is not needed; if->Then confirmThe phase modulation task is required. The geographic longitude errors and the error thresholds are error values of transverse positions.
If it is determined that the phase modulation task is not needed, continuously monitoring the actual geographic longitude passing through the intersection point in the next round of flight to determine whether the phase modulation task is needed in the next round; if the phase modulation task is determined to be needed, the actual geographic longitude passing through the intersection point in the next round of flight can be continuously monitored, and the monitoring can be continuously performed after the phase modulation task is completed. This is because the geographical longitude errors of the first few turns of phasing may also be greater than the error threshold, already at this time during the performance of the phasing task.
Finally, for step 104, when it is determined that the phasing task needs to be performed, an orbit control pulse for performing the phasing task is calculated, and the phasing task is performed by using the orbit control pulse, so that the orbit shape of the spacecraft is restored to the orbit shape of the target return orbit.
In order to restore the orbit morphology of the spacecraft to the orbit morphology of the target regression orbit, in the embodiment of the invention, the orbit control pulse can be calculated based on a mode of performing CW transfer guidance on a virtual target spacecraft, so that the phase modulation task can be completed in K circles, and K is a positive integer. As such, the rail-controlled pulse may include a first pulse and a second pulse.
In the embodiment of the invention, the first pulse can be obtained by calculation through the following steps:
a1, determining the expected number of turns for completing the phase modulation task;
a2, calculating a first pulse speed increment for performing a phase modulation task by using the current expected number of turns, and determining whether the first pulse speed increment is larger than the maximum orbit control speed increment of the spacecraft; if yes, the expected number of turns is increased, the increased expected number of turns is used as the current expected number of turns to continue to execute the step, and therefore the calculated initial pulse speed increment is not larger than the maximum track control speed increment.
Since K turns are required to complete the phasing task, the velocity increment of the first pulse is related to K. In one implementation, the initial pulse velocity increment for a phasing task can be calculated by the following formula:
；
；
wherein,a speed increment of a first pulse for performing the phasing task; />Is the geographic longitude error; />Mean semimajor axis for target regression trajectory, +.>Returning the track angular rate of the track to the target; />Is a positive integer for indicating the desire +.>Completing the phase modulation task; />The target regression orbit corresponds to the advancing amount of one circle of the geographical longitude of the intersection point. Wherein, for a target regression trajectory of M days N circles,/a>And negative, indicating that the track of the understar point is a western back track. If->If the result is positive, the calculated first pulse is about east representing the position of the lateral position of the understar spot relative to the ideal geographic longitude of the target>For positive, the spacecraft needs to perform an up-track pulse in the positive direction of velocity. If->Negative, the calculated first pulse +.>As negative, the spacecraft needs to perform a derailment pulse opposite to the velocity direction.
Further, if the geographical longitude error of the circle-ascending intersection point is large, the calculated first pulseAnd will be larger. However, in practical engineering application, the fuel of the spacecraft is limited, and the single start-up time of the orbit control engine is limited to a certain extent, so that the orbit control pulse cannot exceed the capacity range of the spacecraft. Therefore, the maximum pulse protection needs to be increased. In particular, when the calculated speed increment of the first pulse exceeds the maximum track-controlled speed increment, the need for a single track-controlled speed increment can be reduced by increasing the desired number of phase modulation turns, i.e., by increasing K.
In the embodiment of the present invention, the manner of increasing the desired number of turns may include: and (3) performing modulus taking on the current calculated initial pulse speed increment, multiplying the modulus-taken value by the current expected number of turns, dividing the obtained product by the maximum track control speed increment, rounding down the quotient, and determining the sum of the downward rounded value and 1 as the increased expected number of turns. The specific formula is as follows:
wherein,to the number of turns desired after the increase; />The single maximum orbit control speed increment of the spacecraft is determined by the technological limit of the residual fuel and the engine of the spacecraft.
According to the mode for increasing the expected number of turns, the final expected number of turns can be determined through one-time adjustment, and the calculation efficiency can be improved. In addition to the above-mentioned way of increasing the desired number of turns, the speed increment of the track pulse can be recalculated by increasing one turn at a time, and only when the number of turns is increased more, the final desired number of turns can be determined by calculating a plurality of times.
The following describes the derivation of the calculation formula for the first pulse velocity increment of the phasing task.
Firstly, converting the geographical longitude error of the ascending intersection point into the phase error in the orbit, and according to the change rate of the geographical longitude of the satellite point, enablingFor the change rate of the geographical precision of the ascending intersection point of the target regression orbit, then +.>The amount of geographic longitude error of (a) corresponds to the intra-track time difference: />。
The time difference is further converted into a distance error in the track plane:；
the adjustment of the geographical longitude of the intersection point is equivalent to solving the problem that the track surface tracks a distance under RVD systemIs a virtual target spacecraft of (c). From the CW equation, the track in-plane resolution is as follows:
and (3) making:；
wherein,for defined intermediate variables, +.>Is->Derivative of>、/>The positions of the spacecraft in the X direction and the Z direction of the RVD system at the moment t are respectively +.>Is->Derivative of>Is->Is a derivative of (a). The state transfer equation is as follows:
；
wherein:
；/>；
；/>；
；
according to the phase modulation requirement, the initial and final states of the relative positions are designed as follows:
；/>；/>。
the CW equation reduces to:
；
k whole circles are taken as phase adjustment time, thenThe equation is developed to obtain:
；
wherein,and->Are all intermediate parameters;
i.e. the first pulse only requires an increase in velocity in the X direction of:
；
substituting the distance error formula into the speed increment formula in the X direction to obtain a calculation formula for calculating the first pulse.
After the speed increment of the first pulse is calculated, the first pulse is executed, and after K whole track periods, the track form can be restored to the track form of the target return track by executing the secondary pulse according to the opposite direction of the first pulse, so that the phase modulation task is completed. In one implementation, the speed increment of the secondary pulse is equal to the speed increment of the primary pulse. However, if the pulse is directly executed, the accuracy of the phase modulation task is affected by errors in the track control pulse execution process, attenuation of the track itself, and morphological errors of the initial track and the target return track.
Based on this, in one embodiment of the present invention, the calculation manner of the secondary pulse may include: after the (K-1) th track period after the first pulse is executed, calculating the speed increment of the secondary pulse and the track control executing position of the secondary pulse by using a near-circular track maintaining algorithm; k is the expected number of turns for completing the phase modulation task, and K is a positive integer less than N. Specifically:
and (3) making:，/>，/>，/>；
calculation of；
Wherein,for the average semi-major axis of the target regression trajectory, +.>、/>、/>Respectively determined based on autonomous orbit determination resultsAverage semimajor axis, average eccentricity and average near-ground amplitude angle of the current track; />、/>、/>、/>、/>Is an intermediate variable;
if it isThe speed increment of the two sub-pulses +.>、/>The method comprises the following steps of:
；
；
wherein,average angular rate for the current track; track phase angle of the track-controlled execution position of the two sub-pulses +.>、/>The method comprises the following steps of: />、/>；
If it isThe speed increment of the two sub-pulses +.>、/>The method comprises the following steps of:
；
track phase angle of track-controlled execution position of two sub-pulses、/>The method comprises the following steps of:
；
。
in this way, the orbit control is performed by using the re-planned sub-pulse, so that the orbit form of the spacecraft is more similar to the orbit form of the target return orbit.
According to the embodiment of the invention, the flight orbit can be phased regularly by monitoring the transverse geographic longitude errors on the satellite in a fully autonomous manner and planning the orbit pulse for executing the phase modulation task in an autonomous manner, so that the satellite-based point orbit can maintain the regression characteristic with high precision, thereby meeting the ideal orbit characteristic before the reentry spacecraft leaves the orbit, ensuring that the spacecraft meets the constraint condition of the reentry corridor and returns to the preset landing field smoothly. The embodiment can be applied to a reentry spacecraft of a regression orbit, and can also be applied to a ground observation satellite with a satellite-under-satellite point reentry requirement.
The above embodiments are further described below by way of a specific example.
The track height of the target regression track is 500km) Track inclination angle is 45 degrees 15 circles in 1 day. Let->=0, then determine that the geolongitude of the intersection point of the target regression trajectory passes through the following 15 points sequentially during the day:
table 1: ideal geographical longitude of target regression orbit elevation intersection
In table 1 above, the negative sign represents the western meridian and the positive sign represents the east meridian.
The initial orbit conditions of the spacecraft are as follows: average semi-long axis of trackAverage eccentricity->The actual geographical longitude of the intersection of the first circle of the initial orbit +.>。
Setting control parameters of the following phase modulation tasks:
(1) Geographical longitude error threshold value for intersection point rise；
(2) Desired number of turns to accomplish the phasing task；
(3) Single maximum track speed incrementIs that。
According to the embodiment of the invention, autonomous phase modulation control is started, and the geographic longitude error of the point where the actual geographic longitude and 15 ideal geographic longitudes are nearest to each other when the first circle passes through the ascending intersection point is。
The velocity increment of the first pulse is obtained through calculation as follows:the set maximum track control speed increment is exceeded, the expected number of turns is adjusted to 6 turns, and the speed increment of the first pulse is obtained through re-planning: />. After 6 turns, a sub-pulse is performed to restore the orbit morphology of the spacecraft to that of the target return orbit.
Referring to table 2, the actual geographic longitude and the target ideal geographic longitude are simulated for 3 days. Please refer to fig. 2-5, wherein fig. 2 is a geographical longitude error variation curve, fig. 3 is a variation of an average semi-long axis of a track during simulation, fig. 4 is a variation of average eccentricity, and fig. 5 is a flight path.
Table 2: geographic longitude error of 3 days actual geographic longitude and target ideal geographic longitude
As can be seen from table 2 and fig. 2 to 5, there is a relatively large transverse error in the initial stage, the phase modulation task is started autonomously, the semi-long axis is raised along with the initial pulse, the eccentricity of the track is increased, and the recovery of the track form is completed for the first time in the 7 th turn. And then continuously monitoring, and at the 27 th turn, when the geographic longitude error exceeds an error threshold value, starting the phase modulation task again. It can be seen that the actual geographic longitude remains within the error threshold envelope for a long period of time.
As shown in fig. 6 and 7, the embodiment of the invention provides a return track autonomous phase modulation control device. The apparatus embodiments may be implemented by software, or may be implemented by hardware or a combination of hardware and software. In terms of hardware, as shown in fig. 6, a hardware architecture diagram of an electronic device where a return-track autonomous phase modulation control device provided in an embodiment of the present invention is located, where in addition to a processor, a memory, a network interface, and a nonvolatile memory shown in fig. 6, the electronic device where the embodiment is located may generally include other hardware, such as a forwarding chip responsible for processing a packet, and so on. For example, as shown in fig. 7, the device in a logic sense is formed by reading a corresponding computer program in a nonvolatile memory into a memory by a CPU of an electronic device where the device is located. The embodiment provides a return track autonomous phase modulation controlling means, includes:
an acquiring unit 701, configured to acquire ideal geographic longitudes of N intersection points of the target regression orbit according to the orbit regression characteristics; the target regression orbit is a nominal circular orbit of N circles on M days; n and M are positive integers;
the error monitoring unit 702 is configured to monitor, in real time, an actual geographic longitude when the spacecraft passes through the intersection point in each circle of flight, determine, each time the actual geographic longitude passing through the intersection point is detected, a target ideal geographic longitude closest to the actual geographic longitude in the N ideal geographic longitudes, and determine a difference between the target ideal geographic longitude and the actual geographic longitude as a geographic longitude error of the intersection point; determining whether a phase modulation task is needed according to the magnitude relation between the geographic longitude error and an error threshold;
and the phasing unit 703 is used for calculating the orbit control pulse for executing the phasing task when the phasing task is determined to be required, and executing the phasing task by utilizing the orbit control pulse so as to restore the orbit form of the spacecraft to the orbit form of the target return orbit.
In one embodiment of the invention, the rail control pulse comprises a first pulse and a second pulse;
the calculation mode of the first pulse comprises the following steps: determining the expected number of turns for completing the phasing task; calculating a first pulse speed increment for executing a phase modulation task by using the current expected number of turns, and determining whether the first pulse speed increment is larger than the maximum orbit control speed increment of the spacecraft; if yes, the expected number of turns is increased, the increased expected number of turns is used as the current expected number of turns to continue to execute the step, and therefore the calculated initial pulse speed increment is not larger than the maximum track control speed increment.
In one embodiment of the present invention, the calculating the initial pulse velocity increment for performing the phasing task using the current number of desired turns includes:
；
；
wherein,a speed increment of a first pulse for performing the phasing task; />Is the geographic longitude error; />Mean semimajor axis for target regression trajectory, +.>Returning the track angular rate of the track to the target; />Is a positive integer for indicating the desire +.>Completing the phase modulation task; />Is the object ofThe regression orbit corresponds to the advancing amount of one circle of the geographical longitude of the intersection point of the liter.
In one embodiment of the invention, the means for increasing the desired number of turns comprises: and (3) performing modulus taking on the current calculated initial pulse speed increment, multiplying the modulus-taken value by the current expected number of turns, dividing the obtained product by the maximum track control speed increment, rounding down the quotient, and determining the sum of the downward rounded value and 1 as the increased expected number of turns.
In one embodiment of the present invention, the calculation method of the secondary pulse includes: after the (K-1) th track period after the first pulse is executed, calculating the speed increment of the secondary pulse and the track control executing position of the secondary pulse by using a near-circular track maintaining algorithm; k is the expected number of turns for completing the phase modulation task, and K is a positive integer less than N.
In one embodiment of the present invention, the calculating the speed increment of the sub-pulse and the track-controlled execution position of the sub-pulse by using the near-circular track maintenance algorithm includes:
and (3) making:，/>，/>，/>；
calculation of；
Wherein,for the average semi-major axis of the target regression trajectory, +.>、/>、/>The average semi-long axis, the average eccentricity and the average near-ground amplitude angle of the current track are determined based on the autonomous orbit determination result; />、/>、/>、/>、/>Is an intermediate variable;
if it isThe speed increment of the two sub-pulses +.>、/>The method comprises the following steps of:
；
；
track phase angle of track-controlled execution position of two sub-pulses、/>The method comprises the following steps of: />、/>；
If it isThe speed increment of the two sub-pulses +.>、/>The method comprises the following steps of:
；
track phase angle of track-controlled execution position of two sub-pulses、/>The method comprises the following steps of:
；
。
in one embodiment of the present invention, the obtaining unit is specifically configured to obtain the ideal geographic longitude of the jth intersection point by the following formula：
；/>；
Wherein,the initial geographic longitude of the previous circle of spacecraft, which is the nominal reentry point, when passing the intersection point.
It will be appreciated that the structure illustrated in the embodiments of the present invention is not intended to be limiting in any particular way for a return-to-track autonomous phasing control device. In other embodiments of the invention, a return-to-orbit autonomous phase modulation control device may include more or fewer components than shown, or may combine certain components, or may split certain components, or may have a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
The content of information interaction and execution process between the modules in the device is based on the same conception as the embodiment of the method of the present invention, and specific content can be referred to the description in the embodiment of the method of the present invention, which is not repeated here.
The embodiment of the invention also provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the regression orbit autonomous phase modulation control method in any embodiment of the invention when executing the computer program.
The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and the computer program when being executed by a processor, causes the processor to execute the regression orbit autonomous phase modulation control method in any embodiment of the invention.
Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium may realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code form part of the present invention.
Examples of the storage medium for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer by a communication network.
Further, it should be apparent that the functions of any of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform part or all of the actual operations based on the instructions of the program code.
Further, it is understood that the program code read out by the storage medium is written into a memory provided in an expansion board inserted into a computer or into a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part and all of actual operations based on instructions of the program code, thereby realizing the functions of any of the above embodiments.
It is noted that relational terms such as first and second, and the like, are 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. Moreover, 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 phrase "comprising one …" does not exclude the presence of additional identical elements in a process, method, article or apparatus that comprises the element.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: various media in which program code may be stored, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A return-to-orbit autonomous phase modulation control method, characterized by comprising:
acquiring ideal geographic longitudes of N intersection points of the target regression orbit according to the orbit regression characteristics; the target regression orbit is a nominal circular orbit of N circles on M days; n and M are positive integers;
real-time monitoring the actual geographic longitude when passing through the intersection point in each circle of flight of the spacecraft, determining the target ideal geographic longitude which is closest to the actual geographic longitude in N ideal geographic longitudes each time the actual geographic longitude passing through the intersection point is monitored, and determining the difference value between the target ideal geographic longitude and the actual geographic longitude as the geographic longitude error of the intersection point; determining whether a phase modulation task is needed according to the magnitude relation between the geographic longitude error and an error threshold;
and when the phase modulation task is determined to be needed, calculating an orbit control pulse for executing the phase modulation task, and executing the phase modulation task by utilizing the orbit control pulse so as to restore the orbit form of the spacecraft to the orbit form of the target return orbit.
2. The method of claim 1, wherein the rail control pulse comprises a first pulse and a second pulse;
the calculation mode of the first pulse comprises the following steps:
determining the expected number of turns for completing the phasing task;
calculating a first pulse speed increment for executing a phase modulation task by using the current expected number of turns, and determining whether the first pulse speed increment is larger than the maximum orbit control speed increment of the spacecraft; if yes, the expected number of turns is increased, the increased expected number of turns is used as the current expected number of turns to continue to execute the step, and therefore the calculated initial pulse speed increment is not larger than the maximum track control speed increment.
3. The method of claim 2, wherein calculating the initial pulse velocity increment for performing the phasing task using the current number of desired turns comprises:
；
；
wherein,a speed increment of a first pulse for performing the phasing task; />Is the geographic longitude error; />Mean semimajor axis for target regression trajectory, +.>Returning the track angular rate of the track to the target; />Is a positive integer for indicating the desire +.>Completing the phase modulation task; />The target regression orbit corresponds to the advancing amount of one circle of the geographical longitude of the intersection point.
4. The method of claim 2, wherein increasing the desired number of turns comprises: and (3) performing modulus taking on the current calculated initial pulse speed increment, multiplying the modulus-taken value by the current expected number of turns, dividing the obtained product by the maximum track control speed increment, rounding down the quotient, and determining the sum of the downward rounded value and 1 as the increased expected number of turns.
5. The method of claim 2, wherein the sub-pulse is calculated by a method comprising:
after the (K-1) th track period after the first pulse is executed, calculating the speed increment of the secondary pulse and the track control executing position of the secondary pulse by using a near-circular track maintaining algorithm; k is the expected number of turns for completing the phase modulation task, and K is a positive integer less than N.
6. The method of claim 5, wherein calculating the speed increment of the sub-pulse and the orbit-control execution position of the sub-pulse using the near-circular orbit maintenance algorithm comprises:
and (3) making:，/>，/>，/>；
calculation of；
Wherein,for the average semi-major axis of the target regression trajectory, +.>、/>、/>The average semi-long axis, the average eccentricity and the average near-ground amplitude angle of the current track are determined based on the autonomous orbit determination result; />、/>、/>、/>、/>Is an intermediate variable;
if it isThe speed increment of the two sub-pulses +.>、/>The method comprises the following steps of:
；
；
wherein n is the average angular rate of the current track; track phase angle of track-controlled execution position of two sub-pulses、/>The method comprises the following steps of: />、/>；
If it isThe speed increment of the two sub-pulses +.>、/>The method comprises the following steps of:
；
track phase angle of track-controlled execution position of two sub-pulses、/>The method comprises the following steps of:
；
。
7. the method of any of claims 1-6, wherein the obtaining ideal geographic longitudes for N liter intersection points of the target regression orbit from the orbit regression characteristics comprises:
ideal geographical longitude of jth intersection pointIs obtained by the following formula:
；/>；
wherein,the initial geographic longitude of the previous circle of spacecraft, which is the nominal reentry point, when passing the intersection point.
8. A return-to-orbit autonomous phase modulation control device, comprising:
the acquisition unit is used for acquiring ideal geographic longitudes of N intersection points of the target regression orbit according to the orbit regression characteristics; the target regression orbit is a nominal circular orbit of N circles on M days; n and M are positive integers;
the error monitoring unit is used for monitoring the actual geographic longitude passing through the intersection point in the process of each circle of flight of the spacecraft in real time, determining the target ideal geographic longitude closest to the actual geographic longitude in N ideal geographic longitudes each time the actual geographic longitude passing through the intersection point is detected, and determining the difference value between the target ideal geographic longitude and the actual geographic longitude as the geographic longitude error of the intersection point; determining whether a phase modulation task is needed according to the magnitude relation between the geographic longitude error and an error threshold;
and the phase modulation unit is used for calculating the track control pulse for executing the phase modulation task when the phase modulation task is determined to be required, and executing the phase modulation task by utilizing the track control pulse so as to restore the orbit form of the spacecraft to the orbit form of the target return orbit.
9. An electronic device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the method of any of claims 1-7 when the computer program is executed.
10. A computer readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform the method of any of claims 1-7.
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