RU2579387C1 - Method of orienting spacecraft using gimballess orbital gyrocompass and system therefor - Google Patents

Abstract

FIELD: astronautics.

SUBSTANCE: invention can be used for orientation of spacecraft. Spacecraft orientation system using gimballess orbital gyrocompass (BOGK) comprises a device for orientation on ground (POZ), a unit of gyroscopic angular velocity meters (BIUS), program control module (PMU), eleven adders, three amplification modules (MU), five integrators, four module interference compensation channels (MKVK), cosine converter (KP), sine converter (SP), two switches. In steady-state orientation is measured signal difference of POZ and output signals BOGK in channels of roll and pitch, to correct readings and BIUS in channels of roll and heading, pitch, course turn by 90 degrees with substitution of bank gyrocompassing channel with pitch gyrocompassing channel, continued oriented orbital flight is in signal correction in pitch channel signal error autocompensation POS pitch BOGK correction signal is calculated in pitch channel, is waited for completion of transition processes in circuit of orientation, stored accumulated signal value autocompensation in pitch channel and is switched off its accumulation is rotated back spacecraft course, reverse substitution of roll and pitch channels BOGK, BOGK correction channel is added to pitch signal value autocompensation as correction for deterministic BOGK orientation error in pitch channel, calculating correction signal in pitch channel, introduced into difference signal for channels of roll and heading signal autocompensation deterministic errors POS bank, new BOGK correction signal is calculated in channels of roll and heading.

EFFECT: compensation for errors in spacecraft orientation relative to orbital coordinate system.

2 cl, 2 dwg

Description

The present invention relates to the field of orientation of spacecraft (SC), and more specifically to a method and device for orientation systems (CO) of a spacecraft using a strapdown orbital gyrocompass (BOGK).

The technical solution described in the article by the authors A. Bryson and V. Kortyum “Calculation of the local angular position of the orbiting spacecraft” can serve as an analogue. Proceedings of the III IFAC International Symposium on Automatic Control in the Peaceful Uses of Outer Space. Control in space, vol. 2, p. 83-105, Moscow, Nauka, 1972. The authors consider a method of compensating for errors of the Earth-Oriented Orientation Device (POS) and the drift of gyroscopes using optimal filtering methods. The main disadvantage of this method is that it is fundamentally excluded the possibility of compensating for the influence of the determined error of the REF in the pitch channel on the accuracy of the spacecraft orientation in pitch, as well as the unreasonable representation of the errors of orientation sensors in the form of white noise, which limits the practical application of the method for compensating the effect of the REF errors on the accuracy of the spacecraft orientation in the channels orientation.

There is also a known method of orientation of a spacecraft with the use of BOGK, in which the problem of compensating for the errors of the POS on the accuracy of orientation in the course channel is solved. In this system, the integrated differential difference signal REF in the roll and the output of the BOGC in the roll are mixed into the BIUS correction signal at the heading parallel to the main correction signal. As a result, compensation is achieved for the influence of the determined error of the POS in the roll on the accuracy of the spacecraft orientation in the course, while the accuracy of the orientation in the roll channel, on the contrary, is deteriorating. A significant disadvantage of this method is the lack of compensation for the influence of the determined errors of the REF in pitch on the accuracy of the orientation of the spacecraft in pitch.

The closest analogue is the technical solution, protected by RF patent No. 2509690, in which the spacecraft orientation method using BOGK is implemented, which consists in the fact that in the steady state orientation mode the differences of the signals of the Earth orientation device (RPS) and the output signal of the OGK in the roll channels are measured - ε _γ and pitch - ε _ϑ, respectively, which corrects the readings of the block of gyroscopic angular velocity meters (CIUS) in the roll and heading channels with the correction signal ε _γ , and in the pitch channel with the signal ε _ϑ . This technical solution does not allow to compensate for the entire group of BOGK errors, namely, to exclude the influence of the POS error in the pitch channel on the accuracy of the spacecraft orientation in pitch and to exclude the influence of the POS error in the roll on the accuracy of the spacecraft orientation in the roll and course.

The aim of the proposed solution is to eliminate these disadvantages, i.e. creation of a method and system of orientation of the spacecraft with the use of BOGK, allowing to automatically compensate for errors of orientation of the spacecraft relative to the orbital coordinate system (OSK) in the channels of heading, roll and pitch, caused by deterministic errors of the POS for roll and pitch, including errors in setting the position of the spacecraft on the spacecraft relative to the associated axes.

The difference lies in the fact that, in comparison with the known method of orientation, a number of other operations are performed to achieve the goal. To do this, the spacecraft is rotated at a ninety-degree course with the roll gyro channel being replaced by the pitch gyro channel, and the pitch gyro channel is replaced by the roll gyro channel, the oriented orbital flight is continued in the spacecraft position turned 90 degrees, and the differential signal is entered into the pitch channel ε _ϑ POS error auto-compensation signal for pitch µ _ϑ , while the new BOGK correction signal in pitch channel u _{ϑ is} calculated by the formula

where u _ϑ is the new BOGK correction signal in the pitch channel;

ε _ϑ is the old BOGK correction signal in the pitch channel;

µ _ϑ is the signal for automatic compensation of the determined errors in the REF, including the error in setting the REF relative to the coupled axis of the spacecraft in pitch;

ϑ _pos - POS signal for pitch;

Δ _ϑ - output signal BOGK pitch;

a - integration coefficient - auto-compensation,

и отключают его накопление, выполняют обратный поворот КА по курсу и производят таким образом обратное замещение каналов крена и тангажа БОГК и вводят в канал коррекции БОГК по тангажу запомненное значение сигнала автокомпенсации $${\mu }_{\vartheta }={\mu }_{\vartheta }^O$$

в качестве поправки на детерминированную ошибку ориентации БОГК в канале тангажа, при этом сигнал коррекции в канале тангажа вычисляют по формулеwait for the completion of transients in the orientation loop, remember the accumulated value of the auto-compensation signal in the pitch channel $${\mu }_{\vartheta }={\mathrm{<figure-callout\; id="0"\; label="\mu \; \theta "\; filenames="00000029.png"\; state="\{\{state\}\}">\mu \; </figure-callout>}}_{\vartheta }^{}$$

and turn off its accumulation, perform a reverse rotation of the spacecraft on the course, and thus reverse-shift the channels of the roll and pitch of the BOGK and enter the stored value of the autocompensation signal into the channel of correction of the BOGK in pitch $${\mu }_{\vartheta }={\mu }_{\vartheta }^O$$

as a correction for the determinate error in the orientation of the BOGK in the pitch channel, the correction signal in the pitch channel is calculated by the formula

and for the heel and heading channels, the self-compensation signal of the determined REF errors for the heel µ _γ is introduced into the correction signal ε _γ , while the new BOGK correction signal in the heel and heading channels u _{γ is} calculated by the formula

where u _γ is the new correction signal BOGK;

ε _γ - old BOGK correction signal;

µ _γ — auto-compensation signal for deterministic REF errors, including the error in setting REF relative to the associated SC axes along the roll;

γ _pos - the signal REF on a roll;

Δγ is the output signal BOGK roll;

b - coefficient of integration - auto-compensation.

To implement the above method, a spacecraft orientation system using BOGK is proposed, which contains in series the connected REF in the roll channel, the first adder, the first gain module (MU), the second adder, the third adder, the first integrator, the output of which is the input to the roll stabilization system containing in the pitch channel consecutively connected REF, the fourth adder, the second MU, the fifth and sixth adders and the second integrator, the output of which is an input to the spacecraft stabilization system for pitch, containing the channel of the course is cosine (KP) and sinus (SP) converters and sequentially connected the seventh adder, the third MU, the eighth and ninth adders, the third integrator, the output of which is the input to the spacecraft stabilization system along the course, while the inputs of the KP and SP are connected to the outputs of the first and the fourth adders, respectively, and the outputs, respectively, to the first and second inputs of the seventh adder, which also contains a block of gyroscopic angular velocity meters (BIUS), a software control module (PMU), as well as the first, second, third, and the fourth modules of the compensation of channel interference (ICWC) of the BOGK orientation, while the second inputs of the second, eighth, and fifth adders are connected respectively to the CIU outputs via the roll, course, and pitch channels, the output of the first integrator is connected simultaneously to the second input of the first adder and to the first input of the first ICWC the output of which is connected to the second input of the ninth adder, the output of the second integrator is connected simultaneously to the second input of the fourth adder and the first input of the second ICWC, the output of which is connected to the third one of the ninth adders, and the output of the third integrator is connected simultaneously to the first inputs of the third and fourth ICWCs, the outputs of which are connected to the second inputs of the third and sixth adders, respectively, while the first, second and third outputs of the PMU are connected respectively to the third inputs of the second, eighth and fifth adders and the fourth PMU output is connected simultaneously to the second inputs of the control gear, joint venture, and second inputs of the first second, third, and fourth ICWC.

The proposal is different in that the first and second keys, the fourth and fifth integrators are introduced into the orientation system, and the tenth and eleventh adders are introduced into the chains of the first and fourth adders, respectively, while the output of the tenth adder is connected simultaneously to the input of the first MU, the first input of the CS and the first key , the output of the eleventh adder is connected simultaneously to the input of the third MU, the first input of the SP and the second key, while the outputs of the first and second keys are connected to the inputs of the fourth and fifth integrators, respectively, the outputs of which are connected respectively to the second inputs of the tenth and eleventh adders.

The application of the proposed method for the orientation of the spacecraft and the corresponding orientation system allows us to completely eliminate the influence of the determined errors of the REF on the accuracy of the orientation of the spacecraft in all three channels of orientation of the spacecraft — in the roll, course and pitch channels.

We show this by example.

In FIG. 1 shows:

1 - instrument orientation on the Earth (REF);

2 - a block of gyroscopic angular velocity meters (CIUS);

3 - software control module (PMU);

4-14 - adders;

15-17 - gain modules;

18-22 - integrators;

23-26 - channel interference compensation modules;

27-28 - cosine and sine converters, respectively;

29, 30 - the first and second keys and the corresponding commands K _0Z , K _0P and K _90Z , K _90P for their closure and opening;

m ₁ , m ₂ - input and output of the first key, respectively;

n ₁ , n ₂ - input and output of the second key, respectively;

γ _pos , ϑ _pos - output signals REF in roll and pitch;

ω _X , ω _Y , ω _Z - output signals CIUS roll, heading and pitch;

, Δ_Ψ, $$\Delta \dot{\Psi }$$

, Δ_ϑ, $$\Delta \dot{\vartheta }$$

- выходные сигналы БОГК по углу и угловой скорости соответственно по крену, курсу и тангажу;Δγ, $$\Delta \dot{\gamma }$$

, Δ _Ψ , $$\Delta \dot{\Psi }$$

, Δ _ϑ , $$\Delta \dot{\vartheta }$$

- BOGK output signals in terms of angle and angular velocity, respectively, according to roll, course and pitch;

Ω is the orbital angular velocity of the spacecraft;

Ψ _P - programmed rotation angle of the spacecraft in the course relative to the USC

In FIG. 2 are shown:

- spacecraft errors in pitch ϑ, roll γ and heading Ψ (from top to bottom) and program angle of rotation KA - Ψ _П relative to the OSK (all angles are in degree measure);

- section A — initial state of the spacecraft and the corresponding position of the BOGK in the steady state for γ _REF = 0.25 ° and ϑ _REF = 0.2 ° (to stabilize the spacecraft, flywheel actuators were used);

- Section B - programmed rotation of the spacecraft by 90 ° (Ψ _П = 90 °);

- section C - auto-compensation in the pitch channel;

- section D - reverse rotation of the spacecraft by - 90 ° (Ψ _П = 0);

- section E - auto-compensation in the roll channel;

- section F — spacecraft flight with fully compensated BOGK (SC) errors in pitch, roll and course channels.

In the initial state in accordance with FIG. 1 linearized equations of the orientation system have the form

Where

Ψ _{KΑ / OCK} - position of the connected KA axes relative to the USC at the heading;

α, β, θ - position (error) of the BOGK instrument axes relative to the OSK, respectively, in the channels of the heading, roll and pitch;

Ψ, γ, ϑ - position (errors) in the orientation of the associated SC axes relative to the BOGK instrument axes, respectively, according to the heading, roll and pitch;

Δγ _ΠOZ, Δθ _REF - REF deterministic error in the roll and pitch channels, including installation errors relative REF associated spacecraft axes;

K ₁ , K ₂ , K ₃ - gain factors MU.

(при Ψ_П=0) ошибки ориентации КА относительно ОСК по курсу, крену и тангажу будут соответственно равныAfter completion of the transient system (steady-state orientation mode) - $$\dot{\alpha },\dot{\beta },\dot{\theta }=0$$

(at Ψ _П = 0) errors in the orientation of the spacecraft relative to the USC at the heading, roll, and pitch will be respectively equal

, $${к}_2={к}_3=\mathrm{0,02}\raisebox{1ex}{$1$}\!\left/ \!\raisebox{-1ex}{$с$}\right.$$

, тогда ошибки ориентации КА будут равныSet equal error Δγ REF _{REF REF} = Δθ = 30 charcoal. min, gain moduli $${\mathrm{to}}_{\mathrm{one}}=0.01\raisebox{1ex}{$\mathrm{one}$}\!\left/ \!\raisebox{-1ex}{$\mathrm{from}$}\right.$$

, $${\mathrm{to}}_2={\mathrm{to}}_3=0.02\raisebox{1ex}{$\mathrm{one}$}\!\left/ \!\raisebox{-1ex}{$\mathrm{from}$}\right.$$

, then the spacecraft orientation errors will be equal

The aim of the invention is the full compensation of the above orientation errors.

According to the proposed method, the following operations are performed:

- на сумматор 8. Одновременно вводят данные по текущему состоянию Ψ_п на МКВК 23-26 и СП и КП 27, 28. Знак поворота не имеет значения, для определенности формульные зависимости даны для Ψ_П>0°.1. Turn the spacecraft at a rate of ninety degrees (in the positive or negative direction, Fig. 2, section B). To this end, signals are sent from the PMU for the programmed rotation of the spacecraft: Ω · cosΨ _P - to the adder 10, Ω · sinΨ _P - to the adder 6 $${\dot{\Psi }}_P$$

- to the adder 8. At the same time, data on the current state Ψ _{p is} entered at MKVK 23-26 and SP and KP 27, 28. The turn sign does not matter, for definiteness, the formula dependencies are given for Ψ _П > 0 °.

Upon reaching the program turn Ψ _П = 90 °, the gyrocompassing channels are replaced: the BOGK roll channel is replaced by the pitch channel, and the pitch channel is replaced by the roll channel, exact replacement occurs automatically at the point Ψ _П = 90 °, while the BOGK motion equations take the form for Ψ _П = 90 ° (Fig. 2, section B)

In the process of moving KA flies sideways forward, the channel of the “former” roll for such a stable orientation position becomes pitch with respect to the USC, and the pitch channel rolls.

2. Continue the oriented orbital flight in the spacecraft position turned at a ninety degree course (Fig. 2, section C).

3. Enter the correction signal to the pitch channel error signal ε _θ autocompensation PMA pitch μ _θ. For this purpose, IMC K is commanded for closure _90Z key 29, the new BOGK correction signal to the pitch channel u _θ calculated from the equation (FIG. 2, section C, the completion of self-compensation with ~ 25,000)

where u _ϑ is the new BOGK correction signal in the pitch channel;

ε _ϑ is the old BOGK correction signal in the pitch channel;

µ _ϑ is the signal for automatic compensation of the determined errors in the REF, including the error in setting the REF relative to the coupled axis of the spacecraft in pitch;

and - integration coefficient - auto-compensation.

4. Wait for the steady-state orientation mode — completion of the transient process in the BOGC circuit (Fig. 2, section C, time t ~ 25000 s).

и отключают его накопление (фиг. 2, участок С, время t>25000 с), для этого выдается команда К_90Р, в результате чего ключ 29 размыкается, накопление поправки прекращается, а на выходе интегратора 22 запоминается последнее значение накопленной поправки $${\mu }_{\vartheta }={\mu }_{\vartheta }^0$$

.5. Remember the accumulated value of the auto-compensation signal in the pitch channel $${\mu }_{\vartheta }={\mu }_{\vartheta }^0$$

and its accumulation is switched off (Fig. 2, section C, time t> 25000 s), for this a K _90P command is issued, as a result of which the key 29 opens, the accumulation of the correction stops, and the last value of the accumulated correction is stored at the output of the integrator 22 $${\mu }_{\vartheta }={\mu }_{\mathrm{<figure-callout\; id="0"\; label="\theta "\; filenames="00000029.png"\; state="\{\{state\}\}">\vartheta </figure-callout>}}^0$$

.

6. The spacecraft is rotated backward along the course (Fig. 2, section D) for Ψ _n = 0 °, similarly to step 1. The spacecraft is rotated to its original position, while the roll channels and pitch of the BOGK are automatically replaced, the orientation channels occupy the initial position .

в качестве поправки на детерминированную ошибку ориентации БОГК в канале тангажа, при этом сигнал коррекции в канале тангажа вычисляют по формуле7. Enter into the channel correction BOGK pitch the stored value of the signal auto-compensation $${\mu }_{\vartheta }={\mu }_{\vartheta }^O$$

as a correction for the determinate error in the orientation of the BOGK in the pitch channel, the correction signal in the pitch channel is calculated by the formula

8. Roll and heading channels (FIG. 2, section F) is introduced into the correction signal ε _γ autocompensation deterministic error signal PRC roll μ _γ. To do this, close the key 30 by the command K _0Z from the PMU, while the new correction signal BOGK in the channels of the roll and course u _{γ is} calculated by the formula

where u _γ is the new correction signal BOGK;

ε _γ is the old correction signal BOGK;

µ _γ — auto-compensation signal for deterministic REF errors, including the error in setting REF relative to the associated SC axes along the roll;

γ _pos - signal REF in roll;

Δγ is the output signal BOGK roll;

b - coefficient of integration - auto-compensation.

9. After the completion of the transient processes in the orientation loop, the errors of the spacecraft in the roll and heading channels are fully compensated (Fig. 2, plot F). In the future, the key 30 can be opened by the command K _0P or remain closed (which is not specified in the present invention). In both cases, there is an automatic compensation of the determined errors of the REF.

Thus, the use of the proposed technical solution makes it possible to fully compensate for spacecraft orientation errors with respect to the OSK in all three orientation channels — heading, roll, and pitch, caused by deterministic errors in the roll stock and pitch readings, including errors in setting the position readout on the spacecraft with respect to the associated axes.

Claims (2)

1. The method of orientation of a spacecraft (SC) using a strapdown orbital gyrocompass (BOGK), which consists in the fact that in the steady state orientation they measure the differences between the signals of the orientation device on the Earth (REF) and the output signals of the BOGK in the roll channels ε _γ and pitch ε _ϑ respectively, and corrects the block gauges gyroscopic angular velocities (CICS) in the roll channel rate and - correction signal ε _γ, and in the pitch channel - signal ε _θ, characterized in that the spacecraft is rotated at the rate at ninety degrees replacement channel gyro roll canal gyro pitch and channel gyro pitch - canal gyro roll continues oriented orbital flight in the rotated at the rate of ninety degrees to position the spacecraft, is introduced into the correction signal to the pitch channel signal autocompensation error REF pitch μ _θ , while a new correction signal BOGK in the pitch channel u _{ϑ is} calculated by the formula
u _ϑ = ε _ϑ -µ _ϑ ;
ε _ϑ = ϑ _pos -Δϑ;

where ε _ϑ is the old BOGK correction signal in the pitch channel;
u _ϑ - a new BOGK correction signal in the pitch channel;
µ _ϑ is the signal for automatic compensation of the determined errors in the REF, including the error in setting the REF relative to the coupled axis of the spacecraft in pitch;
ϑ _pos - POS signal for pitch;
Δϑ - output signal BOGK pitch;
a - integration coefficient - auto-compensation,
wait for the completion of transients in the orientation loop, remember the accumulated value of the auto-compensation signal in the pitch channel

and turn off its accumulation, perform a reverse rotation of the spacecraft at the heading and perform reverse replacement of the roll and pitch channels of the BOGK and enter the stored value of the autocompensation signal into the channel of correction of the BOGK in pitch

as a correction for the determinate error in the orientation of the BOGK in the pitch channel, the correction signal in the pitch channel is calculated by the formula

and for the heel and heading channels, a signal of automatic compensation of the determined REF errors from the heel µ _γ is introduced into the difference signal ε _γ , while the new BOGK correction signal in the heel and heading channels u _{γ is} calculated by the formula
u _γ = ε _γ -µ _γ;
ε _γ = γ _pos -Δγ;

where ε _γ is the old correction signal BOGK;
u _γ is the new correction signal BOGK;
µ _γ — auto-compensation signal for deterministic REF errors, including the error in setting REF relative to the associated SC axes along the roll;
γ _pos - signal REF in roll;
Δγ is the output signal BOGK roll;
b - coefficient of integration - auto-compensation. 2. The spacecraft orientation system using BOGK for implementing the method according to claim 1, comprising serially connected REFs, a first adder, a first amplification module (MU), a second adder, a third adder, a first integrator, the output of which is the input to the stabilization system, in the roll channel A spacecraft along the roll, which contains in series the POS, the fourth adder, the second MU, the fifth and sixth adders and the second integrator, the output of which is the input to the spacecraft stabilization system along the pitch, containing cosines in the channel (KP) and sinus (SP) converters and sequentially connected the seventh adder, the third MU, the eighth and ninth adders, the third integrator, the output of which is the input to the spacecraft stabilization system at the heading, while the inputs of the KP and SP are connected to the outputs of the first and fourth adders respectively, and the outputs, respectively, to the first and second inputs of the seventh adder, which also contains a block of angular velocity meters (BIUS), a software control module (PMU), as well as the first, second, third, and fourth modules of mutual compensation of the channels (ICWC) of the BOGK orientation, while the second inputs of the second, eighth, and fifth adders are connected respectively to the outputs of the CIU through the roll, course, and pitch channels, the output of the first integrator is connected to the first input of the first ICWC, the output of which is connected to the second input of the ninth adder, the output of the second integrator is connected to the first input of the second ICWC, the output of which is connected to the third input of the ninth adder, the output of the third integrator is connected simultaneously to the first inputs of the third and fourth ICWC, the outputs of which are connected s with the second inputs of the third and sixth adders, respectively, while the first, second and third outputs of the PMU are connected respectively to the third inputs of the second, eighth and fifth adders, and the fourth to the second inputs of KP, SP, the first, second, third and fourth MKVK, characterized in that the first and second keys, the fourth and fifth integrators are introduced into it, and the tenth and eleventh adders are introduced into the circuit of the first and fourth adders, respectively, while the output of the tenth adder is connected simultaneously to the input of the first MU, the first the CS input and the first key _{, the} output of the eleventh adder is connected simultaneously to the input of the third MU, the first input of the SP and the second key, and the outputs of the first and second keys are connected to the inputs of the fourth and fifth integrators, respectively, whose outputs are connected respectively to the second inputs of the tenth and eleventh adders .

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