WO2009003451A1 - Réglage de constellations de satellites maître/esclaves - Google Patents

Réglage de constellations de satellites maître/esclaves Download PDF

Info

Publication number
WO2009003451A1
WO2009003451A1 PCT/DE2008/001072 DE2008001072W WO2009003451A1 WO 2009003451 A1 WO2009003451 A1 WO 2009003451A1 DE 2008001072 W DE2008001072 W DE 2008001072W WO 2009003451 A1 WO2009003451 A1 WO 2009003451A1
Authority
WO
WIPO (PCT)
Prior art keywords
satellite
master
slave
sensors
satellite constellation
Prior art date
Application number
PCT/DE2008/001072
Other languages
German (de)
English (en)
Inventor
Hartmut Jörck
Reinhard Wolters
Original Assignee
Astrium Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Astrium Gmbh filed Critical Astrium Gmbh
Publication of WO2009003451A1 publication Critical patent/WO2009003451A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
    • B64G1/1085—Swarms and constellations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
    • B64G1/361—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors using star sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/32—Guiding or controlling apparatus, e.g. for attitude control using earth's magnetic field
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
    • B64G1/646—Docking or rendezvous systems
    • B64G1/6462—Docking or rendezvous systems characterised by the means for engaging other vehicles

Definitions

  • the invention relates to the control of satellite constellations in which there is a pronounced hierarchy between a master and one or more slave satellites.
  • the slave satellites must be at least inertially or relatively regulated relative to the master satellite in position.
  • the control loop of the slave satellite is closed according to the invention via the master satellite.
  • Satellite constellations Another class of satellite constellations is when high demands are placed on the relative position and location of satellites to each other. These include scientific missions such as planned interferometers, which consist of several telescope satellites and a central satellite for beam combination.
  • planned interferometers which consist of several telescope satellites and a central satellite for beam combination.
  • optical path lengths between the satellites in the sub-nm range must be precisely controlled, or the position alignment must be accurate to milli-arc seconds. That is because of the high functional requirements and accuracy requirements 8 001072
  • Every single satellite (master and slave satellites) requires a complete AOCS system.
  • the present invention is concerned with constellations in which, in terms of functional requirements, a gap between master and
  • RVD Robot and Docking
  • the target essentially has to hold its position and location relatively roughly.
  • RVD scenarios such as, for example, for refueling or servicing tasks of geostationary communication satellites.
  • the target must behave cooperatively at least to a limited extent, i. there are such
  • Rate of rotation of the target Furthermore, the position of the target (slaves) relative to the master satellite must be known for collision avoidance.
  • a retroreflector is usually mounted on the target satellite which, depending on the measurement requirements, must be aligned in the degree range or better relative to the master satellite.
  • the target may need to be captured and then a lane maneuver performed.
  • Such maneuvers can be accomplished much simpler with a target cooperative, at least with respect to its positional orientation, than with a freely tumbling or passive, e.g. Gravity gradient oriented satellites.
  • the subject of the invention is a satellite constellation consisting of a master satellite and one or more slave satellites, in which at least one of the slave satellites required by the slave satellites is closed via the master satellite.
  • a further development of the invention provides that sensors required for the slave control loops closed via the master are located on the master satellite. 72
  • a further development of the invention provides that the information required by the slave closed loop control circuits are transmitted via a remote control acting in one direction only.
  • Another development of the invention provides that information required by the slave satellite is transmitted to the ground station via the master satellite.
  • a further development of the invention provides that at least partially identical components are used for the control of the master and the slave.
  • Another development of the invention provides that only components such as magnetic coils for position control are used on the slave satellite, which do not require monitoring by the ground station, and which are controlled via a remote control by means of pulse width modulation.
  • a further development of the invention provides that position and / or position information required for the slave from inertial measured variables of the master and relative measured variables between master and slave are determined.
  • Another development of the invention provides that the inertial measured variables for the master and the relative measured variables between master and slave are detected by means of one or more preferably identically constructed sensors.
  • optical sensors are used for the measurement, which can work as a star sensor and image data processing method at least the location and in known Slave dimensions can also detect the relative position of the slave satellite to the master.
  • Another development of the invention envisages that, with different orientations of the sensors, the fields of view of the sensors overlap so far that the slave satellite can be detected in a common field of view which is sufficiently large for the mission implementation.
  • a further development of the invention provides that the sensors form a stereo sensor configuration for detecting the relative distance between the master and slave satellites.
  • Another development of the invention provides that to increase the accuracy of measurement, the lines of sight of the sensors are calibrated to each other with the help of stars that are in the common field of view.
  • a further development of the invention provides that the position and position of the slave are detected relative to the master by means of active sensors such as laser scanners or a combination of passive and active sensors.
  • the constellation further includes active distance sensors and these are also used simultaneously for detecting a least two-axis relative position information for the slave satellite.
  • the master satellite comprises devices for autonomous sequence control, for example of constellation maneuvers.
  • the devices for autonomous process control of the constellation also include devices for error correction and / or collision avoidance.
  • a further development of the invention provides that the sensor information is processed aboard the master satellite by means of sensor fusion methods that contain models of the dynamics of the master and slave satellites.
  • An advantage of the invention is to be seen in a compared to previously known solutions for position control of simple slave or target satellites considerably reduced hardware and software effort.
  • test and verification effort is essentially incurred only for the master satellite and can also be further reduced by largely identical components for the master and slave control loops.
  • an advantage of the invention is that the system reliability is significantly increased by the significantly reduced number of components required.
  • a further advantage of the invention is that further simplifications on the part of the ground station arise, since the slave satellite is controlled by the master satellite and thus essentially only one satellite has to be monitored.
  • a further advantage of the invention is that autonomy functions aboard the master in the monitoring unit (10) enable it to respond to unforeseen events (collision avoidance, etc.) and thus increase system reliability while reducing ground station monitoring overhead.
  • Fig. 1 A first embodiment of the invention, in which the control of the target satellite is up to the actuators in the master satellite
  • Fig. 2 An arrangement in which largely the same sensors and actuator types are used for master and slave
  • Fig. 3 An arrangement in which a camera or a star sensor at the same time for determining the inertial position of the master and the
  • Fig. 4 A based on sensor fusion measuring device with parameter identification
  • FIG. 1 shows an inventive control engineering structure of the master / slave satellite constellation.
  • the slave satellite (2) is controlled and monitored solely by the master (1). Only the master (1) receives its commands from the ground station (3) or sends to this status information by means of the TM / TC module (Tele Monitoring / Command) (11) provided by the monitoring unit (10) or processed.
  • the monitoring unit (10) controls all processes in the master and slave satellites. It also includes all the necessary FDIR (Failure Detection, Isolation and Recovery) features from the satellites and their interaction. So far, hard-coded logics are usually used for such sequential control systems, which become very quickly confusing and even prone to error in a larger number of operating states of the satellite or more complex error cases.
  • One way to circumvent this problem is to integrate in the monitoring unit (10) autonomous planning or in case of failure re-planning algorithms.
  • Autonomous means systems that respond to unforeseen or unprogrammed events, e.g. can react to collision avoidance without contact with the ground.
  • Such an artificial intelligence based approach has been implemented in an experimental American earth observation satellite. With response times in the minute range, however, only longer-term schedules were possible here.
  • An adapted autonomous response of the master satellite to critical situations in the vicinity of the slave satellite e.g. Collision avoidance requires procedures that must be able to react much faster.
  • Such algorithms are currently under development.
  • the control loop of the slave satellite is closed according to the invention via the master satellite. That On board the slave satellite (2) are preferably only the required actuators with control electronics (14) and power supply (12). The sensors (7) and controllers (8) required for position control are located on board the master (1) and use existing resources such as computers, power supply (12), etc. If possible, the sensors required by the master satellite are also used.
  • the positioning commands are preferably transmitted by means of a simple remote control consisting of transmitter (9) and receiver (13). Feedback from status functions of the slave satellite to the master is possible, but should be avoided by a component selection for the slave satellite as described in Embodiment 2.
  • the master with inertial sensors (4) is aligned inertially or relative to the slave satellite via the master controller (5) depending on the application.
  • the control of the slave satellite (2) is preferably carried out in earth orbits by means of magnetic coils (Torquem) (14).
  • Torquem magnetic coils
  • the primary actuators (6b) of the master are reaction wheels, they are often discharged by magnetic torquers (6a), i.
  • the same actuator types are used as are used for primary control of the slave.
  • the magnetic torquers can still be supported by further, preferably passive measures such as utilization of the gravitational gradient, air or solar drag.
  • the control of the magnetic Torquer (14) takes place via the remote control (9), (13), preferably by means of a pulse width modulation, i. by simply switching the Torquer on and off.
  • the orientation of the magnetic field is measured by means of corresponding magnetic field sensors (4a). It is assumed that there is approximately the same field at the location of the slave as at the location of the master.
  • Control of the satellite by means of magnetic torquers allows locally only a control in two axes. In order to be able to influence the position in all three axes via an orbit, the satellite orbit must not be aligned perpendicular to the earth dipole. The positional deviations are averaged over an orbit by suitable methods known from the literature. Another approach is given by well-known from control engineering predictive controller, which predict the influence of Torquer on the situation and minimize positional deviations from predetermined setpoints. T / DE2008 / 001072
  • the magnetic field sensors can not provide a complete triaxial position reference, they must be coupled with other sensors, e.g. Stem sensors (4b) are combined. This is usually done in sensor fusion filters (4c).
  • other sensor / actuator configurations may be used. Preferably, only those actuators should be used that do not require monitoring by the ground station, such as magnetic torquers, solar sailing, etc. If slave status information is still needed on the ground, the master is used as a relay satellite to simplify the system. Furthermore, care should be taken in the selection of the slave components that to avoid a complex thermal control this can be used over a wide temperature range.
  • cameras or sensor sensors (34) are used which can detect both the inertial position of the master satellite and the position of the slave satellite (2) relative to the master (1).
  • the field of view of the star sensor or the camera (33) must be so large that stars (30) as well as the target (slave satellite) (2) can be detected in parallel.
  • the lines of sight (31) of the sensors are rotated against each other.
  • the overlapping area (32) of the visual fields must be sufficiently large in order to obtain a sufficient angular range for the detection of the target (2).
  • the front-end electronics of Stemsensoren (34) correct for pixel errors of the detectors and lens distortions to achieve high accuracy. Corresponding methods are used by default in star sensors. In today's star sensors a Stemkatolog in the computer (35) is implemented. Recent developments also allow the evaluation of star stripes, as they arise on the detector at high satellite rotation rates. This can also be dispensed with the use of gyros for the reduction of high rotation rates or for acquisition purposes.
  • the star sensors or cameras are to be expanded by an image processing module (36).
  • the position of the slave satellite can be determined by known detected detection methods. For unfavorable lighting conditions (high contrast), it may be helpful to place well-detectable marks on the slave satellite. The satellite position can then be determined by the position of these marks relative to the outer contour of the satellite.
  • the inertial and relative measurements are processed in a sensor fusion filter (37) for the various controllers.
  • the star sensor arrangement shown in Figure 3 has the properties of a stereo camera, so it can also be used for position estimation. A knowledge of the relative position between the satellites is also required for collision avoidance. If a sensor fails, however, only a positional mood is possible if the target dimensions are not sufficiently well-known, unless one has been able to determine these beforehand by means of the stereo configuration or has another redundant camera on board.
  • the lines of sight (31) of the cameras (34) are calibrated relative to each other by means of stars (30) located in the common field of view (32). To ensure that the sensors are calibrated with the same stars, they are determined using known star identification algorithms.
  • FIG. 4 Another embodiment of the present invention is shown in FIG. If, in addition to, for example, magnetic sensors (41), also a redundant star sensor / camera (42) based relative position determination are used according to FIG. the slave satellite must be sufficiently lit. Limiting oneself to natural light, there are problems in the earth shadow which, according to FIG. 4, are application-specific with an extension of the sensor fusion methods (37) by suitable models of the interference environment (43), the actuator dynamics (44) and the satellite dynamics for the Have Master (45) and Slave (46) reduced (observer or Kalman filter). Shadow phases can be bridged by methods which are sufficiently known from control technology, if appropriate with sufficient estimation accuracy. Recent developments such as non-linear Kalman filters also allow an estimate of the position over larger angular ranges (large-angle rotations).
  • parameter identification methods 47
  • Recent developments allow for a simultaneous state (location) and parameter estimation, ie a summary of (43) to (47) in a filter (48).
  • an RVD maneuver may also be performed if the view of the sensors is restricted by the target satellite.
  • the filters can serve as so-called analytical redundancy for the temporary or partial failure of individual sensors. The bridging of downtime is also important in collision avoidance.
  • the advantages of the invention are to be seen in a comparison with previously known solutions for position control of simple slave or target satellite in the considerably reduced hardware and software effort. Furthermore, it has to be taken into account that the test and verification effort essentially arises only for the master satellite and, moreover, it can be further reduced by largely identical components for the master and slave control loops. The significantly reduced number of required components significantly increases system reliability. Further simplifications arise on the part of the ground station, since the slave satellite is controlled by the master satellite and thus essentially only one satellite must be monitored. Autonomy functions on board the master in the monitoring unit (10) allow reacting to unforeseen events (collision avoidance, etc.) and thus increase system reliability.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne une constellation de satellites comprenant un satellite maître et un ou plusieurs satellites esclaves, caractérisée en ce qu'au moins un des circuits de réglage nécessaires aux satellites esclaves est fermé par le satellite maître.
PCT/DE2008/001072 2007-07-03 2008-07-01 Réglage de constellations de satellites maître/esclaves WO2009003451A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007030944A DE102007030944A1 (de) 2007-07-03 2007-07-03 Regelung von Master/Slave-Satellitenkonstellationen
DE102007030944.0 2007-07-03

Publications (1)

Publication Number Publication Date
WO2009003451A1 true WO2009003451A1 (fr) 2009-01-08

Family

ID=39893391

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2008/001072 WO2009003451A1 (fr) 2007-07-03 2008-07-01 Réglage de constellations de satellites maître/esclaves

Country Status (2)

Country Link
DE (1) DE102007030944A1 (fr)
WO (1) WO2009003451A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108513638A (zh) * 2017-04-21 2018-09-07 深圳市大疆创新科技有限公司 处理方法、遥控器和飞行控制系统
CN110753662A (zh) * 2017-02-08 2020-02-04 克劳斯·席林 能够编队飞行的小型卫星和数颗小型卫星的编队

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9866222B2 (en) 2015-01-14 2018-01-09 Infineon Technologies Ag System and method for synchronizing multiple oscillators using reduced frequency signaling
CN116520711B (zh) * 2023-07-03 2023-10-13 中国西安卫星测控中心 一种电推卫星walker星座组网控制筹划方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4243395A1 (en) * 1991-12-21 1993-06-24 Deutsche Forsch Luft Raumfahrt Coordinated position maintenance of geostationary satellite cluster - measuring satellites optically relative to master within group for accurate control
US5810297A (en) * 1996-04-29 1998-09-22 Basuthakur; Sibnath Satellite cluster attitude/orbit determination and control system and method
US6341249B1 (en) * 1999-02-11 2002-01-22 Guang Qian Xing Autonomous unified on-board orbit and attitude control system for satellites

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2868394B1 (fr) * 2004-04-02 2007-08-24 Alcatel Sa Satellite a controle electromagnetique d'objets

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4243395A1 (en) * 1991-12-21 1993-06-24 Deutsche Forsch Luft Raumfahrt Coordinated position maintenance of geostationary satellite cluster - measuring satellites optically relative to master within group for accurate control
US5810297A (en) * 1996-04-29 1998-09-22 Basuthakur; Sibnath Satellite cluster attitude/orbit determination and control system and method
US6341249B1 (en) * 1999-02-11 2002-01-22 Guang Qian Xing Autonomous unified on-board orbit and attitude control system for satellites

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110753662A (zh) * 2017-02-08 2020-02-04 克劳斯·席林 能够编队飞行的小型卫星和数颗小型卫星的编队
CN110753662B (zh) * 2017-02-08 2023-08-11 克劳斯·席林 能够编队飞行的小型卫星和数颗小型卫星的编队
CN108513638A (zh) * 2017-04-21 2018-09-07 深圳市大疆创新科技有限公司 处理方法、遥控器和飞行控制系统

Also Published As

Publication number Publication date
DE102007030944A1 (de) 2009-01-15

Similar Documents

Publication Publication Date Title
DE69501209T2 (de) System zur regelung von ferngesteuerten fahrzeugen mit variablen bezugsrahmen
EP0601051B1 (fr) Dispositif de mesure s'utilisant lors de la regulation de l'orientation d'un satellite stabilise sur trois axes, ainsi que procede d'evaluation, systeme et procede de regulation connexes
DE60107196T2 (de) Stabilisierte gemeinsame kardanische Aufhängung
DE4243395C2 (de) Anordnung zur koordinierten Positionshaltung eines geostationären Satellitenschwarms
DE69610448T2 (de) Überwachungs- und Flugzeugnavigationsverfahren und -vorrichtung für Präzisionslandung
DE69102048T2 (de) Anordnung für die Ausrichtung des Inertialsystems eines getragenen Fahrzeugs auf das eines Trägerfahrzeuges.
DE3927851A1 (de) System fuer die bestimmung der raeumlichen position eines sich bewegenden objekts und zum fuehren seiner bewegung
DE102011016521B4 (de) Verfahren zur Flugführung eines Flugzeugs zu einem vorgegebenen Zielobjekt und Flugführungssystem
Gonçalves et al. Homography-based visual servoing of an aircraft for automatic approach and landing
Skulstad et al. Net recovery of UAV with single-frequency RTK GPS
US4387513A (en) Aircraft body-axis rotation measurement system
WO2009003451A1 (fr) Réglage de constellations de satellites maître/esclaves
Wheeler et al. Cooperative tracking of moving targets by a team of autonomous UAVs
EP0748737B1 (fr) Satellite géostationnaire stabilisé en trois axes et des manoeuvres correspondants d'acquisition du soleil et de la terre
EP1020699B1 (fr) Missile
Campoy et al. An stereoscopic vision system guiding an autonomous helicopter for overhead power cable inspection
Šegvić et al. Technologies for distributed flight control systems: A review
EP0474105B1 (fr) Système de navigation inertial avec un filtre de compensation pour son alignement pendant le vol
DE19636425C1 (de) Verfahren zur Navigation unter Verwendung unterschiedlicher Meßmethoden
Oshman et al. Mini-UAV altitude estimation using an inertially stabilized payload
Bowers Estimation algorithm for autonomous aerial refueling using a vision based relative navigation system
De Dominicis et al. Software and sensor issues for autonomous systems based on machine learning solutions
Dobrokhodov et al. Rapid motion estimation of a target moving with time-varying velocity
Sasaki et al. Proximity Operation and Automated Docking on HTV-X: Guidance, Navigation, and Control Strategy
DE102020126564A1 (de) Zustandsbestimmung von objekten in einem objektverbund

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08784269

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 08784269

Country of ref document: EP

Kind code of ref document: A1