WO2024021399A1 - All-electric propulsion satellite orbit transfer method based on autonomous task planning - Google Patents
All-electric propulsion satellite orbit transfer method based on autonomous task planning Download PDFInfo
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Definitions
- the present invention relates to the field of aerospace technology, specifically to an all-electric propulsion satellite orbit transfer method based on autonomous mission planning, and more specifically to an autonomous mission planning method for all-electric propulsion satellite orbit transfer.
- All-Electric Propulsion Satellite (All-Electric Propulsion Satellite) has attracted widespread attention in the international market in recent years. Due to the excellent specific pulse of electric thrusters, it can consume less fuel to obtain the same speed increment. Therefore, all-electric propulsion satellites have greater advantages in terms of payload carrying capacity and on-orbit lifespan, and are gradually replacing complex two-component chemical propulsion systems to achieve satellite transfer orbit changes and satellite entry into orbit after separation of the satellite and arrow. The subsequent on-orbit position maintenance, angular momentum unloading and deorbiting tasks. However, the thrust of electric thrusters is typically very low, and they take considerable time to deliver large speed increments, with orbital transfers lasting several months or even more than a year.
- the present invention proposes an orbit transfer strategy based on autonomous mission planning.
- This strategy can support the completion of various orbit transfer tasks and enable satellites to operate autonomously for long periods of time. At the same time, it has the advantages of simple form, low implementation difficulty, and small amount of calculation on the satellite, minimizing dependence on ground measurement and control systems.
- Patent document CN106168998B (Application No.: 201610527877.5) discloses an orbit transfer optimization method for an all-electric propulsion spacecraft that considers solar wing radiation damage, and belongs to the technical field of orbital subject optimization design in the overall design of geostationary orbit spacecraft.
- This invention calculates the damage effect of charged particles in the earth's radiation belt on the solar wing based on the position parameters and operating time of the spacecraft during the orbit transfer process, and then calculates the power degradation value of the solar wing.
- a multi-objective physical programming model that comprehensively considers the orbit transfer time and the solar wing output power reduction coefficient is established and solved using genetics to obtain the optimal orbit transfer plan.
- the invention does not introduce the specific operation process of orbit transfer.
- Patent document CN112278330A (Application No.: 202011033010.7) discloses an electric propulsion position keeping method based on star time drive.
- the electric propulsion ignition task parameters are preprocessed and divided into strategy parameters and attribute parameters according to whether the parameters are based on the characteristics of the task change;
- Through the star-time drive the initialization work before ignition of each rail of the electric thruster, the steering adjustment of the vector adjustment mechanism, the parameter configuration of the electric thruster, and the processing of the startup arc are carried out in chronological order.
- This invention requires a set of strategic parameter variable values to be injected from the ground before each position-keeping ignition mission, and is not suitable for long-term multiple executions.
- Patent document CN108490963A (Application No.: 201810128311.4) discloses a method and system for maintaining position in the failure mode of an electric thruster of an all-electric propulsion satellite.
- the method includes the following steps: when a certain electric thruster of an all-electric propulsion satellite fails, the When the branch where the electric thruster is located is no longer in use, the two electric thrusters of the other branch are used for position maintenance control; wherein, the position maintenance control includes the following steps: Step 1: Calculate the required requirements for each orbit element based on the orbit measurement data Control quantity; Step 2: Calculate the total eccentricity vector control quantity based on the tilt angle control quantity and the north-south, east-west position maintaining coupling relationship; Step 3: Calculate the electric thruster ignition position declination angle; Step 4: Calculate the electric thruster ignition speed increment and Right ascension of the midpoint of the ignition arc; Step 5: Calculate the ignition time and duration of the electric thruster.
- the invention calculates parameters such as the control amount required for each track element, the ignition starting time, and the ignition duration based on track measurement data. This invention requires a cumbersome calculation for each ignition task. Compared with this, the present invention is more superior in that the mission planning logic and algorithm are simple, and the specific process of autonomous mission planning is disclosed.
- Patent document US9108748B2 (Application No.: US12925386) discloses a device and method for raising a satellite orbit using an electric propulsion thruster, a satellite attitude sensor, and a positioning system. This method requires the ideal electric orbit raising profile to include automatically repeating thruster ignition, combustion and shutdown phases. This method uses phase as the triggering condition for electric propulsion ignition and shutdown.
- the advantage of the present invention is that the proposed method is triggered in the form of time, which facilitates the onboard computer to schedule execution in time sequence.
- Patent document CN111114833B (Application No.: 201911268075.7) discloses a method and system compatible with orbit keeping and relay applications based on autonomous mission planning.
- the working mode of the data transmission relay is configured as periodic work, and the work instructions are arranged in the form of a job list;
- the homework table is written to the on-board computer.
- the on-board computer calculates the busy-idle state and busy-idle state duration of the data transmission relay, completes the autonomous orbit maintenance control within a sufficient time of the data transmission relay being idle, and gives a completion mark.
- the ground determines the trajectory according to the completion mark.
- the present invention is superior in that it minimizes the workload of satellite-ground interactive operations.
- Patent document CN113636106A (Application No.: 202111080582.5) discloses a method and system for continuous low-thrust high-orbit target change-orbit approach, and discloses co-planar approach, different-planar approach with small inclination angle, and different-planar large inclination approach of high-orbit targets. Continuous small thrust approach method. Compared with this, the present invention is more superior in that it not only provides ways to achieve various orbit transfer goals, but also discloses the specific operation process of orbit transfer.
- Patent document CN107977746A (Application No.: 201711252579.0) discloses an agile action planning method for earth satellites, which converts mission planning plans for earth observation and data transmission into an action sequence with action start and end times. On the premise of satisfying task constraints, resource constraints, and action constraints, the purpose of completing the task planning plan to the greatest extent can be achieved.
- the method proposed by this invention is not suitable for long-term and periodically repeated problems such as all-electric propulsion satellite orbit transfer. Compared with this, the present invention is more superior in that it can periodically carry out autonomous mission planning for orbit transfer over a period of several months or even more than a year.
- the purpose of the present invention is to provide an all-electric propulsion satellite orbit transfer method based on autonomous mission planning.
- An all-electric propulsion satellite orbit transfer method based on autonomous mission planning provided by the present invention includes:
- Step S1 The ground measurement and operation control system formulates an orbit transfer strategy and uploads the formulated orbit transfer strategy to the satellite;
- Step S2 The spaceborne computer triggers autonomous mission planning based on the phase angle in the orbit transfer strategy and generates an orbit transfer mission;
- Step S3 The electric propulsion system triggers and executes the corresponding orbit transfer action through the onboard computer scheduling according to the corresponding execution time of each orbit transfer action in the orbit transfer mission;
- the orbit transfer task includes multiple orbit transfer actions and corresponding execution times of the multiple orbit transfer actions.
- step S1 adopts: uploading one or more formulated orbit transfer strategies to the satellite; each orbit transfer strategy includes a set of orbit transfer strategy parameters;
- the set of orbit transfer strategy parameters includes: mission planning phase angle Electric propulsion working center phase angle Electric propulsion working time T, electric propulsion working attitude q, orbit transfer strategy effective time t a and orbit transfer strategy invalidation time t b ;
- the mission planning phase angle It is the phase angle used to trigger the onboard computer to perform autonomous mission planning calculations
- the electric propulsion working center phase angle is the phase angle corresponding to the center moment of the electric propulsion working period
- the electric propulsion operating time T is the duration from ignition to shutdown of the electric propulsion
- the electric propulsion working attitude q is the attitude of the satellite system relative to the attitude reference system when the electric propulsion is working;
- the orbit transfer strategy effective time t a is that the current orbit transfer strategy only takes effect when the actual satellite time is greater than the orbit transfer strategy effective time t a ;
- the orbit transfer strategy invalidation time t b is when the actual time of the satellite exceeds the orbit transfer strategy invalidation time t b , the onboard computer automatically invalidates and deletes the current orbit transfer strategy.
- the electric propulsion working time T is determined based on the performance indicators of the electric propulsion product, the energy balance of the satellite platform and the efficiency of the ignition arc segment;
- the electric propulsion working center phase angle Formulated according to satellite orbit transfer targets include: basic orbit transfer targets and specific orbit transfer targets;
- the basic orbit transfer objectives include orbit altitude elevation, orbit altitude reduction, orbit eccentricity control, and orbit inclination adjustment;
- the specific orbit transfer objectives include: satellite obstacle avoidance, geostationary satellite orbit position maintenance, geostationary satellite fixed point position drift, Hohmann orbit change and satellite deorbit; and the specific orbit transfer objectives are achieved by a combination of one or more basic orbit transfer objectives;
- the electric propulsion working attitude q is specified according to the installation position of the thruster on the star body and the satellite orbit transfer target to ensure that the thrust points in the required direction during the electric propulsion operation;
- T 0 represents the time advance of the calculation time of autonomous mission planning relative to the electric propulsion ignition time
- T represents the working time of electric propulsion
- ⁇ represents the gravitational constant
- a is the semi-major axis of the satellite orbit
- the effective time t a of the orbit transfer strategy is determined based on the satellite's on-orbit working status and mission schedule;
- the transfer strategy abolition time t b is determined based on the total duration of the advancement work T v required to complete the orbit transfer target.
- the step S2 adopts: determining the effective period of the orbit transfer strategy based on the orbit transfer strategy effective time t a and the orbit transfer strategy invalidation time t b ; within the effective period of the orbit transfer strategy, the spaceborne computer is based on the orbit transfer strategy.
- mission planning phase angle Trigger the onboard computer to perform autonomous mission planning to generate an orbit transfer mission; when the orbit phase angle reaches the mission planning phase angle The onboard computer performs an autonomous mission planning and generates a new orbit transfer mission after planning;
- the orbit transfer task includes multiple orbit transfer actions, including: establishing an electric propulsion working attitude, electric propulsion ignition preparation, electric propulsion ignition work, electric propulsion shutdown, attitude return, and ending and deleting the task.
- the corresponding execution times of the multiple orbit transfer actions include: attitude maneuver start time t 1 , electric propulsion preparation time t 2 , electric propulsion ignition time t 3 , electric propulsion shutdown time t 4 and mission end time t 5 ;
- the attitude maneuver starting time t1 is when the satellite starts attitude maneuvering until the attitude required for propulsion work is established;
- the electric propulsion preparation time t 2 is when the spaceborne computer issues an instruction to the electric propulsion module at time t 2 to start executing self-checks and preheating preparations before propulsion ignition;
- the electric propulsion ignition time t3 is to execute electric propulsion ignition at time t3 ;
- the electric propulsion shutdown time t 4 is when the electric propulsion is shut down and at the same time the attitude maneuver is initiated to return to the satellite's normal flight attitude;
- the task end time t5 is to delete the orbit transfer task at time t5 .
- the electric propulsion ignition time t 3 adopts:
- ⁇ 0 represents the average orbital angular velocity of the satellite; represents the phase angle advance; t 0 represents the current moment when the spaceborne computer is planning the autonomous mission; T represents the working time of electric propulsion;
- a 0 is the orbital semi-major axis at the current time t 0 ;
- ⁇ represents the gravitational constant;
- the electric propulsion shutdown time t 4 adopts:
- the electric propulsion preparation time t 2 adopts:
- T 2 represents the time required for self-inspection and preheating preparation of the electric propulsion module before ignition
- the attitude maneuver starting time t 1 adopts:
- T 1 represents the time required to maneuver from the conventional flight attitude to the electric propulsion working attitude q, which is calculated in real time by the onboard computer;
- the task end time t 5 adopts:
- T 5 represents the time required to maneuver from the electric propulsion working attitude q to return to the normal flight attitude.
- each execution of the orbit transfer task includes:
- Step S3.1 Start attitude maneuver at time t 1 ;
- Step S3.2 Start electric propulsion preparation at time t2 ;
- Step S3.3 The attitude maneuver is in place and the electric propulsion working attitude is established
- Step S3.4 Electric propulsion ignition at time t3 ;
- Step S3.5 The electric propulsion is shut down at t4 , and then the attitude maneuver is immediately initiated to return to the normal flight attitude;
- Step S3.6 Attitude maneuver returns to position
- Step S3.7 The current task ends at t5 , and the current task is deleted from the task queue.
- the onboard computer determines whether there is a time overlap between the newly generated orbit transfer task and the satellite business work task, the orbit transfer task that has been queued, and the prohibited time interval specified on the ground. When there is When the time overlaps, the queue is considered to be in conflict and the current task planning result is invalid. Otherwise, the newly generated orbit transfer task will be added to the orbit transfer task queue.
- Figure 1 is a schematic diagram of the execution timing of the orbit transfer action of an all-electric propulsion satellite according to one embodiment of the present invention.
- Figure 2 is a flow chart of the implementation of the all-electric propulsion satellite orbit transfer strategy according to one embodiment of the present invention.
- Figure 3 is a schematic diagram of changes in the semi-major axis during orbit transfer according to one embodiment of the present invention.
- Figure 4 is a schematic diagram of changes in eccentricity during orbit transfer according to one embodiment of the present invention.
- Figure 5 is a schematic diagram of changes in track height during track transfer according to one embodiment of the present invention.
- the orbit transfer process includes: three levels of execution: strategy, task and action; first, the strategy level: set a set of orbit transfer strategy parameters on the ground, and note the orbit transfer strategy parameters Satellite; then mission level: During the satellite's flight in orbit, the orbital phase angle changes periodically from 0 to 2 ⁇ .
- the onboard computer independently performs mission planning; autonomously Mission planning includes generating the orbit transfer action and the execution time corresponding to the generated orbit transfer action; finally, the action level: the electric propulsion system triggers and executes the corresponding orbit transfer action based on the execution time corresponding to the generated orbit transfer action.
- Three levels of operation realize autonomous mission planning for all-electric propulsion satellite orbit transfer, and the electric propulsion system periodically repeats its work.
- an autonomous mission planning method for all-electric propulsion satellite orbit transfer includes:
- Step S1 The ground measurement and operation control system formulates an orbit transfer strategy and uploads the formulated orbit transfer strategy to the satellite;
- Step S2 The spaceborne computer triggers autonomous mission planning based on the phase angle in the orbit transfer strategy and generates an orbit transfer mission;
- Step S3 The electric propulsion system triggers and executes the corresponding orbit transfer action through the onboard computer scheduling according to the corresponding execution time of each orbit transfer action in the orbit transfer mission;
- the orbit transfer task includes multiple orbit transfer actions and corresponding execution times of the multiple orbit transfer actions.
- each satellite orbit implements independent mission planning, which is triggered in the form of phase angle, which facilitates the ground to formulate periodically repeated orbit change plans; the orbit transfer action is triggered in the form of time, which facilitates the on-board computer to schedule and execute in time sequence.
- the orbit transfer strategy includes multiple orbit transfer strategy parameters, including: mission planning phase angle Electric propulsion working center phase angle Electric propulsion working time T, electric propulsion working attitude q, orbit transfer strategy effective time t a and orbit transfer strategy invalidation time t b ;
- the phase angle is an angular parameter used to describe the satellite orbit phase, and the latitude argument, true periapsis angle, mean periapsis angle, etc. of the satellite orbit can be selected.
- the phase angle is the satellite orbit periapsis angle.
- the mission planning phase angle is the phase angle used to trigger the onboard computer to perform autonomous mission planning calculations; in this embodiment, the range is [0, 2 ⁇ );
- the electric propulsion working center phase angle is the phase angle corresponding to the center moment of the electric propulsion working period; in this embodiment, the range is [0, 2 ⁇ );
- the electric propulsion operating time T is the duration from ignition to shutdown of the electric propulsion
- the electric propulsion working attitude q is the attitude of the satellite system relative to the attitude reference system when the electric propulsion is working;
- the attitude reference system can be a satellite orbit system, an inertial system, etc.; in this embodiment, the attitude reference system is a satellite orbit system.
- the orbit transfer strategy effective time t a is that the current orbit transfer strategy only takes effect when the actual satellite time is greater than the orbit transfer strategy effective time t a ;
- the orbit transfer strategy invalidation time t b is when the actual time of the satellite exceeds the orbit transfer strategy invalidation time t b , the onboard computer automatically invalidates and deletes the current orbit transfer strategy.
- the electric propulsion working time T is determined based on the performance indicators of the electric propulsion product, the energy balance of the satellite platform, and the efficiency of the ignition arc segment. In this embodiment, the electric propulsion working time T is 5 to 15 minutes.
- Basic orbit transfer objectives include: orbit altitude elevation, orbit altitude reduction, orbit eccentricity control, orbit inclination adjustment, etc.
- Other orbit transfer objectives include satellite obstacle avoidance, geostationary satellite orbit position maintenance, geostationary satellite fixed-point position drift, Hohmann orbit change, Orbit transfer goals such as satellite deorbiting can be achieved by one or more combinations of the above basic orbit transfer goals.
- the orbit altitude elevation can generate thrust in the positive direction of the satellite's flight speed near the apogee
- Reducing the orbital altitude can generate thrust in the opposite direction of the satellite's flight speed near the apogee
- Orbital eccentricity control can generate thrust in the positive or negative direction of the satellite's flight speed near the perigee or apogee, Or ⁇
- orbital inclination adjustment can produce thrust perpendicular to the orbital plane near the ascending node or descending focus of the satellite, Or 3 ⁇ /2.
- the electric propulsion working attitude q is determined based on the installation position of the thruster on the star body and the satellite orbit transfer target to ensure that the thrust points in the required direction during the electric propulsion operation.
- the time advance T 0 of the calculation time of autonomous mission planning relative to the electric propulsion ignition time must be greater than the time required to establish the electric propulsion working attitude and the time required for electric propulsion ignition preparation, and the mission planning phase angle
- the calculation method is as follows:
- a is the semi-major axis of the satellite orbit.
- the minimum value of the semi-major axis change range during the orbit transfer process is taken;
- ⁇ is the gravitational constant of the earth.
- ⁇ 398600.436km3/s is taken. 2 .
- the effective time t a of the orbit transfer strategy is determined based on the satellite's on-orbit working status and mission schedule.
- phase angle advance is immediately calculated: Process the angle range within the range of [0,2 ⁇ ).
- the task planning phase angle Electric propulsion working center phase angle Electric propulsion working time T, electric propulsion working attitude q, orbit transfer strategy effective time t a , orbit transfer strategy invalidation time t b , phase angle advance amount are stored in the onboard computer storage device as a set of orbit transfer strategy parameters for polling judgment.
- the ground can inject one or more orbit transfer strategies to the satellite, and each strategy contains a set of orbit transfer strategy parameters.
- the step S2 adopts: determining the effective period of the orbit transfer strategy based on the orbit transfer strategy effective time t a and the orbit transfer strategy invalidation time t b ; within the effective period of the orbit transfer strategy, the spaceborne computer based on the orbit transfer strategy mission planning phase angle Trigger the onboard computer to perform autonomous mission planning to generate an orbit transfer mission; when the orbit phase angle reaches the mission planning phase angle The onboard computer performs an autonomous mission planning and generates a new orbit transfer task after planning.
- the new orbit transfer task includes multiple orbit transfer actions and the corresponding execution time parameters of the multiple orbit transfer actions;
- the orbit transfer task includes multiple orbit transfer actions, including: establishing an electric propulsion working attitude, electric propulsion ignition preparation, electric propulsion ignition work, electric propulsion shutdown, attitude return, and ending and deleting the task.
- the corresponding execution time parameters of the multiple orbit transfer actions include: attitude maneuver start time t 1 , electric propulsion preparation time t 2 , electric propulsion ignition time t 3 , electric propulsion shutdown time t 4 , and mission end time t 5 .
- the attitude maneuver starting time t 1 is when the satellite starts attitude maneuver until the attitude required for propulsion work is established.
- the electric propulsion preparation time t 2 is when the spaceborne computer issues instructions to the electric propulsion module to start a series of self-checks, preheating and other preparations before propulsion ignition.
- the electric propulsion ignition time t 3 is when the electric propulsion is ignited.
- the electric propulsion shutdown time t 4 is when the electric propulsion is shut down and at the same time the attitude maneuver is initiated to return to the satellite's normal flight attitude.
- the task end time t 5 is when the orbit transfer task is deleted.
- the electric propulsion ignition time t3 adopts:
- w 0 represents the average orbital angular velocity of the satellite; represents the phase angle advance; t 0 represents the current moment when the spaceborne computer is planning the autonomous mission; T represents the working time of electric propulsion;
- a 0 is the orbital semi-major axis at the current time t 0 ;
- ⁇ represents the gravitational constant;
- the electric propulsion shutdown time t 4 adopts:
- the electric propulsion preparation time t 2 adopts:
- T 2 represents the time required for self-inspection and preheating preparation of the electric propulsion module before ignition
- the attitude maneuver starting time t 1 adopts:
- T 1 represents the time required to maneuver from the conventional flight attitude to the electric propulsion working attitude q based on the attitude control actuator capability and control algorithm efficiency;
- the task end time t 5 adopts:
- T 5 represents the time required for the satellite to maneuver from the electric propulsion working attitude q to return to the normal flight attitude based on the attitude control actuator capability and control algorithm efficiency.
- each execution of the orbit transfer task includes the following steps:
- Step 1 Start attitude maneuver at time t1 .
- Step 2 Start preparation for electric propulsion at time t2 .
- Step 3 The attitude maneuver is in place and the electric propulsion working attitude is established.
- Step 4 Electric propulsion ignition at time t3 .
- Step 5 Turn off the electric propulsion at t4 , and then immediately start attitude maneuvering to return to the normal flight attitude.
- Step 6 Attitude maneuver returns to position.
- Step 7 The current task ends at t5 , and the task is deleted from the task queue.
- each time the onboard computer performs autonomous mission planning to generate an orbit transfer task determines whether there is a time overlap between the newly generated orbit transfer task, the satellite business work task, the orbit transfer task that has been queued, and the prohibited time interval specified on the ground. When there is a time overlap, the queue is considered to be in conflict and the current task planning result is invalid. Otherwise, the newly generated orbit transfer task is added to the orbit transfer task queue.
- the all-electric propulsion satellite orbit transfer system based on autonomous mission planning provided by embodiments of the present invention can be implemented through the step process in the all-electric propulsion satellite orbit transfer method based on autonomous mission planning provided by the present invention.
- Those skilled in the art can understand the all-electric propulsion satellite orbit transfer method based on autonomous mission planning as a preferred example of an all-electric propulsion satellite orbit transfer system based on autonomous mission planning.
- Embodiment 2 is a preferred example of Embodiment 1
- the autonomous mission planning method for all-electric propulsion satellite orbit transfer proposed by the present invention divides the orbit transfer process into three levels of execution: strategy, task, and action, which are executed by the ground system, the satellite-borne computer, and the electric propulsion system respectively.
- the ground formulates an orbit transfer strategy and uploads the orbit transfer strategy parameters to the satellite;
- the onboard computer periodically carries out autonomous mission planning and generates orbit transfer tasks; when the predetermined time is reached, the onboard computer schedules and executes the corresponding orbit transfer actions.
- the satellite implements autonomous mission planning for each orbit, which is triggered in the form of phase angle, which facilitates the ground to formulate periodically repeated orbit change plans; the orbit transfer action is triggered in the form of time, which facilitates the on-board computer to schedule and execute in time sequence.
- Orbital transfer strategy parameters include: mission planning phase angle Electric propulsion working center phase angle The electric propulsion working time T, the electric propulsion working attitude q, the orbit transfer strategy effective time t a , the orbit transfer strategy invalidation time t b .
- the method for designing orbit transfer strategy parameters on the ground is as follows:
- the electric propulsion working attitude q is taken to ensure that the thrust points in the opposite direction of the speed during the electric propulsion operation.
- mission planning phase angle calculate:
- the orbit transfer strategy parameters designed according to the present invention are as follows:
- phase angle advance is calculated immediately:
- the task planning phase angle Electric propulsion working center phase angle Electric propulsion working time T, electric propulsion working attitude q, orbit transfer strategy effective time t a , orbit transfer strategy invalidation time t b , phase angle advance amount are stored in the onboard computer storage device as a set of orbit transfer strategy parameters for polling judgment.
- the ground can inject one or more orbit transfer strategies to the satellite, and each strategy contains a set of orbit transfer strategy parameters.
- the orbit transfer task includes a series of orbit transfer actions: establishing the electric propulsion working attitude, electric propulsion ignition preparation, electric propulsion ignition work, electric propulsion shutdown, attitude return, ending and deleting the task.
- the spaceborne computer When the actual time of the satellite is between the orbit transfer strategy effective time t a and the orbit transfer strategy invalidation time t b , it is the effective period of the orbit transfer strategy.
- the spaceborne computer performs an autonomous mission planning and generates a new orbit transfer mission, which contains five orbit transfer action parameters: attitude maneuver start time t 1 , electric propulsion preparation time t 2 , and electric propulsion ignition time t 3 , the electric propulsion shutdown time t 4 , and the task end time t 5 .
- Step 1 Calculate the satellite’s average orbital angular velocity w 0
- Step 2 Calculate the electric propulsion ignition time t 3
- Step 3 Calculate the electric propulsion shutdown time t 4
- Step 4 Calculate the electric propulsion preparation time t 2
- T2 600s.
- Step 5 Calculate attitude maneuver start time t 1
- Step 6 Calculate the task end time t 5
- each execution of the orbit transfer task includes the following steps:
- Step 1 Start attitude maneuver at time t1 .
- Step 2 Start preparation for electric propulsion at time t2 .
- Step 3 The attitude maneuver is in place and the electric propulsion working attitude is established.
- Step 4 Electric propulsion ignition at time t3 .
- Step 5 Turn off the electric propulsion at t4 , and then immediately start attitude maneuvering to return to the normal flight attitude.
- Step 6 Attitude maneuver returns to position.
- Step 7 The current task ends at t5 , and the task is deleted from the task queue.
- the system, device and each module provided by the present invention can be implemented by logically programming the method steps.
- the same program is implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system, device and each module provided by the present invention can be regarded as a kind of hardware component, and the modules included in it for implementing various programs can also be regarded as structures within the hardware component; Modules for realizing various functions are regarded as either software programs that implement methods or structures within hardware components.
- the present invention has the following beneficial effects:
- This invention minimizes the workload of ground operation and control satellites and achieves the technical characteristics of dividing the orbit transfer process into three levels: strategy, task, and action, which are executed by the ground system, onboard computer, and electric propulsion system respectively.
- strategy, task, and action which are executed by the ground system, onboard computer, and electric propulsion system respectively.
- action which are executed by the ground system, onboard computer, and electric propulsion system respectively.
- the present invention solves the engineering optimization problem of the all-electric propulsion satellite orbit transfer strategy.
- the autonomous mission planning method disclosed by the present invention can support the realization of various orbit transfer targets, enabling satellites to autonomously perform orbit transfer tasks for a long time; at the same time, it has the advantages of simple form, low implementation difficulty, and small on-board calculation amount, minimizing the need for It relies on ground measurement and control systems and has high application value.
Abstract
The present invention provides an all-electric propulsion satellite orbit transfer method based on autonomous task planning, comprising: step S1, a ground telemetry, tracking, and control system formulates an orbit transfer strategy, and uploads the formulated orbit transfer strategy to a satellite; step S2, a spaceborne computer triggers autonomous task planning according to a phase angle in the orbit transfer strategy to generate an orbit transfer task; and step S3, an electric propulsion system dispatches and executes corresponding orbit transfer actions by means of the spaceborne computer according to corresponding execution moments of the orbit transfer actions in the orbit transfer task, the orbit transfer task comprising a plurality of orbit transfer actions and execution times corresponding to the plurality of orbit transfer actions.
Description
本发明涉及航空航天技术领域，具体地，涉及基于自主任务规划的全电推进卫星轨道转移方法，更为具体地，涉及全电推进卫星轨道转移的自主任务规划方法。The present invention relates to the field of aerospace technology, specifically to an all-electric propulsion satellite orbit transfer method based on autonomous mission planning, and more specifically to an autonomous mission planning method for all-electric propulsion satellite orbit transfer.
全电力推进卫星(All-Electric Propulsion Satellite)近年来在国际市场上引起了广泛的关注，由于电动推进器的优良比脉冲，能够消耗更少的燃料以获得相同的速度增量。因此，全电力推进卫星在有效载荷承载能力和在轨寿命方面具有更大的优势，正在逐步取代复杂的双组元化学推进系统，来实现星箭分离后的卫星转移轨道变轨、卫星入轨后的在轨位置保持、角动量卸载及离轨等任务。然而，电动推进器的推力通常非常低，而且它们需要相当大的时间才能提供较大的速度增量，轨道转移的持续时间长达几个月甚至一年以上。All-Electric Propulsion Satellite (All-Electric Propulsion Satellite) has attracted widespread attention in the international market in recent years. Due to the excellent specific pulse of electric thrusters, it can consume less fuel to obtain the same speed increment. Therefore, all-electric propulsion satellites have greater advantages in terms of payload carrying capacity and on-orbit lifespan, and are gradually replacing complex two-component chemical propulsion systems to achieve satellite transfer orbit changes and satellite entry into orbit after separation of the satellite and arrow. The subsequent on-orbit position maintenance, angular momentum unloading and deorbiting tasks. However, the thrust of electric thrusters is typically very low, and they take considerable time to deliver large speed increments, with orbital transfers lasting several months or even more than a year.
针对这一问题，本发明提出了一种基于自主任务规划的轨道转移策略。该策略能够支持完成各类轨道转移任务，使卫星能够长时间自主运行。同时具备形式简单，实现难度低、星上计算量小等优点，最大程度减少对地面测控系统的依赖。To address this problem, the present invention proposes an orbit transfer strategy based on autonomous mission planning. This strategy can support the completion of various orbit transfer tasks and enable satellites to operate autonomously for long periods of time. At the same time, it has the advantages of simple form, low implementation difficulty, and small amount of calculation on the satellite, minimizing dependence on ground measurement and control systems.
专利文献CN106168998B(申请号：201610527877.5)公开了一种考虑太阳翼辐射损伤的全电推航天器轨道转移优化方法，属于地球静止轨道航天器总体设计中的轨道学科优化设计技术领域。本发明根据航天器轨道转移过程中的位置参数与运行时长，计算地球辐射带中带电粒子对太阳翼的损伤效应，进而计算太阳翼的功率退化值。在此基础上，建立综合考虑轨道转移时间和太阳翼输出功率下降系数的多目标物理规划模型并用遗传进行求解，获取最优轨道转移方案。但该发明并未针对轨道转移的具体操作过程进行介绍。Patent document CN106168998B (Application No.: 201610527877.5) discloses an orbit transfer optimization method for an all-electric propulsion spacecraft that considers solar wing radiation damage, and belongs to the technical field of orbital subject optimization design in the overall design of geostationary orbit spacecraft. This invention calculates the damage effect of charged particles in the earth's radiation belt on the solar wing based on the position parameters and operating time of the spacecraft during the orbit transfer process, and then calculates the power degradation value of the solar wing. On this basis, a multi-objective physical programming model that comprehensively considers the orbit transfer time and the solar wing output power reduction coefficient is established and solved using genetics to obtain the optimal orbit transfer plan. However, the invention does not introduce the specific operation process of orbit transfer.
专利文献CN112278330A(申请号：202011033010.7)公开了一种基于星时驱动的电推进位置保持方法，对电推进点火任务参数进行预处理，按参数是否根据任务变化的特点分为策略参数和属性参数；通过星时驱动，按时间顺序依次进行电推力器每轨点火前的初始化工作、矢量调节机构转向调节、电推力器参数配置、开机弧 段处理。该发明需要在每次位保点火任务前，由地面注入一组策略参数变量值，不适合长期多次执行。比如平均每天进行14轨点火，持续3个月时间，就需要地面进行约1260次上注操作。而利用本发明所提出的方法仅需要1次上注。本发明的优势在于每轨的任务规划以相位角触发驱动，而该发明是基于星时驱动。Patent document CN112278330A (Application No.: 202011033010.7) discloses an electric propulsion position keeping method based on star time drive. The electric propulsion ignition task parameters are preprocessed and divided into strategy parameters and attribute parameters according to whether the parameters are based on the characteristics of the task change; Through the star-time drive, the initialization work before ignition of each rail of the electric thruster, the steering adjustment of the vector adjustment mechanism, the parameter configuration of the electric thruster, and the processing of the startup arc are carried out in chronological order. This invention requires a set of strategic parameter variable values to be injected from the ground before each position-keeping ignition mission, and is not suitable for long-term multiple executions. For example, if an average of 14 rails are ignited every day for three months, approximately 1,260 ground injection operations are required. The method proposed by the present invention only requires one bet. The advantage of this invention is that the mission planning of each orbit is driven by phase angle triggering, and this invention is based on star-time driving.
专利文献CN108490963A(申请号：201810128311.4)公开了一种全电推进卫星电推力器故障模式下的位置保持方法及系统，该方法包括如下步骤：当全电推进卫星某台电推力器发生故障时，该电推力器所在的分支不再使用，则使用另一分支的两个电推力器进行位置保持控制；其中，所述位置保持控制包括如下步骤：步骤一：根据测轨数据计算各轨道要素所需控制量；步骤二：根据倾角控制量以及南北、东西位置保持耦合关系计算总偏心率矢量控制量；步骤三：计算电推力器点火位置偏角；步骤四：计算电推力器点火速度增量以及点火弧段中点赤经；步骤五：计算电推力器点火时刻及点火时长。该发明根据测轨数据计算各轨道要素所需控制量、点火起始时刻、点火时长等参数。该发明每次点火任务都需要进行一次繁琐的计算。本发明与之相比更优越的地方在于任务规划逻辑和算法简单，并公开了自主任务规划的具体过程。Patent document CN108490963A (Application No.: 201810128311.4) discloses a method and system for maintaining position in the failure mode of an electric thruster of an all-electric propulsion satellite. The method includes the following steps: when a certain electric thruster of an all-electric propulsion satellite fails, the When the branch where the electric thruster is located is no longer in use, the two electric thrusters of the other branch are used for position maintenance control; wherein, the position maintenance control includes the following steps: Step 1: Calculate the required requirements for each orbit element based on the orbit measurement data Control quantity; Step 2: Calculate the total eccentricity vector control quantity based on the tilt angle control quantity and the north-south, east-west position maintaining coupling relationship; Step 3: Calculate the electric thruster ignition position declination angle; Step 4: Calculate the electric thruster ignition speed increment and Right ascension of the midpoint of the ignition arc; Step 5: Calculate the ignition time and duration of the electric thruster. The invention calculates parameters such as the control amount required for each track element, the ignition starting time, and the ignition duration based on track measurement data. This invention requires a cumbersome calculation for each ignition task. Compared with this, the present invention is more superior in that the mission planning logic and algorithm are simple, and the specific process of autonomous mission planning is disclosed.
专利文献US9108748B2(申请号：US12925386)公开了一种利用电推进的推力器、卫星姿态敏感器、定位系统提升卫星轨道的装置和方法。该方法需要电推进轨道提升配置文件(the ideal electric orbit raising profile)包括自动重复的推进器点火相位、燃烧相位和停机相位。该方法是以相位作为电推进点火、关机的触发条件。本发明与之相比更优越的地方在于所提出的方法以时间形式触发，便于星载计算机按时间序列调度执行。Patent document US9108748B2 (Application No.: US12925386) discloses a device and method for raising a satellite orbit using an electric propulsion thruster, a satellite attitude sensor, and a positioning system. This method requires the ideal electric orbit raising profile to include automatically repeating thruster ignition, combustion and shutdown phases. This method uses phase as the triggering condition for electric propulsion ignition and shutdown. The advantage of the present invention is that the proposed method is triggered in the form of time, which facilitates the onboard computer to schedule execution in time sequence.
专利文献CN111114833B(申请号：201911268075.7)公开了一种基于自主任务规划的轨道保持与中继应用兼容方法及系统，配置数传中继工作方式为周期工作，工作指令以作业表形式进行编排；将作业表上注给星上计算机，星上计算机解算出数传中继忙闲状态和忙闲状态持续时间，在数传中继空闲的足够时间内完成自主轨道保持控制，并给出完成标识，地面根据完成标识，进行测定轨。本发明与之相比更优越的地方在于最大程度降低了星地交互操作的工作量。Patent document CN111114833B (Application No.: 201911268075.7) discloses a method and system compatible with orbit keeping and relay applications based on autonomous mission planning. The working mode of the data transmission relay is configured as periodic work, and the work instructions are arranged in the form of a job list; The homework table is written to the on-board computer. The on-board computer calculates the busy-idle state and busy-idle state duration of the data transmission relay, completes the autonomous orbit maintenance control within a sufficient time of the data transmission relay being idle, and gives a completion mark. The ground determines the trajectory according to the completion mark. Compared with this, the present invention is superior in that it minimizes the workload of satellite-ground interactive operations.
专利文献CN113636106A(申请号：202111080582.5)公开了一种连续小推力高轨目标变轨抵近方法及系统，公开了高轨目标的共面抵近、异面小倾角抵近和异面大倾角的连续小推力抵近方式。本发明与之相比更优越的地方在于不但给出了实现 各类轨道转移目标的方式，还公开了轨道转移具体操作流程。Patent document CN113636106A (Application No.: 202111080582.5) discloses a method and system for continuous low-thrust high-orbit target change-orbit approach, and discloses co-planar approach, different-planar approach with small inclination angle, and different-planar large inclination approach of high-orbit targets. Continuous small thrust approach method. Compared with this, the present invention is more superior in that it not only provides ways to achieve various orbit transfer goals, but also discloses the specific operation process of orbit transfer.
论文《多转低推力地球轨道转移的最小时间轨迹优化Minimum-Time Trajectory Optimization of Multiple Revolution Low-Thrust Earth-Orbit Transfers》(Graham K F,Rao A V.Minimum-time trajectory optimization of multiple revolution low-thrust earth-orbit transfers[J].Journal of spacecraft and rockets,2015,52(3):711-727.https://doi.org/10.2514/1.A33187)公开了一种使用低推力推进确定高精度最小时间地球轨道转移的问题。此类文章重点在于研究小推力轨道转移的最优化问题，本质上是一种理论性研究。本发明虽然不是按照最优方法进行控制，但与之相比更优越的地方在于非常利于工程实现，即本发明所节约的工程实现成本远大于未达到最优而造成的损失。Paper "Minimum-Time Trajectory Optimization of Multiple Revolution Low-Thrust Earth-Orbit Transfers" (Graham K F, Rao A V. Minimum-time trajectory optimization of multiple revolution low-thrust earth-orbit transfers[J].Journal of spacecraft and rockets,2015,52(3):711-727.https://doi.org/10.2514/1.A33187) disclosed a method using low thrust propulsion to determine high accuracy The problem of minimum time Earth orbit transfer. This type of article focuses on studying the optimization problem of small-thrust orbit transfer, which is essentially a theoretical study. Although the present invention does not control according to the optimal method, it is more advantageous in that it is very conducive to engineering implementation, that is, the engineering implementation cost saved by the present invention is far greater than the loss caused by not reaching the optimum.
论文《全电推进卫星轨道转移策略的工程优化方法Engineering Optimization Method of Orbit Transfer Strategy for All-electric Propulsion Satellites》(Mingren Han and Yufeng Wang 2021 J.Phys.:Conf.Ser.2029 012011 https://doi.org/10.1088/1742-6596/2029/1/012011)着重研究了全电推进卫星轨道传输策略的在轨计算和优化问题，公开了一种全电力推进卫星的简化的小推力轨道转移策略，提出了一种适用于星载计算的双向随机梯度下降法。本发明与之相比更优越的地方在于不需要利用星载计算机进行复杂的轨道递推和最优化搜索，直接利用逻辑流程，通过相位角触发轨道转移任务规划、通过时间触发轨道转移动作实施，形式简单，实现难度低、星上计算量小，能够支持卫星长期自主完成各类轨道转移任务。The paper "Engineering Optimization Method of Orbit Transfer Strategy for All-electric Propulsion Satellites" (Mingren Han and Yufeng Wang 2021 J.Phys.:Conf.Ser.2029 012011 https://doi .org/10.1088/1742-6596/2029/1/012011) focused on the on-orbit calculation and optimization issues of all-electric propulsion satellite orbit transfer strategies, and disclosed a simplified low-thrust orbit transfer strategy for all-electric propulsion satellites. A bidirectional stochastic gradient descent method suitable for spaceborne calculations is proposed. The advantage of this invention is that it does not need to use a space-borne computer to perform complex orbit recursion and optimization search, but directly uses logical processes to trigger orbit transfer task planning through phase angle and trigger orbit transfer action execution through time. The form is simple, the implementation difficulty is low, and the amount of calculation on the satellite is small. It can support satellites to independently complete various orbit transfer tasks for a long time.
专利文献CN107977746A(申请号：201711252579.0)公开了一种敏捷对地卫星的动作规划方法，将对地观测、数据传输等任务规划方案转换成一个带有动作起止时间的动作序列。在满足任务约束、资源约束、动作约束的前提下，达到最大程度完成任务规划方案的目的。该发明所提出的方法不适用于全电推进卫星轨道转移这类长期工作、周期性重复的问题。本发明与之相比更优越的地方在于能够在长达几个月甚至一年以上的时期内，周期性地开展轨道转移的自主任务规划。Patent document CN107977746A (Application No.: 201711252579.0) discloses an agile action planning method for earth satellites, which converts mission planning plans for earth observation and data transmission into an action sequence with action start and end times. On the premise of satisfying task constraints, resource constraints, and action constraints, the purpose of completing the task planning plan to the greatest extent can be achieved. The method proposed by this invention is not suitable for long-term and periodically repeated problems such as all-electric propulsion satellite orbit transfer. Compared with this, the present invention is more superior in that it can periodically carry out autonomous mission planning for orbit transfer over a period of several months or even more than a year.
发明内容Contents of the invention
针对现有技术中的缺陷，本发明的目的是提供一种基于自主任务规划的全电推 进卫星轨道转移方法。In view of the deficiencies in the existing technology, the purpose of the present invention is to provide an all-electric propulsion satellite orbit transfer method based on autonomous mission planning.
根据本发明提供的一种基于自主任务规划的全电推进卫星轨道转移方法，包括：An all-electric propulsion satellite orbit transfer method based on autonomous mission planning provided by the present invention includes:
步骤S1：地面测运控系统制定轨道转移策略，并将制定的轨道转移策略上注卫星；Step S1: The ground measurement and operation control system formulates an orbit transfer strategy and uploads the formulated orbit transfer strategy to the satellite;
步骤S2：星载计算机根据轨道转移策略中相位角触发自主任务规划，生成轨道转移任务；Step S2: The spaceborne computer triggers autonomous mission planning based on the phase angle in the orbit transfer strategy and generates an orbit transfer mission;
步骤S3：电推进系统根据轨道转移任务中各轨道转移动作的相应执行时刻通过星载计算机调度触发执行相应轨道转移动作；Step S3: The electric propulsion system triggers and executes the corresponding orbit transfer action through the onboard computer scheduling according to the corresponding execution time of each orbit transfer action in the orbit transfer mission;
所述轨道转移任务包括多个轨道转移动作以及多个轨道转移动作相应的执行时间。The orbit transfer task includes multiple orbit transfer actions and corresponding execution times of the multiple orbit transfer actions.
进一步地，所述步骤S1采用：将制定的一个或多个轨道转移策略上注卫星；每个轨道转移策略包括一组轨道转移策略参数；Further, the step S1 adopts: uploading one or more formulated orbit transfer strategies to the satellite; each orbit transfer strategy includes a set of orbit transfer strategy parameters;
所述一组轨道转移策略参数，包括：任务规划相位角
电推进工作中心相位角
电推进工作时长T、电推进工作姿态q、轨道转移策略生效时刻t
a以及轨道转移策略废止时刻t
b；
The set of orbit transfer strategy parameters includes: mission planning phase angle Electric propulsion working center phase angle Electric propulsion working time T, electric propulsion working attitude q, orbit transfer strategy effective time t a and orbit transfer strategy invalidation time t b ;
所述任务规划相位角
是用于触发星载计算机进行自主任务规划计算的相位角；
The mission planning phase angle It is the phase angle used to trigger the onboard computer to perform autonomous mission planning calculations;
所述电推进工作中心相位角
是电推进工作时段中心时刻所对应的相位角；
The electric propulsion working center phase angle is the phase angle corresponding to the center moment of the electric propulsion working period;
所述电推进工作时长T是电推进点火到关机的持续时间长度；The electric propulsion operating time T is the duration from ignition to shutdown of the electric propulsion;
所述电推进工作姿态q是电推进工作时卫星本体系相对于姿态参考系的姿态；The electric propulsion working attitude q is the attitude of the satellite system relative to the attitude reference system when the electric propulsion is working;
所述轨道转移策略生效时刻t
a是当前轨道转移策略仅在卫星实际时间大于轨道转移策略生效时刻t
a时生效；
The orbit transfer strategy effective time t a is that the current orbit transfer strategy only takes effect when the actual satellite time is greater than the orbit transfer strategy effective time t a ;
所述轨道转移策略废止时刻t
b是当卫星实际时间超过轨道转移策略废止时刻t
b时，星载计算机自动将当前轨道转移策略废止并删除。
The orbit transfer strategy invalidation time t b is when the actual time of the satellite exceeds the orbit transfer strategy invalidation time t b , the onboard computer automatically invalidates and deletes the current orbit transfer strategy.
进一步地，further,
所述电推进工作时长T根据电推进产品性能指标、卫星平台能源平衡情况以及点火弧段效率制定；The electric propulsion working time T is determined based on the performance indicators of the electric propulsion product, the energy balance of the satellite platform and the efficiency of the ignition arc segment;
所述电推进工作中心相位角
根据卫星轨道转移目标制定；所述卫星轨道转移目标包括：基本轨道转移目标和特定轨道转移目标；
The electric propulsion working center phase angle Formulated according to satellite orbit transfer targets; the satellite orbit transfer targets include: basic orbit transfer targets and specific orbit transfer targets;
所述基本轨道转移目标包括轨道高度抬升、轨道高度降低、轨道偏心率控制以及轨道倾角调整；The basic orbit transfer objectives include orbit altitude elevation, orbit altitude reduction, orbit eccentricity control, and orbit inclination adjustment;
所述特定轨道转移目标包括：卫星避障、静止卫星轨道位置保持、静止卫星定点位 置漂移、霍曼变轨以及卫星离轨；且特定轨道转移目标由一个或多个基本轨道转移目标组合实现；The specific orbit transfer objectives include: satellite obstacle avoidance, geostationary satellite orbit position maintenance, geostationary satellite fixed point position drift, Hohmann orbit change and satellite deorbit; and the specific orbit transfer objectives are achieved by a combination of one or more basic orbit transfer objectives;
所述电推进工作姿态q根据推力器在星体上的安装位置和卫星轨道转移目标指定，保证在电推进工作期间推力指向所需方向；The electric propulsion working attitude q is specified according to the installation position of the thruster on the star body and the satellite orbit transfer target to ensure that the thrust points in the required direction during the electric propulsion operation;
所述任务规划相位角
采用：
The mission planning phase angle use:
其中，T
0表示自主任务规划的计算时间相对于电推进点火时间的时间提前量；T表示电推进工作时长；μ表示地心引力常数；a为卫星轨道半长轴；
Among them, T 0 represents the time advance of the calculation time of autonomous mission planning relative to the electric propulsion ignition time; T represents the working time of electric propulsion; μ represents the gravitational constant; a is the semi-major axis of the satellite orbit;
所述轨道转移策略生效时刻t
a根据卫星在轨工作状态和任务安排制定；
The effective time t a of the orbit transfer strategy is determined based on the satellite's on-orbit working status and mission schedule;
所述转移策略废止时刻t
b根据完成轨道转移目标所需要的推进工作总时长T
v制定。
The transfer strategy abolition time t b is determined based on the total duration of the advancement work T v required to complete the orbit transfer target.
优选地，所述所述电推进工作中心相位角
采用：当卫星轨道转移目标为轨道高度抬升时，
当卫星轨道转移目标为轨道高度降低时，
当卫星轨道转移目标为轨道偏心率控制时，
或π；当卫星轨道转移目标为轨道倾角调整时，
或3π/2。
Preferably, the electric propulsion working center phase angle Adopted: When the satellite orbit transfer target is to raise the orbit altitude, When the satellite orbit transfer target is to reduce the orbit altitude, When the satellite orbit transfer target is orbit eccentricity control, or π; when the satellite orbit transfer target is orbit inclination adjustment, Or 3π/2.
优选地，所述步骤S2采用：根据轨道转移策略生效时刻t
a和轨道转移策略废止时刻t
b确定轨道转移策略的生效时期；在轨道转移策略的生效时期内，星载计算机基于轨道转移策略中任务规划相位角
触发星载计算机进行自主任务规划生成轨道转移任务；当轨道相位角到达任务规划相位角
星载计算机进行一次自主任务规划，规划后生成一个新的轨道转移任务；
Preferably, the step S2 adopts: determining the effective period of the orbit transfer strategy based on the orbit transfer strategy effective time t a and the orbit transfer strategy invalidation time t b ; within the effective period of the orbit transfer strategy, the spaceborne computer is based on the orbit transfer strategy. mission planning phase angle Trigger the onboard computer to perform autonomous mission planning to generate an orbit transfer mission; when the orbit phase angle reaches the mission planning phase angle The onboard computer performs an autonomous mission planning and generates a new orbit transfer mission after planning;
所述轨道转移任务包括多个轨道转移动作，包括：建立电推进工作姿态、电推进点火准备、电推进点火工作、电推进关机、姿态返回以及结束并删除任务。The orbit transfer task includes multiple orbit transfer actions, including: establishing an electric propulsion working attitude, electric propulsion ignition preparation, electric propulsion ignition work, electric propulsion shutdown, attitude return, and ending and deleting the task.
进一步地，所述多个轨道转移动作相应的执行时间包括：姿态机动启动时刻t
1、电推进准备时刻t
2、电推进点火时刻t
3、电推进关机时刻t
4以及任务结束时刻t
5；
Further, the corresponding execution times of the multiple orbit transfer actions include: attitude maneuver start time t 1 , electric propulsion preparation time t 2 , electric propulsion ignition time t 3 , electric propulsion shutdown time t 4 and mission end time t 5 ;
所述姿态机动启动时刻t
1是在t
1时刻卫星开始姿态机动，直至建立推进工作所需的姿态；
The attitude maneuver starting time t1 is when the satellite starts attitude maneuvering until the attitude required for propulsion work is established;
所述电推进准备时刻t
2是在t
2时刻星载计算机向电推进模块发出指令，开始执行包括推进点火前的自检以及预热准备工作；
The electric propulsion preparation time t 2 is when the spaceborne computer issues an instruction to the electric propulsion module at time t 2 to start executing self-checks and preheating preparations before propulsion ignition;
所述电推进点火时刻t
3是在t
3时刻执行电推进点火；
The electric propulsion ignition time t3 is to execute electric propulsion ignition at time t3 ;
所述电推进关机时刻t
4是在t
4时刻电推进关机，同时启动姿态机动返回卫星常规飞行姿态；
The electric propulsion shutdown time t 4 is when the electric propulsion is shut down and at the same time the attitude maneuver is initiated to return to the satellite's normal flight attitude;
所述任务结束时刻t
5是在t
5时刻删除该次轨道转移任务。
The task end time t5 is to delete the orbit transfer task at time t5 .
进一步地，所述电推进点火时刻t
3采用：
Further, the electric propulsion ignition time t 3 adopts:
其中，ω
0表示卫星平均轨道角速度；
表示相位角提前量；t
0表示星载计算机进行该次自主任务规划的当前时刻；T表示电推进工作时长；
Among them, ω 0 represents the average orbital angular velocity of the satellite; represents the phase angle advance; t 0 represents the current moment when the spaceborne computer is planning the autonomous mission; T represents the working time of electric propulsion;
其中，a
0是当前t
0时刻的轨道半长轴；μ表示地心引力常数；
Among them, a 0 is the orbital semi-major axis at the current time t 0 ; μ represents the gravitational constant;
其中，
表示任务规划相位角；
表示电推进工作中心相位角；
in, Represents the mission planning phase angle; Indicates the electric propulsion working center phase angle;
所述电推进关机时刻t
4采用：
The electric propulsion shutdown time t 4 adopts:
t
4＝t
3+T
t 4 =t 3 +T
所述电推进准备时刻t
2采用：
The electric propulsion preparation time t 2 adopts:
t
2＝t
3-T
2
t 2 =t 3 -T 2
其中，T
2表示电推进模块点火前的自检以及预热准备工作所需要的时间；
Among them, T 2 represents the time required for self-inspection and preheating preparation of the electric propulsion module before ignition;
所述姿态机动启动时刻t
1采用：
The attitude maneuver starting time t 1 adopts:
t
1＝t
3-T
1
t 1 =t 3 -T 1
其中，T
1表示从常规飞行姿态机动到电推进工作姿态q所需要的时间，由星载计算机实时计算获得；
Among them, T 1 represents the time required to maneuver from the conventional flight attitude to the electric propulsion working attitude q, which is calculated in real time by the onboard computer;
所述任务结束时刻t
5采用：
The task end time t 5 adopts:
t
5＝t
4+T
5
t 5 =t 4 +T 5
其中，T
5表示从电推进工作姿态q机动返回到常规飞行姿态所需要的时间。
Among them, T 5 represents the time required to maneuver from the electric propulsion working attitude q to return to the normal flight attitude.
进一步地，在轨道转移策略的生效时期内，每次执行轨道转移任务包括：Furthermore, within the validity period of the orbit transfer strategy, each execution of the orbit transfer task includes:
步骤S3.1：t
1时刻启动姿态机动；
Step S3.1: Start attitude maneuver at time t 1 ;
步骤S3.2：t
2时刻开始电推进准备；
Step S3.2: Start electric propulsion preparation at time t2 ;
步骤S3.3：姿态机动到位，建立电推进工作姿态完成；Step S3.3: The attitude maneuver is in place and the electric propulsion working attitude is established;
步骤S3.4：t
3时刻电推进点火；
Step S3.4: Electric propulsion ignition at time t3 ;
步骤S3.5：t
4时刻电推进关机，随后立即启动姿态机动返回常规飞行姿态；
Step S3.5: The electric propulsion is shut down at t4 , and then the attitude maneuver is immediately initiated to return to the normal flight attitude;
步骤S3.6：姿态机动返回到位；Step S3.6: Attitude maneuver returns to position;
步骤S3.7：t
5时刻当前任务结束，在任务队列种删除当前任务。
Step S3.7: The current task ends at t5 , and the current task is deleted from the task queue.
进一步地，星载计算机进行自主任务规划生成轨道转移任务后，判断新生成的轨道转移任务与卫星业务工作任务、已入队列的轨道转移任务以及地面指定的禁用时间区间是否有时间重叠，当存在时间重叠时，则认为队列冲突，当前任务规划结果作废，否则，将新生成的轨道转移任务加入轨道转移任务队列中。Further, after the onboard computer performs autonomous mission planning to generate an orbit transfer task, it determines whether there is a time overlap between the newly generated orbit transfer task and the satellite business work task, the orbit transfer task that has been queued, and the prohibited time interval specified on the ground. When there is When the time overlaps, the queue is considered to be in conflict and the current task planning result is invalid. Otherwise, the newly generated orbit transfer task will be added to the orbit transfer task queue.
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:
图1是本发明其中一个实施例的全电推进卫星轨道转移动作执行时序示意图。Figure 1 is a schematic diagram of the execution timing of the orbit transfer action of an all-electric propulsion satellite according to one embodiment of the present invention.
图2是本发明其中一个实施例的全电推进卫星轨道转移策略实施流程图。Figure 2 is a flow chart of the implementation of the all-electric propulsion satellite orbit transfer strategy according to one embodiment of the present invention.
图3是本发明其中一个实施例的轨道转移期间半长轴变化情况示意图。Figure 3 is a schematic diagram of changes in the semi-major axis during orbit transfer according to one embodiment of the present invention.
图4是本发明其中一个实施例的轨道转移期间偏心率变化情况示意图。Figure 4 is a schematic diagram of changes in eccentricity during orbit transfer according to one embodiment of the present invention.
图5是本发明其中一个实施例的轨道转移期间轨道高度变化情况示意图。Figure 5 is a schematic diagram of changes in track height during track transfer according to one embodiment of the present invention.
下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明，但不以任何形式限制本发明。应当指出的是，对本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变化和改进。这些都属于本发明的保护范围。The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
实施例1Example 1
随着全电力推进卫星的不断发展，且存在全电推进卫星轨道转移的持续时间较长的问题，则自主任务规划在全电推进卫星轨道转移的应用价值变得越来越重要。为了实现全电推进卫星轨道转移的自主任务规划，轨道转移过程包括：策略、任务以及动作三个层面执行；首先策略层面：在地面设置一组轨道转移策略参数，并将轨道转移策略参数上注卫星；然后任务层面：卫星在轨飞行期间，轨道相位角从0到2π周期性变化，每 当轨道相位角到达轨道转移策略参数中的任务规划相位角时，星载计算机自主进行任务规划；自主任务规划包括生成轨道转移动作以及生成的轨道转移动作相对应的执行时刻；最后，动作层面：电推进系统根据生成的轨道转移动作相对应的执行时刻触发执行相对应的轨道转移动作。三个层面的运行实现了全电推进卫星轨道转移的自主任务规划，电推进系统周期性重复工作。With the continuous development of all-electric propulsion satellites, and the problem of long duration of all-electric propulsion satellite orbit transfer, the application value of autonomous mission planning in all-electric propulsion satellite orbit transfer has become increasingly important. In order to realize autonomous mission planning for all-electric propulsion satellite orbit transfer, the orbit transfer process includes: three levels of execution: strategy, task and action; first, the strategy level: set a set of orbit transfer strategy parameters on the ground, and note the orbit transfer strategy parameters Satellite; then mission level: During the satellite's flight in orbit, the orbital phase angle changes periodically from 0 to 2π. Whenever the orbital phase angle reaches the mission planning phase angle in the orbit transfer strategy parameters, the onboard computer independently performs mission planning; autonomously Mission planning includes generating the orbit transfer action and the execution time corresponding to the generated orbit transfer action; finally, the action level: the electric propulsion system triggers and executes the corresponding orbit transfer action based on the execution time corresponding to the generated orbit transfer action. Three levels of operation realize autonomous mission planning for all-electric propulsion satellite orbit transfer, and the electric propulsion system periodically repeats its work.
具体地，根据本发明其中一个或多个实施例提供的一种全电推进卫星轨道转移的自主任务规划方法，如图2所示，包括：Specifically, an autonomous mission planning method for all-electric propulsion satellite orbit transfer provided according to one or more embodiments of the present invention, as shown in Figure 2, includes:
步骤S1：地面测运控系统制定轨道转移策略，并将制定的轨道转移策略上注卫星；Step S1: The ground measurement and operation control system formulates an orbit transfer strategy and uploads the formulated orbit transfer strategy to the satellite;
步骤S2：星载计算机根据轨道转移策略中相位角触发自主任务规划，生成轨道转移任务；Step S2: The spaceborne computer triggers autonomous mission planning based on the phase angle in the orbit transfer strategy and generates an orbit transfer mission;
步骤S3：电推进系统根据轨道转移任务中各轨道转移动作的相应执行时刻通过星载计算机调度触发执行相应轨道转移动作；Step S3: The electric propulsion system triggers and executes the corresponding orbit transfer action through the onboard computer scheduling according to the corresponding execution time of each orbit transfer action in the orbit transfer mission;
所述轨道转移任务包括多个轨道转移动作以及多个轨道转移动作相应的执行时间。The orbit transfer task includes multiple orbit transfer actions and corresponding execution times of the multiple orbit transfer actions.
总体来说，卫星每轨实施自主任务规划，以相位角形式触发，便于地面制定周期性重复的变轨方案；轨道转移动作以时间形式触发，便于星载计算机按时间序列调度执行。Generally speaking, each satellite orbit implements independent mission planning, which is triggered in the form of phase angle, which facilitates the ground to formulate periodically repeated orbit change plans; the orbit transfer action is triggered in the form of time, which facilitates the on-board computer to schedule and execute in time sequence.
具体地，所述轨道转移策略包括多个轨道转移策略参数，包括：任务规划相位角
电推进工作中心相位角
电推进工作时长T、电推进工作姿态q、轨道转移策略生效时刻t
a以及轨道转移策略废止时刻t
b；
Specifically, the orbit transfer strategy includes multiple orbit transfer strategy parameters, including: mission planning phase angle Electric propulsion working center phase angle Electric propulsion working time T, electric propulsion working attitude q, orbit transfer strategy effective time t a and orbit transfer strategy invalidation time t b ;
所述的相位角是用于描述卫星轨道相位的角度参数，可选卫星轨道的纬度辐角、真近点角、平近点角等。在本实施例中，相位角选用卫星轨道平近点角。The phase angle is an angular parameter used to describe the satellite orbit phase, and the latitude argument, true periapsis angle, mean periapsis angle, etc. of the satellite orbit can be selected. In this embodiment, the phase angle is the satellite orbit periapsis angle.
所述任务规划相位角
是用于触发星载计算机进行自主任务规划计算的相位角；本实施例中，取[0,2π)范围；
The mission planning phase angle is the phase angle used to trigger the onboard computer to perform autonomous mission planning calculations; in this embodiment, the range is [0, 2π);
所述电推进工作中心相位角
是电推进工作时段中心时刻所对应的相位角；本实施例中，取[0,2π)范围；
The electric propulsion working center phase angle is the phase angle corresponding to the center moment of the electric propulsion working period; in this embodiment, the range is [0, 2π);
所述电推进工作时长T是电推进点火到关机的持续时间长度；The electric propulsion operating time T is the duration from ignition to shutdown of the electric propulsion;
所述电推进工作姿态q是电推进工作时卫星本体系相对于姿态参考系的姿态；姿态参考系可采用卫星轨道系、惯性系等；本实施例中，姿态参考系选卫星轨道系。电推进工作姿态的描述方式可采用欧拉角、四元数、方向余弦矩阵等；本实施例中，电推进工作姿态的描述方式选四元数，包括四个分量q＝[q1,q2,q3,q4]。The electric propulsion working attitude q is the attitude of the satellite system relative to the attitude reference system when the electric propulsion is working; the attitude reference system can be a satellite orbit system, an inertial system, etc.; in this embodiment, the attitude reference system is a satellite orbit system. The description method of the electric propulsion working posture can use Euler angles, quaternions, direction cosine matrices, etc.; in this embodiment, the description method of the electric propulsion working posture is quaternion, including four components q=[q1, q2, q3,q4].
所述轨道转移策略生效时刻t
a是当前轨道转移策略仅在卫星实际时间大于轨道转移 策略生效时刻t
a时生效；
The orbit transfer strategy effective time t a is that the current orbit transfer strategy only takes effect when the actual satellite time is greater than the orbit transfer strategy effective time t a ;
所述轨道转移策略废止时刻t
b是当卫星实际时间超过轨道转移策略废止时刻t
b时，星载计算机自动将当前轨道转移策略废止并删除。
The orbit transfer strategy invalidation time t b is when the actual time of the satellite exceeds the orbit transfer strategy invalidation time t b , the onboard computer automatically invalidates and deletes the current orbit transfer strategy.
电推进工作时长T根据电推进产品性能指标、卫星平台能源平衡情况、点火弧段效率等情况制定。本实施例中，电推进工作时长T取5～15分钟。The electric propulsion working time T is determined based on the performance indicators of the electric propulsion product, the energy balance of the satellite platform, and the efficiency of the ignition arc segment. In this embodiment, the electric propulsion working time T is 5 to 15 minutes.
电推进工作中心相位角
根据卫星轨道转移目标制定。基本轨道转移目标包括：轨道高度抬升、轨道高度降低、轨道偏心率控制、轨道倾角调整等，其他轨道转移目标如卫星避障、静止卫星轨道位置保持、静止卫星定点位置漂移、霍曼变轨、卫星离轨等轨道转移目标可由上述基本轨道转移目标的一个或多个组合实现。在本实施例中，轨道高度抬升可以在远地点附近产生卫星飞行速度正方向的推力，
轨道高度降低可以在远地点附近产生卫星飞行速度反方向的推力，
轨道偏心率控制可以在近地点或远地点附近产生卫星飞行速度正方向或反方向的推力，
或π；轨道倾角调整可以在卫星升交点或降焦点附近产生垂直于轨道面的推力，
或3π/2。
Electric propulsion working center phase angle Formulated based on satellite orbit transfer goals. Basic orbit transfer objectives include: orbit altitude elevation, orbit altitude reduction, orbit eccentricity control, orbit inclination adjustment, etc. Other orbit transfer objectives include satellite obstacle avoidance, geostationary satellite orbit position maintenance, geostationary satellite fixed-point position drift, Hohmann orbit change, Orbit transfer goals such as satellite deorbiting can be achieved by one or more combinations of the above basic orbit transfer goals. In this embodiment, the orbit altitude elevation can generate thrust in the positive direction of the satellite's flight speed near the apogee, Reducing the orbital altitude can generate thrust in the opposite direction of the satellite's flight speed near the apogee, Orbital eccentricity control can generate thrust in the positive or negative direction of the satellite's flight speed near the perigee or apogee, Or π; orbital inclination adjustment can produce thrust perpendicular to the orbital plane near the ascending node or descending focus of the satellite, Or 3π/2.
电推进工作姿态q根据推力器在星体上的安装位置和卫星轨道转移目标制定，保证在电推进工作期间推力指向所需方向。The electric propulsion working attitude q is determined based on the installation position of the thruster on the star body and the satellite orbit transfer target to ensure that the thrust points in the required direction during the electric propulsion operation.
任务规划相位角
设计方法：自主任务规划的计算时间相对于电推进点火时间的时间提前量T
0必须大于建立电推进工作姿态所需时间和电推进点火准备所需时间，任务规划相位角
计算方法如下：
mission planning phase angle Design method: The time advance T 0 of the calculation time of autonomous mission planning relative to the electric propulsion ignition time must be greater than the time required to establish the electric propulsion working attitude and the time required for electric propulsion ignition preparation, and the mission planning phase angle The calculation method is as follows:
其中，a为卫星轨道半长轴，在本实施例中，取轨道转移过程中半长轴变化范围的最小值；μ是地心引力常数，在本实施例中，取μ＝398600.436km3/s
2。
Among them, a is the semi-major axis of the satellite orbit. In this embodiment, the minimum value of the semi-major axis change range during the orbit transfer process is taken; μ is the gravitational constant of the earth. In this embodiment, μ=398600.436km3/s is taken. 2 .
轨道转移策略生效时刻t
a根据卫星在轨工作状态和任务安排制定。
The effective time t a of the orbit transfer strategy is determined based on the satellite's on-orbit working status and mission schedule.
轨道转移策略废止时刻t
b根据完成轨道转移目标所需要的推进工作总时长T
v制定。在本实施例中，一次性完成整个轨道转移目标，则有t
b＝t
a+T
v；分n次完成整个轨道转移目标，则有t
b＝t
a+T
v/n。
The orbit transfer strategy abolition time t b is determined based on the total duration of advancement T v required to complete the orbit transfer target. In this embodiment, if the entire orbit transfer target is completed at one time, t b = ta + T v ; if the entire orbit transfer target is completed in n times, t b = ta + T v /n.
具体地，地面上注轨道转移策略时，立即计算相位角提前量：
将角度范围处理在[0,2π)范围内。将任务规划相位角
电推进工作中心相位角
电推进工作时长T、电推进工作姿态q、轨道转移策略生效时刻t
a、轨道转移策略废止时刻t
b、 相位角提前量
这些参数作为一组轨道转移策略参数存入星载计算机存储设备，用于轮询判断。地面可以向卫星上注一个或多个轨道转移策略，每个策略都包含一组轨道转移策略参数。
Specifically, when the orbit transfer strategy is noted on the ground, the phase angle advance is immediately calculated: Process the angle range within the range of [0,2π). The task planning phase angle Electric propulsion working center phase angle Electric propulsion working time T, electric propulsion working attitude q, orbit transfer strategy effective time t a , orbit transfer strategy invalidation time t b , phase angle advance amount These parameters are stored in the onboard computer storage device as a set of orbit transfer strategy parameters for polling judgment. The ground can inject one or more orbit transfer strategies to the satellite, and each strategy contains a set of orbit transfer strategy parameters.
具体地，所述步骤S2采用：根据轨道转移策略生效时刻t
a和轨道转移策略废止时刻t
b确定轨道转移策略的生效时期；在轨道转移策略的生效时期内，星载计算机基于轨道转移策略中任务规划相位角
触发星载计算机进行自主任务规划生成轨道转移任务；当轨道相位角到达任务规划相位角
星载计算机进行一次自主任务规划，规划后生成一个新的轨道转移任务，新的轨道转移任务包括多个轨道转移动作以及多个轨道转移动作相应的执行时间参数；
Specifically, the step S2 adopts: determining the effective period of the orbit transfer strategy based on the orbit transfer strategy effective time t a and the orbit transfer strategy invalidation time t b ; within the effective period of the orbit transfer strategy, the spaceborne computer based on the orbit transfer strategy mission planning phase angle Trigger the onboard computer to perform autonomous mission planning to generate an orbit transfer mission; when the orbit phase angle reaches the mission planning phase angle The onboard computer performs an autonomous mission planning and generates a new orbit transfer task after planning. The new orbit transfer task includes multiple orbit transfer actions and the corresponding execution time parameters of the multiple orbit transfer actions;
所述轨道转移任务包括多个轨道转移动作，包括：建立电推进工作姿态、电推进点火准备、电推进点火工作、电推进关机、姿态返回以及结束并删除任务。The orbit transfer task includes multiple orbit transfer actions, including: establishing an electric propulsion working attitude, electric propulsion ignition preparation, electric propulsion ignition work, electric propulsion shutdown, attitude return, and ending and deleting the task.
所述多个轨道转移动作相应的执行时间参数包括：姿态机动启动时刻t
1、电推进准备时刻t
2、电推进点火时刻t
3、电推进关机时刻t
4、任务结束时刻t
5。
The corresponding execution time parameters of the multiple orbit transfer actions include: attitude maneuver start time t 1 , electric propulsion preparation time t 2 , electric propulsion ignition time t 3 , electric propulsion shutdown time t 4 , and mission end time t 5 .
所述的姿态机动启动时刻t
1，是在该时刻卫星开始姿态机动，直至建立推进工作所需的姿态。
The attitude maneuver starting time t 1 is when the satellite starts attitude maneuver until the attitude required for propulsion work is established.
所述的电推进准备时刻t
2，是在该时刻星载计算机向电推进模块发出指令，开始做一系列推进点火前的自检、预热等准备。
The electric propulsion preparation time t 2 is when the spaceborne computer issues instructions to the electric propulsion module to start a series of self-checks, preheating and other preparations before propulsion ignition.
所述的电推进点火时刻t
3，是在该时刻电推进点火。
The electric propulsion ignition time t 3 is when the electric propulsion is ignited.
所述的电推进关机时刻t
4，是在该时刻电推进关机，同时启动姿态机动返回卫星常规飞行姿态。
The electric propulsion shutdown time t 4 is when the electric propulsion is shut down and at the same time the attitude maneuver is initiated to return to the satellite's normal flight attitude.
所述的任务结束时刻t
5，是在该时刻删除该次轨道转移任务。
The task end time t 5 is when the orbit transfer task is deleted.
所述电推进点火时刻t
3采用：
The electric propulsion ignition time t3 adopts:
其中，w
0表示卫星平均轨道角速度；
表示相位角提前量；t
0表示星载计算机进行该次自主任务规划的当前时刻；T表示电推进工作时长；
Among them, w 0 represents the average orbital angular velocity of the satellite; represents the phase angle advance; t 0 represents the current moment when the spaceborne computer is planning the autonomous mission; T represents the working time of electric propulsion;
其中，a
0是当前t
0时刻的轨道半长轴；μ表示地心引力常数；
Among them, a 0 is the orbital semi-major axis at the current time t 0 ; μ represents the gravitational constant;
所述电推进关机时刻t
4采用：
The electric propulsion shutdown time t 4 adopts:
t
4＝t
3+T
t 4 =t 3 +T
所述电推进准备时刻t
2采用：
The electric propulsion preparation time t 2 adopts:
t
2＝t
3-T
2
t 2 =t 3 -T 2
其中，T
2表示电推进模块点火前的自检以及预热准备工作所需要的时间；
Among them, T 2 represents the time required for self-inspection and preheating preparation of the electric propulsion module before ignition;
所述姿态机动启动时刻t
1采用：
The attitude maneuver starting time t 1 adopts:
t
1＝t
3-T
1
t 1 =t 3 -T 1
其中，T
1表示根据姿态控制执行机构能力和控制算法效率推算从常规飞行姿态机动到电推进工作姿态q所需要的时间；
Among them, T 1 represents the time required to maneuver from the conventional flight attitude to the electric propulsion working attitude q based on the attitude control actuator capability and control algorithm efficiency;
所述任务结束时刻t
5采用：
The task end time t 5 adopts:
t
5＝t
4+T
5
t 5 =t 4 +T 5
其中，T
5表示卫星根据姿态控制执行机构能力和控制算法效率推算从电推进工作姿态q机动返回到常规飞行姿态所需要的时间。
Among them, T 5 represents the time required for the satellite to maneuver from the electric propulsion working attitude q to return to the normal flight attitude based on the attitude control actuator capability and control algorithm efficiency.
在轨道转移策略的生效时期，每次执行轨道转移任务包括以下步骤：During the effective period of the orbit transfer strategy, each execution of the orbit transfer task includes the following steps:
步骤1：t
1时刻启动姿态机动。
Step 1: Start attitude maneuver at time t1 .
步骤2：t
2时刻开始电推进准备。
Step 2: Start preparation for electric propulsion at time t2 .
步骤3：姿态机动到位，建立电推进工作姿态完成。Step 3: The attitude maneuver is in place and the electric propulsion working attitude is established.
步骤4：t
3时刻电推进点火。
Step 4: Electric propulsion ignition at time t3 .
步骤5：t
4时刻电推进关机，随后立即启动姿态机动返回常规飞行姿态。
Step 5: Turn off the electric propulsion at t4 , and then immediately start attitude maneuvering to return to the normal flight attitude.
步骤6：姿态机动返回到位。Step 6: Attitude maneuver returns to position.
步骤7：t
5时刻当前任务结束，在任务队列种删除该任务。
Step 7: The current task ends at t5 , and the task is deleted from the task queue.
具体地，星载计算机每次进行自主任务规划生成轨道转移任务后，判断新生成的轨道转移任务与卫星业务工作任务、已入队列的轨道转移任务以及地面指定的禁用时间区间是否有时间重叠，当存在时间重叠时，则认为队列冲突，当前任务规划结果作废，否则，将新生成的轨道转移任务加入轨道转移任务队列中。Specifically, each time the onboard computer performs autonomous mission planning to generate an orbit transfer task, it determines whether there is a time overlap between the newly generated orbit transfer task, the satellite business work task, the orbit transfer task that has been queued, and the prohibited time interval specified on the ground. When there is a time overlap, the queue is considered to be in conflict and the current task planning result is invalid. Otherwise, the newly generated orbit transfer task is added to the orbit transfer task queue.
本发明的实施例提供的基于自主任务规划的全电推进卫星轨道转移系统，如图1所示，可以通过本发明提供的基于自主任务规划的全电推进卫星轨道转移方法中的步骤流程实现。本领域技术人员，可以将所述基于自主任务规划的全电推进卫星轨道转移 方法理解为基于自主任务规划的全电推进卫星轨道转移系统的一个优选例。The all-electric propulsion satellite orbit transfer system based on autonomous mission planning provided by embodiments of the present invention, as shown in Figure 1, can be implemented through the step process in the all-electric propulsion satellite orbit transfer method based on autonomous mission planning provided by the present invention. Those skilled in the art can understand the all-electric propulsion satellite orbit transfer method based on autonomous mission planning as a preferred example of an all-electric propulsion satellite orbit transfer system based on autonomous mission planning.
实施例2Example 2
实施例2是实施例1的优选例 Embodiment 2 is a preferred example of Embodiment 1
以下结合附图和具体实施例对本发明提出的全电推进卫星轨道转移的自主任务规划方法作进一步详细说明。The autonomous mission planning method for all-electric propulsion satellite orbit transfer proposed by the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
以某太阳同步轨道全电推进卫星实施离轨操作为例，对本发明所提出的方法进行进一步详细说明。卫星参数如下表所示：Taking the deorbit operation of a sun-synchronous orbit all-electric propulsion satellite as an example, the method proposed by the present invention will be further described in detail. The satellite parameters are shown in the following table:
本发明所提出的全电推进卫星轨道转移的自主任务规划方法，将轨道转移过程分为策略、任务、动作三个层面执行，分别由地面系统、星载计算机以及电推进系统执行。地面制定轨道转移策略，并将轨道转移策略参数上注卫星；星载计算机周期性开展自主任务规划，生成轨道转移任务；到达预定时刻，星载计算机调度执行相应轨道转移动作。The autonomous mission planning method for all-electric propulsion satellite orbit transfer proposed by the present invention divides the orbit transfer process into three levels of execution: strategy, task, and action, which are executed by the ground system, the satellite-borne computer, and the electric propulsion system respectively. The ground formulates an orbit transfer strategy and uploads the orbit transfer strategy parameters to the satellite; the onboard computer periodically carries out autonomous mission planning and generates orbit transfer tasks; when the predetermined time is reached, the onboard computer schedules and executes the corresponding orbit transfer actions.
卫星每轨实施自主任务规划，以相位角形式触发，便于地面制定周期性重复的变轨方案；轨道转移动作以时间形式触发，便于星载计算机按时间序列调度执行。The satellite implements autonomous mission planning for each orbit, which is triggered in the form of phase angle, which facilitates the ground to formulate periodically repeated orbit change plans; the orbit transfer action is triggered in the form of time, which facilitates the on-board computer to schedule and execute in time sequence.
轨道转移策略参数包括：任务规划相位角
电推进工作中心相位角
电推进工作时长T、电推进工作姿态q、轨道转移策略生效时刻t
a、轨道转移策略废止时刻t
b。
Orbital transfer strategy parameters include: mission planning phase angle Electric propulsion working center phase angle The electric propulsion working time T, the electric propulsion working attitude q, the orbit transfer strategy effective time t a , the orbit transfer strategy invalidation time t b .
地面设计轨道转移策略参数的方法如下：The method for designing orbit transfer strategy parameters on the ground is as follows:
电推进工作时长取T＝600s。The working time of electric propulsion is taken as T=600s.
用于轨道高度降低，电推进工作中心相位角取
Used to reduce the orbit height and obtain the phase angle of the electric propulsion working center.
电推进工作姿态q取保证在电推进工作期间推力指向速度反方向。The electric propulsion working attitude q is taken to ensure that the thrust points in the opposite direction of the speed during the electric propulsion operation.
自主任务规划的计算时间相对于电推进点火时间的时间提前量取T
0＝1200s。任务规划相位角
计算：
The time advance of the calculation time of autonomous mission planning relative to the electric propulsion ignition time is T 0 =1200s. mission planning phase angle calculate:
轨道转移策略生效时刻取历元时刻，t
a＝τ0＝2022年1月9日UTC00:00:00。
The effective time of the orbit transfer strategy is taken as the epoch time, t a =τ0 = UTC00:00:00 on January 9, 2022.
完成轨道转移目标所需要的推进工作总时长取T
v＝46天，一次性完成整个轨道转移目标，则有t
b＝t
a+T
v＝2022年2月22日UTC00:00:00。
The total duration of advancement required to complete the orbital transfer target is taken as T v = 46 days. If the entire orbital transfer target is completed at one time, t b = t a + T v = UTC00:00:00 on February 22, 2022.
根据本发明设计轨道转移策略参数如下表：The orbit transfer strategy parameters designed according to the present invention are as follows:
地面上注轨道转移策略时，立即计算相位角提前量：
将任务规划相位角
电推进工作中心相位角
电推进工作时长T、电推进工作姿态q、轨道转移策略生效时刻t
a、轨道转移策略废止时刻t
b、相位角提前量
这些参数作为一组轨道转移策略参数存入星载计算机存储设备，用于轮询判断。地面可以向卫星上注一个或多个轨道转移策略，每个策略都包含一组轨道转移策略参数。
When the orbit transfer strategy is noted on the ground, the phase angle advance is calculated immediately: The task planning phase angle Electric propulsion working center phase angle Electric propulsion working time T, electric propulsion working attitude q, orbit transfer strategy effective time t a , orbit transfer strategy invalidation time t b , phase angle advance amount These parameters are stored in the onboard computer storage device as a set of orbit transfer strategy parameters for polling judgment. The ground can inject one or more orbit transfer strategies to the satellite, and each strategy contains a set of orbit transfer strategy parameters.
轨道转移任务包括一系列轨道转移动作：建立电推进工作姿态、电推进点火准备、电推进点火工作、电推进关机、姿态返回、结束并删除任务。The orbit transfer task includes a series of orbit transfer actions: establishing the electric propulsion working attitude, electric propulsion ignition preparation, electric propulsion ignition work, electric propulsion shutdown, attitude return, ending and deleting the task.
当卫星实际时间处于轨道转移策略生效时刻t
a和轨道转移策略废止时刻t
b之间时，为该轨道转移策略的生效时期。在轨道转移策略的生效时期，每当轨道相位角到达
的 t
0时刻，星载计算机进行一次自主任务规划，生成一个新的轨道转移任务，包含五个轨道转移动作参数：姿态机动启动时刻t
1、电推进准备时刻t
2、电推进点火时刻t
3、电推进关机时刻t
4、任务结束时刻t
5。
When the actual time of the satellite is between the orbit transfer strategy effective time t a and the orbit transfer strategy invalidation time t b , it is the effective period of the orbit transfer strategy. During the effective period of the orbit transfer strategy, whenever the orbit phase angle reaches At time t 0 , the spaceborne computer performs an autonomous mission planning and generates a new orbit transfer mission, which contains five orbit transfer action parameters: attitude maneuver start time t 1 , electric propulsion preparation time t 2 , and electric propulsion ignition time t 3 , the electric propulsion shutdown time t 4 , and the task end time t 5 .
第一次到达任务规划相位角
的时刻为t0＝2022年1月9日UTC00:53:11.9，以第一次自主任务规划为例，介绍五个轨道转移动作参数的计算过程：
First arrival mission planning phase angle The time is t0 = UTC00:53:11.9 on January 9, 2022. Taking the first autonomous mission planning as an example, the calculation process of the five orbit transfer action parameters is introduced:
步骤1：计算卫星平均轨道角速度w
0
Step 1: Calculate the satellite’s average orbital angular velocity w 0
步骤2：计算电推进点火时刻t
3
Step 2: Calculate the electric propulsion ignition time t 3
步骤3：计算电推进关机时刻t
4
Step 3: Calculate the electric propulsion shutdown time t 4
t
4＝t
3+T
t 4 =t 3 +T
＝2022年1月9日UTC01:24:19.8= January 9, 2022 UTC01:24:19.8
步骤4：计算电推进准备时刻t
2
Step 4: Calculate the electric propulsion preparation time t 2
电推进模块自检、预热等准备工作所需要的时间取T2＝600s。The time required for self-checking, preheating and other preparations of the electric propulsion module is taken as T2 = 600s.
t
2＝t
3-T
2
t 2 =t 3 -T 2
＝2022年1月9日UTC01:04:19.8= January 9, 2022 UTC01:04:19.8
步骤5：计算姿态机动启动时刻t
1
Step 5: Calculate attitude maneuver start time t 1
根据姿态控制执行机构能力和控制算法效率推算从常规飞行姿态机动到电推进工作姿态q所需要的时间取T
1＝660s。
According to the capability of the attitude control actuator and the efficiency of the control algorithm, the time required to maneuver from the conventional flight attitude to the electric propulsion working attitude q is calculated as T 1 =660s.
t
1＝t
3-T
1
t 1 =t 3 -T 1
＝2022年1月9日UTC01:03:19.8= January 9, 2022 UTC01:03:19.8
步骤6：计算任务结束时刻t
5
Step 6: Calculate the task end time t 5
卫星根据姿态控制执行机构能力和控制算法效率推算从电推进工作姿态q机动返回到常规飞行姿态所需要的时间取T5＝660s。Based on the capabilities of the attitude control actuator and the efficiency of the control algorithm, the satellite calculates the time required to maneuver from the electric propulsion working attitude q to return to the normal flight attitude as T5 = 660s.
t
5＝t
4+T
5
t 5 =t 4 +T 5
＝2022年1月9日UTC01:25:19.8= January 9, 2022 UTC01:25:19.8
在轨道转移策略的生效时期，每次执行轨道转移任务包括以下步骤：During the effective period of the orbit transfer strategy, each execution of the orbit transfer task includes the following steps:
步骤1：t
1时刻启动姿态机动。
Step 1: Start attitude maneuver at time t1 .
步骤2：t
2时刻开始电推进准备。
Step 2: Start preparation for electric propulsion at time t2 .
步骤3：姿态机动到位，建立电推进工作姿态完成。Step 3: The attitude maneuver is in place and the electric propulsion working attitude is established.
步骤4：t
3时刻电推进点火。
Step 4: Electric propulsion ignition at time t3 .
步骤5：t
4时刻电推进关机，随后立即启动姿态机动返回常规飞行姿态。
Step 5: Turn off the electric propulsion at t4 , and then immediately start attitude maneuvering to return to the normal flight attitude.
步骤6：姿态机动返回到位。Step 6: Attitude maneuver returns to position.
步骤7：t
5时刻当前任务结束，在任务队列种删除该任务。
Step 7: The current task ends at t5 , and the task is deleted from the task queue.
整个轨道转移策略的生效时期，卫星轨道变化情况见图3、图4和图5。During the entire period of effectiveness of the orbit transfer strategy, the satellite orbit changes are shown in Figures 3, 4 and 5.
本领域技术人员知道，除了以纯计算机可读程序代码方式实现本发明提供的系统、装置及其各个模块以外，完全可以通过将方法步骤进行逻辑编程来使得本发明提供的系统、装置及其各个模块以逻辑门、开关、专用集成电路、可编程逻辑控制器以及嵌入式微控制器等的形式来实现相同程序。所以，本发明提供的系统、装置及其各个模块可以被认为是一种硬件部件，而对其内包括的用于实现各种程序的模块也可以视为硬件部件内的结构；也可以将用于实现各种功能的模块视为既可以是实现方法的软件程序又可以是硬件部件内的结构。Those skilled in the art know that in addition to implementing the system, device and each module provided by the present invention in the form of pure computer-readable program code, the system, device and each module provided by the present invention can be implemented by logically programming the method steps. The same program is implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system, device and each module provided by the present invention can be regarded as a kind of hardware component, and the modules included in it for implementing various programs can also be regarded as structures within the hardware component; Modules for realizing various functions are regarded as either software programs that implement methods or structures within hardware components.
与现有技术相比，本发明具有如下的有益效果：Compared with the prior art, the present invention has the following beneficial effects:
1、本发明通过将轨道转移过程分为策略、任务、动作三个层面，分别由地面系统、星载计算机、电推进系统执行的技术特征，将地面运控卫星的工作量最小化，实现了卫星长时间自主执行轨道转移任务的技术效果；1. This invention minimizes the workload of ground operation and control satellites and achieves the technical characteristics of dividing the orbit transfer process into three levels: strategy, task, and action, which are executed by the ground system, onboard computer, and electric propulsion system respectively. The technical effect of satellites autonomously performing orbital transfer missions for a long time;
2、本发明解决了全电力推进卫星轨道转移策略的工程优化问题。本发明所公布的自主任务规划方法能够支持实现各类轨道转移目标，使卫星能够长时间自主执行轨道转移任务；同时具备形式简单，实现难度低、星上计算量小等优点，最大程度减少对地面测控系统的依赖，具有较高的应用价值。2. The present invention solves the engineering optimization problem of the all-electric propulsion satellite orbit transfer strategy. The autonomous mission planning method disclosed by the present invention can support the realization of various orbit transfer targets, enabling satellites to autonomously perform orbit transfer tasks for a long time; at the same time, it has the advantages of simple form, low implementation difficulty, and small on-board calculation amount, minimizing the need for It relies on ground measurement and control systems and has high application value.
以上对本发明的具体实施例进行了描述。需要理解的是，本发明并不局限于上述特定实施方式，本领域技术人员可以在权利要求的范围内做出各种变化或修改，这并不影响本发明的实质内容。在不冲突的情况下，本申请的实施例和实施例中的特征可以任意相互组合。Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above. Those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. The embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily without conflict.
Claims (9)
- 一种基于自主任务规划的全电推进卫星轨道转移方法，其特征在于，包括：An all-electric propulsion satellite orbit transfer method based on autonomous mission planning, which is characterized by including:步骤S1：地面测运控系统制定轨道转移策略，并将制定的轨道转移策略上注卫星；Step S1: The ground measurement and operation control system formulates an orbit transfer strategy and uploads the formulated orbit transfer strategy to the satellite;步骤S2：星载计算机根据轨道转移策略中相位角触发自主任务规划，生成轨道转移任务；Step S2: The spaceborne computer triggers autonomous mission planning based on the phase angle in the orbit transfer strategy and generates an orbit transfer mission;步骤S3：电推进系统根据轨道转移任务中各轨道转移动作的相应执行时刻通过星载计算机调度触发执行相应轨道转移动作；Step S3: The electric propulsion system triggers and executes the corresponding orbit transfer action through the onboard computer scheduling according to the corresponding execution time of each orbit transfer action in the orbit transfer mission;所述轨道转移任务包括多个轨道转移动作以及多个轨道转移动作相应的执行时间。The orbit transfer task includes multiple orbit transfer actions and corresponding execution times of the multiple orbit transfer actions.
- 根据权利要求1所述的基于自主任务规划的全电推进卫星轨道转移方法，其特征在于，所述步骤S1采用：将制定的一个或多个轨道转移策略上注卫星；每个轨道转移策略包括一组轨道转移策略参数；The all-electric propulsion satellite orbit transfer method based on autonomous mission planning according to claim 1, characterized in that step S1 adopts: injecting one or more formulated orbit transfer strategies onto the satellite; each orbit transfer strategy includes A set of orbit transfer strategy parameters;所述一组轨道转移策略参数，包括：任务规划相位角电推进工作中心相位角
电推进工作时长T、电推进工作姿态q、轨道转移策略生效时刻t a以及轨道转移策略废止时刻t b； The set of orbit transfer strategy parameters includes: mission planning phase angle
Electric propulsion working center phase angleElectric propulsion working time T, electric propulsion working attitude q, orbit transfer strategy effective time t a and orbit transfer strategy invalidation time t b ;所述任务规划相位角是用于触发星载计算机进行自主任务规划计算的相位角； The mission planning phase angle
It is the phase angle used to trigger the onboard computer to perform autonomous mission planning calculations;所述电推进工作中心相位角是电推进工作时段中心时刻所对应的相位角； The electric propulsion working center phase angle
is the phase angle corresponding to the center moment of the electric propulsion working period;所述电推进工作时长T是电推进点火到关机的持续时间长度；The electric propulsion operating time T is the duration from ignition to shutdown of the electric propulsion;所述电推进工作姿态q是电推进工作时卫星本体系相对于姿态参考系的姿态；The electric propulsion working attitude q is the attitude of the satellite system relative to the attitude reference system when the electric propulsion is working;所述轨道转移策略生效时刻t a是当前轨道转移策略仅在卫星实际时间大于轨道转移策略生效时刻t a时生效； The orbit transfer strategy effective time t a is that the current orbit transfer strategy only takes effect when the actual satellite time is greater than the orbit transfer strategy effective time t a ;所述轨道转移策略废止时刻t b是当卫星实际时间超过轨道转移策略废止时刻t b时，星载计算机自动将当前轨道转移策略废止并删除。 The orbit transfer strategy invalidation time t b is when the actual time of the satellite exceeds the orbit transfer strategy invalidation time t b , the onboard computer automatically invalidates and deletes the current orbit transfer strategy. - 根据权利要求2所述的基于自主任务规划的全电推进卫星轨道转移方法，其特征在于，The all-electric propulsion satellite orbit transfer method based on autonomous mission planning according to claim 2, characterized in that:所述电推进工作时长T根据电推进产品性能指标、卫星平台能源平衡情况以及点火弧段效率制定；The electric propulsion working time T is determined based on the performance indicators of the electric propulsion product, the energy balance of the satellite platform and the efficiency of the ignition arc segment;所述电推进工作中心相位角根据卫星轨道转移目标制定；所述卫星轨道转移目标包括：基本轨道转移目标和特定轨道转移目标； The electric propulsion working center phase angle
Formulated according to satellite orbit transfer targets; the satellite orbit transfer targets include: basic orbit transfer targets and specific orbit transfer targets;所述基本轨道转移目标包括轨道高度抬升、轨道高度降低、轨道偏心率控制以及轨道倾角调整；The basic orbit transfer objectives include orbit altitude elevation, orbit altitude reduction, orbit eccentricity control, and orbit inclination adjustment;所述特定轨道转移目标包括：卫星避障、静止卫星轨道位置保持、静止卫星定点位置漂移、霍曼变轨以及卫星离轨；且特定轨道转移目标由一个或多个基本轨道转移目标组合实现；The specific orbit transfer goals include: satellite obstacle avoidance, geostationary satellite orbit position maintenance, geostationary satellite fixed point position drift, Hohmann orbit change and satellite deorbit; and the specific orbit transfer goal is achieved by a combination of one or more basic orbit transfer goals;所述电推进工作姿态q根据推力器在星体上的安装位置和卫星轨道转移目标指定，保证在电推进工作期间推力指向所需方向；The electric propulsion working attitude q is specified according to the installation position of the thruster on the star body and the satellite orbit transfer target to ensure that the thrust points in the required direction during the electric propulsion operation;所述任务规划相位角采用： The mission planning phase angle
use:
其中，T 0表示自主任务规划的计算时间相对于电推进点火时间的时间提前量；T表示电推进工作时长；μ表示地心引力常数；a为卫星轨道半长轴； Among them, T 0 represents the time advance of the autonomous mission planning calculation time relative to the electric propulsion ignition time; T represents the working time of the electric propulsion; μ represents the gravitational constant; a is the semi-major axis of the satellite orbit;所述轨道转移策略生效时刻t a根据卫星在轨工作状态和任务安排制定； The effective time t a of the orbit transfer strategy is determined based on the satellite's on-orbit working status and mission schedule;所述转移策略废止时刻t b根据完成轨道转移目标所需要的推进工作总时长T v制定。 The transfer strategy abolition time t b is determined based on the total duration of the advancement work T v required to complete the orbit transfer target. - 根据权利要求3所述的基于自主任务规划的全电推进卫星轨道转移方法，其特征在于，所述所述电推进工作中心相位角采用：当卫星轨道转移目标为轨道高度抬升时，
当卫星轨道转移目标为轨道高度降低时，
当卫星轨道转移目标为轨道偏心率控制时，
或π；当卫星轨道转移目标为轨道倾角调整时，
或3π/2。 The all-electric propulsion satellite orbit transfer method based on autonomous mission planning according to claim 3, characterized in that the electric propulsion working center phase angle
Adopted: When the satellite orbit transfer target is to raise the orbit altitude,When the satellite orbit transfer target is to reduce the orbit altitude,When the satellite orbit transfer target is orbit eccentricity control,or π; when the satellite orbit transfer target is orbit inclination adjustment,Or 3π/2. - 根据权利要求2所述的基于自主任务规划的全电推进卫星轨道转移方法，其特征在于，所述步骤S2采用：根据轨道转移策略生效时刻t a和轨道转移策略废止时刻t b确定轨道转移策略的生效时期；在轨道转移策略的生效时期内，星载计算机基于轨道转移策略中任务规划相位角触发星载计算机进行自主任务规划生成轨道转移任务；当轨道相位角到达任务规划相位角
星载计算机进行一次自主任务规划，规划后生成一个新的轨道转移任务； The all-electric propulsion satellite orbit transfer method based on autonomous mission planning according to claim 2, characterized in that the step S2 adopts: determining the orbit transfer strategy according to the orbit transfer strategy effective time t a and the orbit transfer strategy invalidation time t b during the effective period of the orbit transfer strategy; within the effective period of the orbit transfer strategy, the satellite-based computer is based on the mission planning phase angle in the orbit transfer strategy
Trigger the onboard computer to perform autonomous mission planning to generate an orbit transfer mission; when the orbit phase angle reaches the mission planning phase angleThe onboard computer performs an autonomous mission planning and generates a new orbit transfer mission after planning;所述轨道转移任务包括多个轨道转移动作，包括：建立电推进工作姿态、电推进点火准备、电推进点火工作、电推进关机、姿态返回以及结束并删除任务。The orbit transfer task includes multiple orbit transfer actions, including: establishing an electric propulsion working attitude, electric propulsion ignition preparation, electric propulsion ignition work, electric propulsion shutdown, attitude return, and ending and deleting the task. - 根据权利要求1所述的基于自主任务规划的全电推进卫星轨道转移方法，其特征在于，所述多个轨道转移动作相应的执行时间包括：姿态机动启动时刻t 1、电推进准备时刻t 2、电推进点火时刻t 3、电推进关机时刻t 4以及任务结束时刻t 5； The all-electric propulsion satellite orbit transfer method based on autonomous mission planning according to claim 1, characterized in that the corresponding execution time of the multiple orbit transfer actions includes: attitude maneuver starting time t 1 and electric propulsion preparation time t 2 , the electric propulsion ignition time t 3 , the electric propulsion shutdown time t 4 and the mission end time t 5 ;所述姿态机动启动时刻t 1是在t 1时刻卫星开始姿态机动，直至建立推进工作所需的姿态； The attitude maneuver starting time t1 is when the satellite starts attitude maneuvering until the attitude required for propulsion work is established;所述电推进准备时刻t 2是在t 2时刻星载计算机向电推进模块发出指令，开始执行包括推进点火前的自检以及预热准备工作； The electric propulsion preparation time t 2 is when the spaceborne computer issues an instruction to the electric propulsion module at time t 2 to start executing self-checks and preheating preparations before propulsion ignition;所述电推进点火时刻t 3是在t 3时刻执行电推进点火； The electric propulsion ignition time t3 is to execute electric propulsion ignition at time t3 ;所述电推进关机时刻t 4是在t 4时刻电推进关机，同时启动姿态机动返回卫星常规飞行姿态； The electric propulsion shutdown time t 4 is when the electric propulsion is shut down and at the same time the attitude maneuver is initiated to return to the satellite's normal flight attitude;所述任务结束时刻t 5是在t 5时刻删除该次轨道转移任务。 The task end time t5 is to delete the orbit transfer task at time t5 .
- 根据权利要求6所述的基于自主任务规划的全电推进卫星轨道转移方法，其特征在于，所述电推进点火时刻t 3采用： The all-electric propulsion satellite orbit transfer method based on autonomous mission planning according to claim 6, characterized in that the electric propulsion ignition time t3 adopts:
其中，ω 0表示卫星平均轨道角速度；表示相位角提前量；t 0表示星载计算机进行该次自主任务规划的当前时刻；T表示电推进工作时长； Among them, ω 0 represents the average orbital angular velocity of the satellite;
represents the phase angle advance; t 0 represents the current moment when the spaceborne computer is planning the autonomous mission; T represents the working time of electric propulsion;
其中，a 0是当前t 0时刻的轨道半长轴；μ表示地心引力常数； Among them, a 0 is the orbital semi-major axis at the current time t 0 ; μ represents the gravitational constant;
其中，表示任务规划相位角；
表示电推进工作中心相位角； in,
Represents the mission planning phase angle;Indicates the electric propulsion working center phase angle;所述电推进关机时刻t 4采用： The electric propulsion shutdown time t 4 adopts:t 4＝t 3+T t 4 =t 3 +T所述电推进准备时刻t 2采用： The electric propulsion preparation time t 2 adopts:t 2＝t 3-T 2 t 2 =t 3 -T 2其中，T 2表示电推进模块点火前的自检以及预热准备工作所需要的时间； Among them, T 2 represents the time required for self-inspection and preheating preparation of the electric propulsion module before ignition;所述姿态机动启动时刻t 1采用： The attitude maneuver starting time t 1 adopts:t 1＝t 3-T 1 t 1 =t 3 -T 1其中，T 1表示从常规飞行姿态机动到电推进工作姿态q所需要的时间，由星载计算机实时计算获得； Among them, T 1 represents the time required to maneuver from the conventional flight attitude to the electric propulsion working attitude q, which is calculated in real time by the onboard computer;所述任务结束时刻t 5采用： The task end time t 5 adopts:t 5＝t 4+T 5 t 5 =t 4 +T 5其中，T 5表示从电推进工作姿态q机动返回到常规飞行姿态所需要的时间。 Among them, T 5 represents the time required to maneuver from the electric propulsion working attitude q to return to the normal flight attitude. - 根据权利要求5所述的基于自主任务规划的全电推进卫星轨道转移方法，其特征在于，在轨道转移策略的生效时期内，每次执行轨道转移任务包括：The all-electric propulsion satellite orbit transfer method based on autonomous mission planning according to claim 5, characterized in that, within the effective period of the orbit transfer strategy, each execution of the orbit transfer task includes:步骤S3.1：t 1时刻启动姿态机动； Step S3.1: Start attitude maneuver at time t 1 ;步骤S3.2：t 2时刻开始电推进准备； Step S3.2: Start electric propulsion preparation at time t2 ;步骤S3.3：姿态机动到位，建立电推进工作姿态完成；Step S3.3: The attitude maneuver is in place and the electric propulsion working attitude is established;步骤S3.4：t 3时刻电推进点火； Step S3.4: Electric propulsion ignition at time t3 ;步骤S3.5：t 4时刻电推进关机，随后立即启动姿态机动返回常规飞行姿态； Step S3.5: The electric propulsion is shut down at t4 , and then the attitude maneuver is immediately initiated to return to the normal flight attitude;步骤S3.6：姿态机动返回到位；Step S3.6: Attitude maneuver returns to position;步骤S3.7：t 5时刻当前任务结束，在任务队列种删除当前任务。 Step S3.7: The current task ends at t5 , and the current task is deleted from the task queue.
- 根据权利要求1所述的基于自主任务规划的全电推进卫星轨道转移方法，其特征在于，星载计算机进行自主任务规划生成轨道转移任务后，判断新生成的轨道转移任务与卫星业务工作任务、已入队列的轨道转移任务以及地面指定的禁用时间区间是否有时间重叠，当存在时间重叠时，则认为队列冲突，当前任务规划结果作废，否则，将新生成的轨道转移任务加入轨道转移任务队列中。The all-electric propulsion satellite orbit transfer method based on autonomous mission planning according to claim 1, characterized in that after the onboard computer performs autonomous mission planning to generate an orbit transfer task, it determines whether the newly generated orbit transfer task is consistent with the satellite business work task, Whether there is a time overlap between the orbit transfer tasks that have been queued and the disabled time interval specified on the ground. When there is a time overlap, the queue is considered to be a conflict and the current mission planning results are invalid. Otherwise, the newly generated orbit transfer task will be added to the orbit transfer task queue. middle.
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