CN109460071A - Spacecraft orbit power abnormity compensation method - Google Patents
Spacecraft orbit power abnormity compensation method Download PDFInfo
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Abstract
The invention relates to the field of spacecraft orbit determination analysis, in particular to a spacecraft orbit power abnormity compensation method, which comprises the following steps: analyzing each dynamic abnormity type of the spacecraft and determining a characteristic model of each dynamic abnormity; constructing corresponding abnormal feature statistics aiming at the feature model of each dynamic abnormality; performing feature detection and extraction on each abnormal feature statistic by adopting different change detection methods to obtain a corresponding feature extraction result; and according to the feature extraction results, performing model error compensation on the power abnormity of the spacecraft. The method can quickly diagnose the spacecraft orbit power abnormity characteristic point and can effectively compensate the spacecraft power abnormity.
Description
Technical field
The present invention relates to spacecraft orbit determination analysis field more particularly to spacecraft orbit power abnormality compensation methodes.
Background technique
Spacecraft orbit determination be under the constraint of spacecraft dynamics equation, from include Space Vehicle position or speed letter
In a series of observation data of breath, the process of spacecraft running track is obtained.The process determined from Principle of Statistics, track
Actually parameter estimation procedure.It is directed to three key factors, first is that extraterrestrial target motion state can be described accurately
Kinetic model, can movement reality of the accurate characterization extraterrestrial target under actual forces effect；Second is that the observation mould of Accurate Model
Type, including geometrical model and error (systematic error and random error) model can characterize the true geometric measurement for surveying rail data
And it can describe to survey the credibility of rail data；Third is that optimized parameter estimation method, i.e., make under the criterion of certain application demand
Estimation track reaches best fit between state model and observation model.
In order to which acquisition track as high as possible determines precision, many scholars at home and abroad have carried out a large amount of for above-mentioned 3 points
Further investigation.In order to improve the degree of reliability of dynamical model, one side model construction is more and more finer, and uses mathematics
Mode compensates the Dynamic model error that cannot be modeled, and on the other hand directly measures unknown perturbative force using hardware technology, or
Certain perturbative forces difficult to model are shielded using special tectonic satellite；It is some more advanced in order to improve the measurement accuracy of satellite
Equipment is widely used, such as carrier phase measurement, the laser measurement of GPS, and moreover, TT&C system is by local ground
Measurement gradually expands to the round-the-clocks seamless coverage observing and controlling mode such as global observing and controlling, Tianhuangping pumped storage plant；In terms of parameter Estimation, for tool
The optimal trajectory of body application background determines that method has obtained in-depth study.
When spacecraft is there are when power abnormality, dynamics of orbits model can have an external lasting or intermittent power,
Traditional orbit determination result can deviate actual track, and it is accurate that the kinetic model compensation without power abnormality diagnosis is also difficult to obtain
Compensation result and segment data.Therefore, power abnormality how is judged whether there is, the characteristic point of power abnormality how is diagnosed,
How track is carried out under power abnormality mode to determine, be present urgent problem.
Track power abnormality refers to spacecraft in addition to applied external force, there is lasting or intermittent burst active role
Power, so that spacecraft active force deviates the process of original dynamics of orbits model.In fact, the burst of extraneous factor is non-
Active force also belongs to the scope of power abnormality, such as the change dramatically of space environment, causes solar array acutely to change to shadow
Ring the mass center etc. of satellite platform.Common power abnormality situation can be produced when spacecraft carries out jet adjustment or momenttum wheel unloads
Raw time-varying torque belongs to model error to change the acceleration of spacecraft on Construction of A Model, if without power abnormality
Value identification, directly progress track determine that model error will propagate in estimation track, cause track deviation.
Such as in manned spaceship return phase, needs release or carry out momenttum wheel unloading, track profile and pressure is caused to have
Changed.Although satellite is that the couple as caused by the air jet pipe in several directions is controlled, its center of mass motion will also result in
It influences.Thus it will lead to the variation of dynamic satellite and track, dynamic satellite variation will be reflected directly on track, when ignoring this
It when feature, not only results in orbit error also and will affect the control of airship, therefore, it is necessary to quick and precisely identify this characteristic point.
For synchronous satellite, needing often to carry out fixed point maintenance, conventional way is to carry out jet thrust adjustment, from
And the dynamic characteristics of satellite can be changed, Satellite Orbit Determination precision is influenced, particularly with the geosynchronous satellite of navigation system, track is true
Determine the location navigation precision that precision directly affects system, it is therefore necessary to quickly identification power abnormality characteristic point, and using suitable
Method re-starts track and determines.
It is big for non-active external force such as part although force vector outside accurate active can be obtained for cooperative target
Gas environmental change, space trash shock etc. are still helpless.The track of noncooperative target is determined, track power abnormality institute band
The Orbit Error come is more obvious, seriously affects the cataloguing precision of Space Target Surveillance system.
Therefore, compel to be essential there is an urgent need to study the method for quick diagnosis spacecraft orbit power abnormality characteristic point at this stage
The track studied for spacecraft power abnormality determines algorithm, and cooperative target is high-precision when thereby may be ensured that track exception
Degree orbit determination for orbits controlling and AEROSPACE APPLICATION as a result, provide safeguard.For noncooperative target, its fortune of acquisition that can be more accurate
The key messages such as distribution characteristics, the dynamic characteristics of dynamic characteristic point are analyzed, to improve our space situation awareness in row track
Ability.In scientific research field and engineering practice, especially there is important practical application value in Military Application.
Summary of the invention
Spacecraft orbit power abnormality compensation method provided by the invention, can quick diagnosis go out spacecraft orbit power
Off-note point, and effective compensation can be carried out to spacecraft power abnormality.
Spacecraft orbit power abnormality compensation method provided by the invention, comprising:
Each power abnormality type of spacecraft is analyzed, determines the characteristic model of each power abnormality；
For the characteristic model of each power abnormality, corresponding off-note statistic is constructed；
Feature detection is carried out using different change detecting methods to each abnormal characteristic statistic and is extracted, is obtained corresponding
Feature extraction result；
According to each feature extraction as a result, the power abnormality to spacecraft carries out Compensation for Model Errors.
In the present invention, start with from each power abnormality type of spacecraft, each dynamics is effectively divided extremely
Analysis, obtains the feature extraction of each power abnormality as a result, therefore reaching the fast and accurately diagnosis to power abnormality point, then basis
Each feature extraction is as a result, the power abnormality to spacecraft carries out Compensation for Model Errors, so as to effectively improve determining for spacecraft
Rail precision.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the method flow diagram of the embodiment of the present invention；
Fig. 2 is that Real-Time Filtering obtains the identification figure after orbital tracking progress difference identification.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, spacecraft orbit power abnormality compensation method provided by the invention, comprising:
101, each power abnormality type of spacecraft is analyzed, determines the characteristic model of each power abnormality；
102, for the characteristic model of each power abnormality, corresponding off-note statistic is constructed；
103, feature detection is carried out using different change detecting methods to each abnormal characteristic statistic and extracted, obtained pair
The feature extraction result answered；
104, according to each feature extraction as a result, the power abnormality to spacecraft carries out Compensation for Model Errors.
Further, the power abnormality type of the spacecraft includes but is not limited to: power abnormality under aggressive mode and
Power abnormality under Passive Mode；
Power abnormality under the aggressive mode includes but is not limited to: caused by spacecraft jet thrust and momenttum wheel unloading
The variation of mass center caused by power abnormality and spacecraft fuel losses；
Power abnormality under the Passive Mode includes but is not limited to: caused by spacecraft receives extraneous change dramatically environment
Power abnormality and solar array caused power abnormality after being damaged；
The off-note statistic includes but is not limited to:
Spacecraft orbit radical parameter；
Spacecraft measuring and control data, including distance surveys member, member is surveyed at azimuth, pitch angle surveys member, GPS carrier phase surveys member；
The residual error namely OC residual error of measuring and control data observation and calculated value in spacecraft orbit determination process.
Further, each power abnormality type to spacecraft is analyzed, and determines the feature of each power abnormality
Model specifically includes:
For each power abnormality type, corresponding dynamics anomaly sxtructure or corresponding off-note parameter are constructed；
Exist in conjunction with constructed dynamics anomaly sxtructure or off-note parameter to spacecraft according to Practical Project environment
Rail operation carries out analog simulation, the orbit parameter of the track measuring and control data and calculating simulated；
In conjunction with orbit parameter calculated, the track measuring and control data of simulation and each power abnormality type determine each power
Relationship between anomaly sxtructure or corresponding characteristic parameter and orbit parameter calculated and the track measuring and control data of simulation；
To identified each dynamics anomaly sxtructure or corresponding characteristic parameter and orbit parameter calculated and simulate
Relationship between track measuring and control data determines the characteristic model of each power abnormality using theory analysis mode.
The dynamics anomaly sxtructure or corresponding off-note parameter include but is not limited to:
Additional gradual thrust in spacecraft dynamics model；
The size of additional thrust, direction in spacecraft dynamics model；
Atmospheric drag coefficient and its segmentation variation structure in spacecraft dynamics model.
It is described that feature detection is carried out using change detecting method to each abnormal characteristic statistic and is extracted further,
Corresponding feature extraction is obtained as a result, specifically including:
To in the characteristic model of each power abnormality type, the off-note statistic for needing to be indicated afterwards carries out base
In the feature extraction of OC residual error, the off-note obtained on the model error and corresponding time-frequency domain in corresponding time domain is missed
Poor source and time-frequency error；The OC residual error refers to orbit parameter calculation amount and observes the residual error of data；
To in the characteristic model of each power abnormality type, needing to carry out the off-note statistic of real-time representation, base is carried out
It is extracted in the filtering off-note of orbital tracking parameter, the real-time characteristic for obtaining corresponding orbital tracking parameter extracts result.
In the above-mentioned technical solutions, it in the characteristic model to each power abnormality type, needs to be indicated afterwards
Off-note statistic carries out the feature extraction based on OC residual error, obtains the model error and time-frequency domain in corresponding time domain
On off-note error source and time-frequency error, specifically include:
In the time domain, the OC residual error of the off-note statistic indicated afterwards needs carries out curve fitting, and obtains
The model error time domain for the characteristic model for needing to be indicated afterwards in；
On time-frequency domain, Wavelet time-frequency point is carried out to the OC residual error for the off-note statistic that needs are indicated afterwards
Analysis obtains the off-note error source and time-frequency error that need the characteristic model indicated afterwards.
In the above-mentioned technical solutions, in the characteristic model to each power abnormality type, need to carry out real-time representation
Off-note statistic carries out the filtering off-note based on orbital tracking parameter and extracts, obtains corresponding orbital tracking parameter
Real-time characteristic extracts as a result, specifically including:
When track observing and controlling element is more, track measuring and control data amount is big, and survey first precision it is higher when, to needing to carry out real-time representation
Off-note statistic, carry out the identification of orbital tracking parameter difference, the real-time characteristic for obtaining corresponding orbital tracking parameter mentions
Take result；
When track observing and controlling element is few, track measuring and control data amount amount is small, and survey first precision it is lower when, to needing to carry out real-time table
The off-note statistic shown carries out the orbital tracking Parameters variation detection based on wavelet analysis, obtains corresponding real-time characteristic
Extract result.
Preferably, described that is carried out by feature detection and is mentioned using different change detecting methods for each abnormal characteristic statistic
It takes, before further include:
Various change detection method is analyzed, the variation detection side to match from different off-note statistics is chosen
Method；
It is described that various change detection method is analyzed, it specifically includes:
To every kind of change detecting method to progress fiducial probability analysis, sensitivity analysis and adaptability point under mould-fixed
Analysis；
The analysis of boundary condition is carried out to every kind of change detecting method.
Preferably, it is described according to each feature extraction as a result, carry out Compensation for Model Errors to spacecraft power abnormality, it is specific to wrap
It includes:
In the time domain, according to each feature extraction as a result, carrying out the error based on non-linear curve fitting to kinetic model
Compensation；
On time-frequency domain, according to each feature extraction as a result, carrying out the error decomposed based on hybrid mode to kinetic model
Compensation.
In the above-mentioned technical solutions, it is described according to each feature extraction as a result, carrying out kinetic model based on non-linear song
The error compensation of line fitting, specifically includes:
Using sub-reduced parameter model method, Sparse parameter modeling is carried out to each feature extraction result, obtains power abnormality mistake
The Sparse parameter of difference indicates model；
The Sparse parameter of power abnormality error is indicated into models coupling greedy algorithm and interior point method and method of regularization, structure
Build out kinetic model error function；
For Dynamic model error function, is treated using restriction on the parameters method and estimate parameter progress Operations of Interva Constraint；
According to the Dynamic model error function after Operations of Interva Constraint, in conjunction with spacecraft orbit determination process, to kinetic simulation
Type compensates.
In the above-mentioned technical solutions, it is described according to each feature extraction as a result, carrying out kinetic model based on hybrid mode
The error compensation of decomposition, specifically includes:
Using empirical mode decomposition method, mode decomposition is carried out to each feature extraction result, obtains each feature extraction result
Trend term after corresponding multiple intrinsic mode functions and decomposition；
Using time series modeling method, the time series models of the corresponding trend term of each feature extraction result are established；
For the corresponding multiple intrinsic mode functions of each feature extraction result and time series models, using restriction on the parameters method
It treats and estimates parameter progress time-frequency region constraint；
According to the corresponding multiple intrinsic mode functions of each feature extraction result and time series models after time-domain constraints, knot
Spacecraft orbit determination process is closed, kinetic model is compensated.
In the present invention, a kind of statistical check amount combined based on OC residual sum dynamics of orbits and inspection party are proposed
Method can quick and precisely detect power abnormality point；It proposes to carry out power abnormality error compensation based on mode decomposition method
Orbit determination strategy, can targetedly carry out mechanical model compensation, improve orbit determination accuracy.
Below with example in detail technical solutions according to the invention:
As shown in Figure 1, spacecraft orbit power abnormality compensation method of the present invention, comprising:
101, each power abnormality type of spacecraft is analyzed, determines the characteristic model of each power abnormality；Specifically:
1011, it is directed to each power abnormality type, constructs corresponding dynamics anomaly sxtructure or corresponding off-note ginseng
Number；
1012, according to Practical Project environment, in conjunction with constructed dynamics anomaly sxtructure or off-note parameter, to space flight
Device carries out analog simulation in orbit, the orbit parameter of the track measuring and control data and calculating simulated；
1013, it in conjunction with orbit parameter calculated, the track measuring and control data of simulation and each power abnormality type, determines
Pass between each power abnormality structure or corresponding characteristic parameter and orbit parameter calculated and the track measuring and control data of simulation
System；
1014, to identified each dynamics anomaly sxtructure or corresponding characteristic parameter and orbit parameter calculated and mould
Relationship between quasi- track measuring and control data determines the characteristic model of each power abnormality using theory analysis mode.
Wherein, the power abnormality type of the spacecraft includes but is not limited to: power abnormality under aggressive mode and passive
Power abnormality under mode；
Power abnormality under the aggressive mode includes but is not limited to: caused by spacecraft jet thrust and momenttum wheel unloading
The variation of mass center caused by power abnormality and spacecraft fuel losses；
Power abnormality under the Passive Mode includes but is not limited to: caused by spacecraft receives extraneous change dramatically environment
Power abnormality and solar array caused power abnormality after being damaged.
The off-note statistic includes but is not limited to:
Spacecraft orbit radical parameter；
Spacecraft measuring and control data, including distance surveys member, member is surveyed at azimuth, pitch angle surveys member, GPS carrier phase surveys member；
The residual error of measuring and control data observation and calculated value in spacecraft orbit determination process, i.e. OC residual error.
The dynamics anomaly sxtructure or corresponding off-note parameter include but is not limited to:
Additional gradual thrust in spacecraft dynamics model；
The size of additional thrust, direction in spacecraft dynamics model；
Atmospheric drag coefficient and its segmentation variation structure in spacecraft dynamics model.
The extremely main performance characteristic of track is energy variation, and energy variation can be described by orbital tracking, but orbit determination in real time
Estimation orbital tracking afterwards has usually contained random error and systematic error.Therefore need to study the track of spacecraft power variation
Character representation, it is different that by the analysis to residual error characteristic and dynamics of orbits, research, which can most show the character representation of off-note,
Often variation detection provides test stone.
In above-mentioned steps, the performance characteristic of a few class power abnormalities common at present is analyzed first, to the effect of abnormal power
Fruit, direction, size carry out detailed modeling analysis.Secondly setting simulated environment carries out different classification of track, orbit altitude different
Normal dynamical simulation, and it is studied in the form of expression surveyed in member or OC residual error, form empirical equation.Derive abnormal power and track
Energy, the equivalent function relationship for surveying the information such as member, OC residual error.
According to the power abnormality simulated conditions of construction, orbital data and observing and controlling number are generated according to Practical Project environmental simulation
According to, and different orbital data and measuring and control data are analyzed, determine the track measuring and control data and meter of power abnormality simulation
The relationship of the orbit parameter of calculation.Then it by the way of theory analysis, studies dynamic between track power abnormality and measuring and control data
Power anomalous effects expression formula.
102, for the characteristic model of each power abnormality, corresponding off-note statistic is constructed；
105, various change detection method is analyzed, chooses and is examined from the variation that different off-note statistics match
Survey method；
It is described that various change detection method is analyzed, it specifically includes:
1051, to every kind of change detecting method to progress fiducial probability analysis, sensitivity analysis and adaptation under mould-fixed
Property analysis；
1052, the analysis of boundary condition is carried out to every kind of change detecting method.
Due to the diversity of abnormal power, it is characterized by and also presents varied, and be often buried in normal letter
In number, the performance and all kinds of adaptations of methods of track anomalous variation detection method Main Analysis track abnormal point detecting method
Property and specific aim, provide fiducial probability, sensitivity analysis, Adaptability Analysis etc. of the every kind of detection method under to mould-fixed.
Under given observing environment, the boundary condition for the power abnormality that can test, including abnormal power are constructed
Size, direction and other characteristics etc..By the abnormal dynamic characteristic model of construction, the analysis of boundary condition is carried out.
103, feature detection is carried out using different change detecting methods to each abnormal characteristic statistic and extracted, obtained pair
The feature extraction result answered；Specifically:
1031, in the characteristic model of each power abnormality type, the off-note statistic for needing to be indicated afterwards, into
Feature extraction of the row based on OC residual error, the exception obtained on the model error and corresponding time-frequency domain in corresponding time domain are special
Levy error source and time-frequency error；
10311, it is quasi- that the OC residual error of the off-note statistic in the time domain, indicated afterwards needs carries out curve
It closes, obtains needing the model error time domain of the characteristic model indicated afterwards in；
OC residual error is the residual error of the measuring and control data observation and calculated value in spacecraft orbit determination process, therefore OC residual error
It include orbital tracking parameter information and observation data information.Therefore, by the analysis to OC residual error, track power can be obtained
Learn model error characteristic and observation error characteristic.It is limited since OC residual error is discrete time series, and by observation segmental arc, OC
Residual error is difficult to be made of continuous full arc section, is often made of some discrete short arc segments, and which adds points of OC residual error
Difficulty is analysed, in addition surveys member, the difference in sampling interval also increases the analysis difficulty of OC residual error.Therefore it is analyzed under continuous segmental arc first
OC residual error feature, then in the time domain building basic function indicate signal.
Can be obtained by the analysis of OC residual error influences maximum a few category feature layers to orbit determination result, but needs research characteristic
Error source corresponding to layer.It is corresponding the function between residual error frequency spectrum corresponding to error source can be directly obtained using mathematical derivation
Relationship, for that cannot directly obtain the frequency spectrum of functional relation, the mode that l-G simulation test can be used obtains numerical value corresponding relationship, then leads to
Over-fitting method constructor expression.
10312, on time-frequency domain, when carrying out small echo to the OC residual error for the off-note statistic that needs are indicated afterwards
Frequency analysis obtains the off-note error source and time-frequency error that need the characteristic model indicated afterwards.
Using the multi-scale effect of wavelet transformation, OC residual signals are successively resolved into high fdrequency component and low frequency component.Letter
Number property can be described with wavelet coefficient, to obtain the different characteristic layer information of signal.According to application demand, to wavelet coefficient
It is constrained, obtains the reconstruction signal of place to go noise, then the trend of signal is decomposed, the frequency spectrum for compareing error source is special
Property, information is indicated to obtain the OC residual error of corresponding error source.By wavelet decomposition it can be seen that mould caused by power abnormality
Performance characteristic of the type error on OC is characterized extraction and provides technological means.
1032, in the characteristic model of each power abnormality type, need to carry out the off-note statistic of real-time representation, into
Filtering off-note of the row based on orbital tracking parameter extracts, and the real-time characteristic for obtaining corresponding orbital tracking parameter extracts knot
Fruit；Specifically:
10321, real to needing to carry out when track observing and controlling element is more, track measuring and control data amount is big, and the first precision of survey is higher
When the off-note statistic that indicates, carry out the identification of orbital tracking parameter difference, obtain the real-time of corresponding orbital tracking parameter
Feature extraction result；
10322, when track observing and controlling element is few, track measuring and control data amount amount is small, and survey first precision it is lower when, to needing to carry out
The off-note statistic of real-time representation carries out the orbital tracking Parameters variation detection based on wavelet analysis, obtains corresponding reality
When feature extraction result.
The variation detection of track power abnormality characteristic point is method required for main research track anomalous variation detects, and
Phenomenon, used feature point detecting method are characterized for different power abnormalities.
It is examined to carry out orbit elements of satellite signature analysis and power abnormality, it is inadequate for only carrying out analysis from OC residual error
, need to carry out orbit determination in real time calculating, traditional calculation method is Extended Kalman filter method, in order to avoid nonlinear state
Equation and observational equation cause truncated error to fall into oblivion power abnormality information, and the present embodiment is made using UKF (Unscented kalman filtering)
For Real-Time Filtering calculation method.
When spacecraft orbit observing and controlling element is more, track measuring and control data amount is big, and the first precision of survey is higher, pass through Real-Time Filtering
Obtained estimation orbital tracking parameter can include track exception information.In this case, it can be carried out using track characteristic
Difference identification.Become as shown in Fig. 2, obtaining orbital tracking (semi-major axis parameter in spacecraft orbit radical) to Real-Time Filtering
Identification figure after changing spacecraft is added respectively 3 moment the jet external force of 5N, 10N, 20N in simulations, it can be seen that
This method can be good at identifying the abnormal moment.
When track observing and controlling element is few, track measuring and control data amount amount is small, and survey first precision it is lower when, the track meeting that filters
It is constrained by classical mechanics model, dynamic characteristics can not be embodied.Therefore advantage is separated using the low-and high-frequency of wavelet decomposition, to being based on
Track power surveys the characteristic quantity that member is constructed and carries out wavelet decomposition, and analyzes its details item, to obtain characteristic point.
104, according to each feature extraction as a result, the power abnormality to spacecraft carries out Compensation for Model Errors；Specifically:
1041, in the time domain, according to each feature extraction as a result, carrying out kinetic model based on non-linear curve fitting
Error compensation；Include:
10411, using sub-reduced parameter model method, Sparse parameter modeling is carried out to each feature extraction result, obtains power
The Sparse parameter of anomalous differences indicates model；
10412, the Sparse parameter of power abnormality error is indicated into models coupling greedy algorithm and interior point method and regularization
Method constructs Dynamic model error function；
10413, it is directed to Dynamic model error function, is treated using restriction on the parameters method and estimates parameter progress Operations of Interva Constraint；
10414, according to the Dynamic model error function after Operations of Interva Constraint, in conjunction with spacecraft orbit determination process, to dynamic
Mechanical model compensates.
When the in-orbit characteristic point for being diagnosed to be power abnormality, can targeted construction feature point moment compensation mechanics mould
Type, traditional compensation method are to carry out segmentation reduced mechanism compensation, after in-orbit diagnosis, can more effectively construct node
And cubic fitting model.
When observe segmental arc it is discontinuous when, it is uneven that the orbit determination result of experience force compensating method will cause determining trajectory accuracy, letter
Change KINETIC METHOD and propagates the defect that can compensate experience force method by the Gauss-Markov of experience force coefficient.It is main to use emulation
Test strategy obtains optimal subarc section using traversal to different mechanical model errors, then by experience power size
The validity of determination process noise.By the research to traditional power model compensation method, for the compensation based on curve matching
Method provides technical support effect.
Dynamic model error is more complicated, using research strategy from simple to complex, first against whole segmental arc constant value
Or linearity error is emulated, and is then transitioned into a point segmental arc and is studied.On this basis, carry out simulation momenttum wheel and unload mould
The emulation and compensation technique research of formula, non-linear unknown perturbation force mode.In order to reduce motive power model and compensation as far as possible
The degree of coupling of model compensates the modeling of item using parametric method is saved, and combines greedy algorithm and interior point method, method of regularization
The optimal fitting model for determining that minimum parameters indicate is searched for, the Dynamic model error function of sub-reduced parameter model is constructed.
Curve matching Dynamic model error function transition absorbing model error in order to prevent, so that track runs out of steam
The characteristic of equation, estimation track are biased to the geometry track that observation data determine, using restriction on the parameters method to joining in model wait estimate
Number carries out Operations of Interva Constraint, and especially to experience power, itself size is monitored, and studies one kind and can characterize two class model (physics
Model and mathematical model) interpretability inhibiting factor, be added in orbit determination equation, so as to model error item (mathematical modulo
Type) it is controlled.
1042, on time-frequency domain, according to each feature extraction as a result, carrying out kinetic model based on hybrid mode decomposition
Error compensation；Include:
10421, using empirical mode decomposition method, mode decomposition is carried out to each feature extraction result, each feature is obtained and mentions
Trend term after taking the corresponding multiple intrinsic mode functions of result and decomposing；
10422, using time series modeling method, the time series mould of the corresponding trend term of each feature extraction result is established
Type；
10423, the corresponding multiple intrinsic mode functions of each feature extraction result and time series models are directed to, using parameter
Leash law, which is treated, estimates parameter progress time-frequency region constraint；
10424, according to the corresponding multiple intrinsic mode functions of each feature extraction result and time series after time-domain constraints
Model compensates kinetic model in conjunction with spacecraft orbit determination process.
Because all there is specific spectral characteristic and the regularity of distribution in every kind of error source, although being coupled in the time domain,
But it still can be decomposed on frequency domain.On the basis of OC residual error specificity analysis, by empirical mode decomposition method to OC
Residual signals are decomposed, the trend term after obtaining multiple intrinsic mode functions corresponding to each feature extraction result and decomposing.
Using Time series analysis method, obtained decomposition trend term is subjected to models fitting, constructs corresponding time sequence
Column model obtains the variance of time series models parameter and residual error.
For the corresponding multiple intrinsic mode functions of each feature extraction result and time series models, corresponding model is joined
Several and residual error variance carries out time-frequency region constraint to it using restriction on the parameters method as characteristic parameter.
According to the corresponding multiple intrinsic mode functions of each feature extraction result and time series models after time-domain constraints, knot
Track determination process is closed, model compensation is carried out.In track determination process, Dynamic model error and observation model error pass through
OC residual error form, which is coupled, to be difficult to be effectively separated, i.e., estimation track can not be determined in dynamics track and geometry track
Between bias degree.However when certain known class error source characteristic can be by experience when such as observation model systematic error form
The adjustment of power size compensate while two kinds of models.But it when a kind of model frequency spectrum known, is obtained first with conventional method
OC residual error then removes this feature using hybrid mode decomposition method, then carries out the compensation method of two kinds of models.
It should be understood that the particular order or level of the step of during disclosed are the examples of illustrative methods.Based on setting
Count preference, it should be appreciated that in the process the step of particular order or level can be in the feelings for the protection scope for not departing from the disclosure
It is rearranged under condition.Appended claim to a method is not illustratively sequentially to give the element of various steps, and not
It is to be limited to the particular order or level.
In above-mentioned detailed description, various features are combined together in single embodiment, to simplify the disclosure.No
This published method should be construed to reflect such intention, that is, the embodiment of theme claimed needs to compare
The more features of the feature clearly stated in each claim.On the contrary, as appended claims is reflected
Like that, the present invention is in the state fewer than whole features of disclosed single embodiment.Therefore, appended claims
It is hereby expressly incorporated into detailed description, wherein each claim is used as alone the individual preferred embodiment of the present invention.
For can be realized any technical staff in the art or using the present invention, above to disclosed embodiment into
Description is gone.To those skilled in the art；The various modifications mode of these embodiments will be apparent from, and this
The General Principle of text definition can also be suitable for other embodiments on the basis of not departing from the spirit and scope of the disclosure.
Therefore, the disclosure is not limited to embodiments set forth herein, but most wide with principle disclosed in the present application and novel features
Range is consistent.
Description above includes the citing of one or more embodiments.Certainly, in order to describe above-described embodiment and description portion
The all possible combination of part or method is impossible, but it will be appreciated by one of ordinary skill in the art that each implementation
Example can do further combinations and permutations.Therefore, embodiment described herein is intended to cover fall into the appended claims
Protection scope in all such changes, modifications and variations.In addition, with regard to term used in specification or claims
The mode that covers of "comprising", the word is similar to term " includes ", just as " including " solved in the claims as transitional word
As releasing.In addition, the use of any one of specification in claims term "or" being to indicate " non-exclusionism
Or ".
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of spacecraft orbit power abnormality compensation method, which is characterized in that the described method includes:
Each power abnormality type of spacecraft is analyzed, determines the characteristic model of each power abnormality；
For the characteristic model of each power abnormality, corresponding off-note statistic is constructed；
Feature detection is carried out using different change detecting methods to each abnormal characteristic statistic and is extracted, corresponding feature is obtained
Extract result；
According to each feature extraction as a result, the power abnormality to spacecraft carries out Compensation for Model Errors.
2. spacecraft orbit power abnormality compensation method according to claim 1, which is characterized in that the spacecraft moves
Power Exception Type includes but is not limited to: the power abnormality under power abnormality and Passive Mode under aggressive mode；
Power abnormality under the aggressive mode includes but is not limited to: power caused by spacecraft jet thrust and momenttum wheel unloading
Mass center caused by abnormal and spacecraft fuel losses changes；
Power abnormality under the Passive Mode includes but is not limited to: spacecraft receives power caused by extraneous change dramatically environment
Caused power abnormality after abnormal and solar array is damaged；
The off-note statistic includes but is not limited to:
Spacecraft orbit radical parameter；
Spacecraft measuring and control data, comprising: distance surveys member, member is surveyed at azimuth, pitch angle surveys member, GPS carrier phase surveys member；
The residual error of measuring and control data observation and calculated value in spacecraft orbit determination process, i.e. OC residual error.
3. spacecraft orbit power abnormality compensation method according to claim 1, which is characterized in that described to spacecraft
Each power abnormality type is analyzed, and is determined the characteristic model of each power abnormality, is specifically included:
For each power abnormality type, corresponding dynamics anomaly sxtructure or corresponding off-note parameter are constructed；
According to Practical Project environment, in conjunction with constructed dynamics anomaly sxtructure or off-note parameter, to the in-orbit fortune of spacecraft
Row carries out analog simulation, the orbit parameter of the track measuring and control data and calculating simulated；
In conjunction with orbit parameter calculated, the track measuring and control data of simulation and each power abnormality type determine each power abnormality
Relationship between structure or corresponding characteristic parameter and orbit parameter calculated and the track measuring and control data of simulation；
To the track of identified each dynamics anomaly sxtructure or corresponding characteristic parameter and orbit parameter calculated and simulation
Relationship between measuring and control data determines the characteristic model of each power abnormality using theory analysis mode.
The dynamics anomaly sxtructure or corresponding off-note parameter include but is not limited to:
Additional gradual thrust in spacecraft dynamics model；
The size of additional thrust, direction in spacecraft dynamics model；
Atmospheric drag coefficient and its segmentation variation structure in spacecraft dynamics model.
4. spacecraft orbit power abnormality compensation method according to claim 1, which is characterized in that described special to each exception
It levies statistic to carry out feature detection using change detecting method and extract, obtains corresponding feature extraction as a result, specifically including:
To in the characteristic model of each power abnormality type, the off-note statistic for needing to be indicated afterwards is carried out based on OC
The feature extraction of residual error obtains the off-note error source on the model error and corresponding time-frequency domain in corresponding time domain
With time-frequency error；
It in the characteristic model of each power abnormality type, needs to carry out the off-note statistic of real-time representation, carries out based on rail
The filtering off-note of road radical parameter extracts, and the real-time characteristic for obtaining corresponding orbital tracking parameter extracts result.
5. spacecraft orbit power abnormality compensation method according to claim 4, which is characterized in that described different to each power
In the characteristic model of normal type, the off-note statistic for needing to be indicated afterwards carries out the feature extraction based on OC residual error,
The off-note error source and time-frequency error on the model error and time-frequency domain in corresponding time domain are obtained, is specifically included:
In the time domain, the OC residual error of the off-note statistic indicated afterwards needs carries out curve fitting, and is needed
The model error time domain of the characteristic model indicated afterwards in；
On time-frequency domain, wavelet time-frequency analysis is carried out to the OC residual error for the off-note statistic that needs are indicated afterwards, is obtained
To the off-note error source and time-frequency error of the characteristic model for needing to be indicated afterwards.
6. spacecraft orbit power abnormality compensation method according to claim 4, which is characterized in that described different to each power
In the characteristic model of normal type, needs to carry out the off-note statistic of real-time representation, carry out the filter based on orbital tracking parameter
Wave off-note extracts, and obtains corresponding orbital tracking parameter real-time characteristic and extracts as a result, specifically including:
When track observing and controlling element is more, track measuring and control data amount is big, and survey first precision it is higher when, to needing to carry out the different of real-time representation
Normal characteristic statistic carries out the identification of orbital tracking parameter difference, and the real-time characteristic for obtaining corresponding orbital tracking parameter extracts knot
Fruit；
When track observing and controlling element is few, track measuring and control data amount amount is small, and survey first precision it is lower when, to needing to carry out real-time representation
Off-note statistic carries out the orbital tracking Parameters variation detection based on wavelet analysis, obtains corresponding real-time characteristic and extract
As a result.
7. spacecraft orbit power abnormality compensation method according to claim 1, which is characterized in that described special to each exception
It levies statistic to carry out feature detection using different change detecting methods and extract, before further include:
Various change detection method is analyzed, the change detecting method to match from different off-note statistics is chosen；
It is described that various change detection method is analyzed, it specifically includes:
To every kind of change detecting method to progress fiducial probability analysis, sensitivity analysis and Adaptability Analysis under mould-fixed；
The analysis of boundary condition is carried out to every kind of change detecting method.
8. spacecraft orbit power abnormality compensation method according to claim 1, which is characterized in that described according to each feature
It extracts as a result, being specifically included to spacecraft power abnormality progress Compensation for Model Errors:
In the time domain, according to each feature extraction as a result, carrying out the error compensation based on non-linear curve fitting to kinetic model；
On time-frequency domain, according to each feature extraction as a result, carrying out the error compensation decomposed based on hybrid mode to kinetic model.
9. spacecraft orbit power abnormality compensation method according to claim 8, which is characterized in that described according to each feature
It extracts as a result, carry out the error compensation based on non-linear curve fitting to kinetic model, specifically includes:
Using sub-reduced parameter model method, Sparse parameter modeling is carried out to each feature extraction result, obtains power abnormality error
Sparse parameter indicates model；
The Sparse parameter of power abnormality error is indicated into models coupling greedy algorithm and interior point method and method of regularization, is constructed
Dynamic model error function；
For Dynamic model error function, is treated using restriction on the parameters method and estimate parameter progress Operations of Interva Constraint；
According to the Dynamic model error function after Operations of Interva Constraint, in conjunction with spacecraft orbit determination process, to kinetic model into
Row compensation.
10. spacecraft orbit power abnormality compensation method according to claim 8, which is characterized in that described according to each spy
Sign is extracted as a result, specifically included based on the error compensation of hybrid mode decomposition to kinetic model:
Using empirical mode decomposition method, mode decomposition is carried out to each feature extraction result, it is corresponding to obtain each feature extraction result
Multiple intrinsic mode functions and decompose after trend term；
Using time series modeling method, the time series models of the corresponding trend term of each feature extraction result are established；
For the corresponding multiple intrinsic mode functions of each feature extraction result and time series models, treated using restriction on the parameters method
Estimate parameter and carries out time-frequency region constraint；
According to the corresponding multiple intrinsic mode functions of each feature extraction result and time series models after time-domain constraints, in conjunction with boat
Its device track determination process, compensates kinetic model.
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