CN111123961B - Constraint analysis-based double-vector included angle limit range determination method and system - Google Patents
Constraint analysis-based double-vector included angle limit range determination method and system Download PDFInfo
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Abstract
The invention provides a constraint analysis-based double-vector included angle limit range determination method and system. Judging whether a posture singular phenomenon of posture overturning occurs or not according to a three-axis posture change rule determined by the double vectors; determining errors by analyzing posture references according to the triaxial postures determined by the double vectors, and judging whether load pointing errors of an antenna, a camera and the like meet on-orbit requirements or not; and judging whether the angular momentum and the moment meet the requirements or not by analyzing the mechanical capability of the gesture according to the triaxial gesture determined by the double vectors. And combining the attitude singular constraint determined by the double vectors, the attitude reference determination error constraint and the attitude maneuver capability constraint, and setting a double-vector included angle limit range. The method solves the problem of determining the limit range of the double-vector included angle based on constraint analysis, is simple and is easy to realize in engineering.
Description
Technical Field
The invention relates to the field of spacecraft attitude control, in particular to a method and a system for determining a double-vector included angle limiting range based on constraint analysis.
Background
The spacecraft attitude control mode is various, and is commonly used as a three-axis stable attitude control mode. The method is to limit the directions of two axes, and determine the three-axis attitude of the spacecraft by using a right-hand method, so as to ensure the stability of the three-axis attitude of the spacecraft.
Any double vectors in the space can be used as a reference for determining the three-axis attitude of the spacecraft, but are influenced by factors such as energy sources, measurement and control and the like, and the earth center vector, the sun vector and the track surface negative normal vector are one of commonly used double vectors. If the earth center vector and the track surface negative normal vector are used as double vectors, the included angle of the double vectors is fixed to be 90 degrees, and the analysis of the singular condition of the spacecraft attitude is simple; if the earth center vector and the sun vector are used as double vectors, the included angle of the double vectors is not fixed but is changed by 0-360 degrees due to the revolution of the earth and the orbit motion of the spacecraft, and the attitude singular phenomenon is likely to occur.
On one hand, the dual-vector attitude reference determination influences the load pointing calculation accuracy of an antenna, a camera and the like. The accuracy of determining the attitude reference has a direct relationship with the included angle of the double vectors. When the included angle of the double vectors is smaller, the influence of the double-vector determination accuracy on the attitude reference determination accuracy is larger.
On the other hand, along with the orbital motion of the spacecraft, a certain vector changes quickly, so that the determined gesture reference changes quickly, and the spacecraft is required to track the changed expected gesture in a real-time gesture maneuver. However, the spacecraft actuating mechanism is not infinitely configured but has a gesture mechanical capability envelope under the influence of rocket launching capability, spacecraft size and the like, and if gesture change exceeds the gesture mechanical capability envelope range of the spacecraft, the spacecraft will not track three-axis gesture orientations determined by double vectors.
The problem that the singular phenomenon of the attitude of the spacecraft, the influence of the double-vector included angle on the attitude reference determination error and the on-orbit maneuver capability of the spacecraft are the problems that have to be faced is that in order to ensure the on-orbit safe operation of the spacecraft and complete tasks, the constraints must be analyzed, and the requirements on the double-vector included angle are set, so that relevant measures are formulated according to the requirements, and the on-orbit safety and reliability of the spacecraft are ensured.
The patent of the invention, "large elliptical orbit attitude reference determination method" (publication No. CN 106767811A) proposes to adopt a geocentric vector and a solar vector as double vectors, but does not relate to analyzing the double-vector included angle range based on constraint.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for determining a double-vector included angle limiting range based on constraint analysis.
The invention provides a method for determining a double-vector included angle limit range based on constraint analysis, which comprises the following steps:
and a step of analyzing attitude singular constraint: with a selected spatial bi-vector r 1 (t) and r 2 (t) as an attitude reference, determining a three-axis attitude criterion X according to the set double vectors, and analyzing the change rule of the three-axis attitude of the spacecraft along with the time tDetermining whether a singular phenomenon of the attitude with the positive and negative 180 DEG overturning occurs;
determining an attitude reference and performing error constraint analysis: according to a three-axis posture criterion X determined by double vectors, analyzing the determination error of the double vectors, analyzing the relation between the amplification factor of the error and the included angle of the double vectors, and determining the constraint gamma of the posture criterion determination error on the included angle of the double vectors 1 ；
And a gesture mechanical capability constraint analysis step: determining constraint Γ of angular momentum to double-vector included angle 20 Determining constraint gamma of moment to double-vector included angle 21 Will restrict Γ 20 And constraint Γ 21 Constraint Γ of composite attitude maneuver capability on double-vector included angle 2 。
Setting a limit range of the double-vector included angle: determining constraint gamma of errors on double-vector included angles according to attitude singular constraint and attitude reference 1 Constraint gamma of posture maneuvering capability on double-vector included angle 2 And setting a double-vector included angle limiting range gamma.
Preferably, in the step of analyzing the constraint of the attitude reference determination error, the constraint Γ of the attitude reference determination error to the double-vector included angle is determined 1 And simultaneously considering the load pointing error requirements of the spacecraft including the antenna and the camera.
Preferably, the gesture maneuverability constraint analysis step includes:
estimating spacecraft tracking using the rigid moment theoremAngular momentum H (t) required by the tri-axial expected attitude determined by the upper double vector is determined, and constraint gamma of the angular momentum on the double vector included angle is determined according to whether the configuration of the spacecraft attitude maneuver executing mechanism meets the angular momentum requirement or not 20 ；
According to the theorem of moment of rigid body, the moment M (t) required by the tri-axial expected attitude determined by double vectors on spacecraft tracking is estimated, and according to whether the configuration of the spacecraft attitude maneuver executing mechanism meets the moment requirement, the constraint gamma of moment on double vector included angles is determined 21 ；
Will restrict Γ 20 And constraint Γ 21 Constraint Γ of composite attitude maneuver capability on double-vector included angle 2 。
Preferably, the bi-vector comprises a geocentric vector and a solar vector.
Preferably, the bi-vector determination tri-axis gesture criterion χ comprises: the X-axis is determined by a right hand rule according to the Y, Z axis, and when the local vector and the solar vector are parallel, the yaw attitude is turned by 180 degrees.
According to the invention, the double-vector included angle limiting range determining system based on constraint analysis comprises:
attitude singular constraint analysis module: with a selected spatial bi-vector r 1 (t) and r 2 (t) as an attitude reference, determining a three-axis attitude criterion χ according to the set double vectors, and analyzing the change rule of the three-axis attitude of the spacecraft along with the time tDetermining whether a singular phenomenon of the attitude with the positive and negative 180 DEG overturning occurs;
attitude reference determination error constraint analysis module: determining a triaxial attitude criterion χ according to the double vectors, analyzing the determination error of the double vectors, analyzing the relation between the amplification factor of the error and the included angle of the double vectors, and determining the constraint Γ of the determination error of the attitude reference to the included angle of the double vectors 1 ；
Gesture machine ability constraint analysis module: determining constraint Γ of angular momentum to double-vector included angle 20 Determining constraint gamma of moment to double-vector included angle 21 Will restrict Γ 20 And constraint Γ 21 Constraint Γ of composite attitude maneuver capability on double-vector included angle 2 。
The double-vector included angle limit range setting module: determining constraint gamma of errors on double-vector included angles according to attitude singular constraint and attitude reference 1 Constraint gamma of posture maneuvering capability on double-vector included angle 2 And setting a double-vector included angle limiting range gamma.
Preferably, in the attitude reference determination error constraint analysis module, a constraint Γ of the attitude reference determination error on the double-vector included angle is determined 1 And simultaneously considering the load pointing error requirements of the spacecraft including the antenna and the camera.
Preferably, the gesture maneuverability constraint analysis module comprises:
the angular momentum H (t) required by the tri-axial expected gesture determined by double vectors on spacecraft tracking is estimated by utilizing the theorem of the moment of the rigid body, and the constraint gamma of the angular momentum on the double vector included angle is determined according to whether the configuration of the mechanical actuating mechanism of the spacecraft gesture meets the requirement of the angular momentum 20 ；
According to the theorem of moment of rigid body, the moment M (t) required by the tri-axial expected attitude determined by double vectors on spacecraft tracking is estimated, and according to whether the configuration of the spacecraft attitude maneuver executing mechanism meets the moment requirement, the constraint gamma of moment on double vector included angles is determined 21 ；
Will restrict Γ 20 And constraint Γ 21 Constraint Γ of composite attitude maneuver capability on double-vector included angle 2 。
Preferably, the bi-vector comprises a geocentric vector and a solar vector.
Preferably, the bi-vector determination tri-axis gesture criterion χ comprises: the X-axis is determined by a right hand rule according to the Y, Z axis, and when the local vector and the solar vector are parallel, the yaw attitude is turned by 180 degrees.
Compared with the prior art, the invention has the following beneficial effects:
the method solves the problem of determining the limit range of the double-vector included angle based on constraint analysis, and in the design of the on-orbit attitude control method of the spacecraft, the support solves the problem of limiting the double-vector included angle by the orbit and configuration of the spacecraft, so that the method is simple and is easy to realize in engineering.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of the operation of the present invention;
FIG. 2 is a graph of a change rule of yaw attitude of a spacecraft taking a geocentric vector and a solar vector as double vectors under a certain orbit;
fig. 3 is a graph of the relationship between the magnification of the attitude error and the included angle between the geocentric vector and the solar vector.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
An embodiment of a method for determining a limit range of a double-vector included angle based on constraint analysis according to the present invention is described below with reference to fig. 1, 2 and 3. The content includes four parts: analyzing the attitude singular constraint, analyzing the attitude reference to determine the error constraint, analyzing the attitude mechanical capacity constraint and setting the double-vector included angle limiting range.
As shown in fig. 1, taking a geocentric vector and a solar vector as attitude references as examples:
1. and analyzing three-axis attitude singular phenomena determined by the earth center vector and the sun vector.
By the geocentric vector and the solar vector r 1 (t) and r 2 (t) as a posture reference, determining a triaxial posture criterion χ according to the set geocentric vector and the solar vector, and analyzing the triaxial posture change rule of the spacecraftAnd determining whether the singular phenomenon of the gesture of the positive and negative 180-degree overturn occurs.
As shown in fig. 2, the geocentric vector and the solar vector determine a three-axis attitude criterion χ: the Z axis is the direction of the earth center vector, the Y axis is the vector product of the sun vector and the earth center vector, the X axis is determined by the right hand rule according to the Y, Z axis, and when the earth center vector and the sun vector are parallel, the yaw attitude is turned by 180 degrees.
2. And analyzing the geocentric vector and the solar vector to determine an error constraint.
Step 2-1: and analyzing the geocentric vector and the solar vector to determine an error. And analyzing the determination errors of the geocentric vector and the solar vector by considering factors such as orbit calculation, orbit determination errors and the like according to the triaxial attitude criterion χ determined by the geocentric vector and the solar vector. For the orbit calculation and orbit determination errors A, under the geocentric inertial system, the geocentric vector and the solar vector determination errors are A/R1 and A/R2, R1 is the geocentric distance of the spacecraft, and R2 is the solar geocentric distance.
Step 2-2: and analyzing the relation between the error amplification factor and the included angle between the geocentric vector and the solar vector. According to the cross multiplication operation in the three-axis attitude criterion χ, the smaller the included angle between the geocentric vector and the solar vector is, the larger the influence of the geocentric vector and the solar vector determining error on the attitude direction is, and the amplification effect is presented.
The solar vector is basically unchanged in one track of time, the solar earth center distance is far, and the solar vector r can be ignored 2 Error of (t), geocentric vector r 1 (t) due to factors such as orbit determination, there is an error Deltar 1 Determining a triaxial attitude criterion χ according to the geocentric vector and the solar vector, wherein the triaxial attitude is pointed as
[(r 2 (t)×(r 1 (t)+Δr 1 ))×(r 1 (t)+Δr 1 ) r 2 (t)×(r 1 (t)+Δr 1 ) r 1 (t)+Δr 1 ]
According to the cross-multiplication algorithm, |c|= |a×b|= |a|b|sin<a,b>The smaller the included angle between the earth vector and the sun vector, the smaller the sine function and the error Deltar 1 The greater the effect of the angular deviation caused. As shown in fig. 3, the local vector and the solar vectorThe smaller the included angle, the larger the influence of the geocentric vector and the sun vector on the attitude reference determination accuracy is, and the amplification effect is 3.09 times when the included angle is 20 degrees.
Based on the steps 2-1 and 2-2, considering the load pointing error requirements of the spacecraft such as an antenna, a camera and the like, determining the constraint gamma of the attitude reference determination error on the included angle between the geocentric vector and the solar vector 1 。
3. And analyzing gesture mechanical capacity constraint.
Step 3-1: angular momentum constraints are analyzed. For using the theorem of moment of rigid body, h=iωCalculating the difference to estimate the change law [ omega ] of the angular velocity of the three axes along with time x (t) ω y (t) ω z (t)]From the known triaxial moment of inertia of spacecraft [ I ] x I y I z ]Estimating angular momentum H (t) required by tri-axial expected attitude determined by double vectors on spacecraft tracking, wherein the lower the orbit height is, the larger the inertial angular speed of the spacecraft is, the larger the angular momentum is, and determining constraint gamma of the angular momentum on the double-vector included angle according to whether the configuration of a spacecraft attitude maneuver executing mechanism meets the angular momentum requirement or not 20 。
Step 3-2: and analyzing the moment constraint. According to the theorem of moment of rigid bodyPara [ omega ] x (t) ω y (t) ω z (t)]Solving the rule of differential estimation of the change of the angular acceleration of the three axes along with time +.>Estimating moment M (t) required by three-axis expected gesture determined by earth center vector and sun vector on spacecraft tracking, and determining constraint gamma of moment on double-vector included angle according to whether configuration of spacecraft gesture maneuvering executing mechanism meets moment requirement or not 21 。
Based on steps 3-1 and 3-2, constraint Γ of attitude maneuver capability to double-vector included angle is synthesized 2 。
Step 4, according to the groundThe heart vector and the sun vector determine the three-axis attitude criterion χ and the constraint Γ of the attitude reference determination error on the included angle of the geocentric vector and the sun vector 1 Constraint gamma of sum angular momentum to included angle between geocentric vector and solar vector 2 And setting a limiting range gamma of the included angle between the geocentric vector and the solar vector.
On the basis of the constraint analysis-based double-vector included angle limit range determining method, the invention also provides a constraint analysis-based double-vector included angle limit range determining system, which comprises the following steps:
attitude singular constraint analysis module: with a selected spatial bi-vector r 1 (t) and r 2 (t) as an attitude reference, determining a three-axis attitude criterion χ according to the set double vectors, and analyzing the change rule of the three-axis attitude of the spacecraft along with the time tDetermining whether a singular phenomenon of the attitude with the positive and negative 180 DEG overturning occurs;
attitude reference determination error constraint analysis module: determining a triaxial attitude criterion χ according to the double vectors, analyzing the determination error of the double vectors, analyzing the relation between the amplification factor of the error and the included angle of the double vectors, and determining the constraint Γ of the determination error of the attitude reference to the included angle of the double vectors 1 ；
Gesture machine ability constraint analysis module: determining constraint Γ of angular momentum to double-vector included angle 20 Determining constraint gamma of moment to double-vector included angle 21 Will restrict Γ 20 And constraint Γ 21 Constraint Γ of composite attitude maneuver capability on double-vector included angle 2 。
The double-vector included angle limit range setting module: determining constraint gamma of errors on double-vector included angles according to attitude singular constraint and attitude reference 1 Constraint gamma of posture maneuvering capability on double-vector included angle 2 And setting a double-vector included angle limiting range gamma.
Those skilled in the art will appreciate that the invention provides a system and its individual devices, modules, units, etc. that can be implemented entirely by logic programming of method steps, in addition to being implemented as pure computer readable program code, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units for realizing various functions included in the system can also be regarded as structures in the hardware component; means, modules, and units for implementing the various functions may also be considered as either software modules for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. The method for determining the limit range of the double-vector included angle based on constraint analysis is characterized by comprising the following steps of:
and a step of analyzing attitude singular constraint: with a selected spatial bi-vector r 1 (t) and r 2 (t) as an attitude reference, determining a three-axis attitude criterion χ according to the set double vectors, and analyzing the change rule of the three-axis attitude of the spacecraft along with the time t
Determining whether a singular phenomenon of the attitude with the positive and negative 180 DEG overturning occurs;
determining an attitude reference and performing error constraint analysis: determining a triaxial attitude criterion χ according to the double vectors, analyzing the determination error of the double vectors, analyzing the relation between the amplification factor of the error and the included angle of the double vectors, and determining the constraint Γ of the determination error of the attitude reference to the included angle of the double vectors 1 ；
And a gesture mechanical capability constraint analysis step: determining angular momentum versus double vector included angleConstraint Γ 20 Determining constraint gamma of moment to double-vector included angle 21 Will restrict Γ 20 And constraint Γ 21 Constraint Γ of composite attitude maneuver capability on double-vector included angle 2 ；
Setting a limit range of the double-vector included angle: determining constraint gamma of errors on double-vector included angles according to attitude singular constraint and attitude reference 1 Constraint gamma of posture maneuvering capability on double-vector included angle 2 And setting a double-vector included angle limiting range gamma.
2. The constraint analysis-based double-vector included angle limit range determination method according to claim 1, wherein in the attitude reference determination error constraint analysis step, a constraint Γ of an attitude reference determination error on a double-vector included angle is determined 1 And simultaneously considering the load pointing error requirements of the spacecraft including the antenna and the camera.
3. The method for determining the limit range of the double-vector included angle based on constraint analysis according to claim 1, wherein the step of analyzing the constraint of the attitude maneuver capability includes:
the angular momentum H (t) required by the tri-axial expected gesture determined by double vectors on spacecraft tracking is estimated by utilizing the theorem of the moment of the rigid body, and the constraint gamma of the angular momentum on the double vector included angle is determined according to whether the configuration of the mechanical actuating mechanism of the spacecraft gesture meets the requirement of the angular momentum 20 ；
According to the theorem of moment of rigid body, the moment M (t) required by the tri-axial expected attitude determined by double vectors on spacecraft tracking is estimated, and according to whether the configuration of the spacecraft attitude maneuver executing mechanism meets the moment requirement, the constraint gamma of moment on double vector included angles is determined 21 ；
Will restrict Γ 20 And constraint Γ 21 Constraint Γ of composite attitude maneuver capability on double-vector included angle 2 。
4. The constraint analysis based bi-vector included angle limit range determination method of claim 1, wherein the bi-vector comprises a geocentric vector and a solar vector.
5. The constraint analysis-based bi-vector included angle limit range determination method according to claim 4, wherein the bi-vector determination of the tri-axis attitude criterion χ comprises: the X-axis is determined by a right hand rule according to the Y, Z axis, and when the local vector and the solar vector are parallel, the yaw attitude is turned by 180 degrees.
6. A dual vector included angle limit range determination system based on constraint analysis, comprising:
attitude singular constraint analysis module: with a selected spatial bi-vector r 1 (t) and r 2 (t) as an attitude reference, determining a three-axis attitude criterion χ according to the set double vectors, and analyzing the change rule of the three-axis attitude of the spacecraft along with the time tDetermining whether a singular phenomenon of the attitude with the positive and negative 180 DEG overturning occurs;
attitude reference determination error constraint analysis module: determining a triaxial attitude criterion χ according to the double vectors, analyzing the determination error of the double vectors, analyzing the relation between the amplification factor of the error and the included angle of the double vectors, and determining the constraint Γ of the determination error of the attitude reference to the included angle of the double vectors 1 ；
Gesture machine ability constraint analysis module: determining constraint Γ of angular momentum to double-vector included angle 20 Determining constraint gamma of moment to double-vector included angle 21 Will restrict Γ 20 And constraint Γ 21 Constraint Γ of composite attitude maneuver capability on double-vector included angle 2 ；
The double-vector included angle limit range setting module: determining constraint gamma of errors on double-vector included angles according to attitude singular constraint and attitude reference 1 Constraint gamma of posture maneuvering capability on double-vector included angle 2 And setting a double-vector included angle limiting range gamma.
7. The constraint-based system of claim 6The system for determining the limiting range of the analyzed double-vector included angle is characterized in that in the attitude reference determination error constraint analysis module, the constraint gamma of the determined attitude reference determination error on the double-vector included angle is determined 1 And simultaneously considering the load pointing error requirements of the spacecraft including the antenna and the camera.
8. The constraint analysis-based bi-vector included angle limit range determination system of claim 6, wherein the pose maneuverability constraint analysis module comprises:
the angular momentum H (t) required by the tri-axial expected gesture determined by double vectors on spacecraft tracking is estimated by utilizing the theorem of the moment of the rigid body, and the constraint gamma of the angular momentum on the double vector included angle is determined according to whether the configuration of the mechanical actuating mechanism of the spacecraft gesture meets the requirement of the angular momentum 20 ；
According to the theorem of moment of rigid body, the moment M (t) required by the tri-axial expected attitude determined by double vectors on spacecraft tracking is estimated, and according to whether the configuration of the spacecraft attitude maneuver executing mechanism meets the moment requirement, the constraint gamma of moment on double vector included angles is determined 21 ；
Will restrict Γ 20 And constraint Γ 21 Constraint Γ of composite attitude maneuver capability on double-vector included angle 2 。
9. The constraint analysis based dual vector included angle limit range determination system of claim 6, wherein the dual vector comprises a geocentric vector and a solar vector.
10. The constraint analysis based bi-vector included angle limit range determination system of claim 9, wherein the bi-vector determination tri-axis pose criterion χ comprises: the X-axis is determined by a right hand rule according to the Y, Z axis, and when the local vector and the solar vector are parallel, the yaw attitude is turned by 180 degrees.
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| 江洁.一种改进的基于双矢量观测的姿态确定算法.《北京航空航天大学学报》.2012,第38卷(第38期),992-995. * |
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