CN112429276B - On-device attitude compensation method and system for thrust vector deviation of deep space probe - Google Patents
On-device attitude compensation method and system for thrust vector deviation of deep space probe Download PDFInfo
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Abstract
The invention provides an on-device attitude compensation method and system for thrust vector deviation of a deep space probe, which comprises the following steps: step M1: calculating an attitude compensation correction amount during the track control according to the result of the engine thrust direction calibration; step M2: and (4) upward injecting the attitude compensation correction quantity during the orbit control period to the device for implementation. The method is used for compensating the thrust direction deviation of the spacecraft thruster so as to improve the orbital transfer precision.
Description
Technical Field
The invention relates to the field of attitude dynamics, in particular to an on-device attitude compensation method and system for thrust vector deviation of a deep space probe.
Background
In order to realize the purposes of breaking away from the gravity of the earth, entering a cruise orbit or entering an inter-satellite-ground transfer orbit, reentering a planet, winding a flying star and the like, the deep space probe needs to change the orbit for multiple times so as to meet the requirements of saving fuel, correcting the accuracy of entering the orbit and the like. Meanwhile, in key orbital transfer links such as atmosphere re-entry and planet capture, only one orbital transfer opportunity is usually available, and higher orbital control precision is needed to guarantee subsequent tasks. In the planet capturing stage, the detector needs to be ignited and decelerated, the deviation of the ignition direction is likely to cause that the detector cannot form a surrounding orbit, and the mission of knocking into the planet fails in a more serious case. A deviation in the direction of ignition during the re-entry phase may result in the falling point deviating from the predetermined position and even failing to enter the atmosphere. Therefore, the control precision of the orbit control stage is an important link influencing the success or failure of the task.
The main factor affecting the accuracy of the tracking direction comes from the deviation of the thruster. Generally, the ground installation error of the thruster is about 0.2 degrees, the thruster is influenced by a deep space complex external heat flow environment, the structural thermal deformation of the thruster can also occur in the in-orbit flight process, and the deviation condition of a thrust vector is worse.
At present, most of main means for improving the tracking control precision adopt a method of multiple orbital transfer iterative correction. In a complete and duke type thruster on-orbit autonomous calibration method under the formation task multi-pulse control condition (CN 106094529A), the ground rail measurement mode is used for measuring the rail control deviation of each orbital transfer, and the deviation amount is used for correcting the next orbital transfer. And the high-precision track control is realized step by step through multiple iterations. The method is suitable for track change correction of multiple frequencies and low thrust, and cannot be used for track change with only one chance.
In an accelerometer-based interference compensation control method for a partial non-towed satellite (CN 104090493A), an accelerometer measurement value is used for compensating interference force and moment on an in-orbit satellite so as to ensure the stability of the satellite orbit.
In the method and implementation of the method for calibrating the orbit control of Chang 'e' a satellite in Tang Dynasty, Chen Li Dan and Liu Yong (see Chinese space science and technology, 12 months in 2009, 6 th period, page numbers 1-6), the calibration coefficients of a bottoming engine, a main engine and an accelerometer are calibrated by using orbit data before and after the orbit control and satellite-sensitive posture and acceleration telemetering in the orbit control process, and the calibration result is introduced into a subsequent orbit control task, so that the control precision is greatly improved. However, the method cannot be applied to the occasion of only one orbit changing opportunity, and in addition, if the calibration parameters change due to factors such as heat flow outside the space, the method fails.
In the research of an orbit control calibration method and the application of Chenlidan, Licorifei, Xixijianfeng and the like in rendezvous and docking (see the manned space, 2014, 1 month, 1 st stage, pages 16-20), the control result of an orbit element is used as a calibration basis, the interference torque of light pressure, aerodynamic resistance and the like is used as a part of thrust vector deviation, and the current circle calibration result is used as an input basis of next orbit control. The method can only adapt to the orbit control of the spacecraft with high-precision orbit determination conditions and cannot be applied to the field of deep space exploration.
The real-time correction method for the thrust vector of the deep space probe provided by the invention adopts the accelerometer to measure the deviation between the speed increment and the target value during orbit control in real time, corrects the attitude of the orbit control in real time and realizes high-precision orbit control.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an on-device attitude compensation method and system for thrust vector deviation of a deep space probe.
The invention provides an on-device attitude compensation method for thrust vector deviation of a deep space probe, which comprises the following steps:
step M1: calculating the attitude compensation correction amount during the track control according to the result of the calibration of the thrust direction of the engine on the ground;
step M2: and (4) injecting the attitude compensation correction amount during orbit control onto the spacecraft to implement, and compensating the thrust direction deviation of the spacecraft thruster.
Preferably, the step M1 includes:
step M1.1: calculating a projection l of a thrust vector under the system according to a result of the calibration of the thrust direction of the engine on the ground;
step M1.2: calculating an attitude correction quaternion delta q according to a projection l of the thrust vector under the system;
step M1.3: and calculating the corrected ignition target attitude according to the attitude correction quaternion delta q.
Preferably, said step M1.1 comprises:
the calculation formula of the projection l of the thrust vector under the system is as follows:
wherein, CfbAnd the mounting matrix of the thruster relative to the system in the satellite is shown, and alpha and beta represent deviation angles of the ground calibration thruster.
Preferably, said step M1.2 comprises:
wherein, the projection of the nominal thrust vector under the system is [100 ]; l is the projection of the actual thrust vector on the system; l (1) represents the projection of the thrust vector on the x-axis of the system.
Preferably, said step M1.3 comprises:
wherein q isboIs the target attitude before correction; q's'boRepresenting the corrected target pose.
The invention provides an on-device attitude compensation system for thrust vector deviation of a deep space probe, which comprises:
module M1: calculating the attitude compensation correction amount during the track control according to the result of the calibration of the thrust direction of the engine on the ground;
module M2: and (4) injecting the attitude compensation correction amount during orbit control onto the spacecraft to implement, and compensating the thrust direction deviation of the spacecraft thruster.
Preferably, said module M1 comprises:
module M1.1: calculating a projection l of a thrust vector under the system according to a result of the calibration of the thrust direction of the engine on the ground;
module M1.2: calculating an attitude correction quaternion delta q according to a projection l of the thrust vector under the system;
module M1.3: and calculating the corrected ignition target attitude according to the attitude correction quaternion delta q.
Preferably, said module M1.1 comprises:
the calculation formula of the projection l of the thrust vector under the system is as follows:
wherein, CfbRepresenting the mounting matrix of the thrusters with respect to the satellite-based system,and alpha and beta represent the deviation angle of the ground calibration thruster.
Preferably, said module M1.2 comprises:
wherein, the projection of the nominal thrust vector under the system is [100 ]; l is the projection of the actual thrust vector on the system; l (1) represents the projection of the thrust vector on the x-axis of the system.
Preferably, said module M1.3 comprises:
wherein q isboIs the pre-correction target attitude; q's'boRepresenting the corrected target pose.
Compared with the prior art, the invention has the following beneficial effects:
1. the method is used for compensating the thrust direction deviation of the spacecraft thruster so as to improve the orbital transfer precision;
2. according to the method, the thrust deviation attitude correction parameters are calculated through the engine thrust data measured on the ground, and attitude compensation is implemented on the deep space probe.
3. Through attitude compensation, the thrust direction deviation of the deep space probe is corrected, the orbital transfer precision is improved, meanwhile, the fuel consumption is reduced, and the service life of the probe is prolonged.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flow chart of a thrust vector deviation on-board attitude compensation method of the present invention.
FIG. 2 is a schematic diagram of the attitude compensation principle of the thrust vector deviation device of the present invention.
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 invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
The invention provides an on-board attitude compensation method for thrust vector deviation of a deep space probe, and aims to reduce the deviation of the thrust direction of the deep space probe during rail control, improve the rail control precision and save the fuel consumption.
According to the on-board attitude compensation method for the thrust vector deviation of the deep space probe, as shown in fig. 1-2, the method comprises the following steps:
step M1: calculating the attitude compensation correction amount during the track control according to the result of the calibration of the thrust direction of the engine on the ground;
step M2: and (3) the attitude compensation correction amount during the orbit control period is injected to the spacecraft to implement, and the thrust direction deviation of the spacecraft thruster is compensated, so that the orbit transfer precision is improved.
Preferably, the step M1 includes:
step M1.1: calculating the projection l of a thrust vector under the system according to the result of the calibration of the thrust direction of the engine on the ground, and injecting the parameter to a device for attitude compensation of the on-orbit thrust vector deviation; the system is a coordinate system fixedly connected with the satellite, and coordinate axes are associated with the construction layout of the satellite.
Step M1.2: calculating an attitude correction quaternion delta q according to a projection l of the thrust vector under the system;
step M1.3: and calculating the corrected ignition target attitude according to the attitude correction quaternion delta q, and controlling the whole device according to the corrected attitude to compensate the thrust direction deviation.
Preferably, said step M1.1 comprises:
the calculation formula of the projection l of the thrust vector under the system is as follows:
wherein, CfbAnd the mounting matrix of the thruster relative to the system in the satellite is shown, and alpha and beta represent deviation angles of the ground calibration thruster.
The method is used for the deep space probe, and because the ground cannot intervene in time delay, the attitude and the acceleration need to be solved and controlled at the same time in the ignition stage, so that the thrust deviation needs to be concerned.
Preferably, said step M1.2 comprises:
wherein, the projection of the nominal thrust vector under the system is [100 ]; l is the projection of the actual thrust vector on the system; l (1) represents the projection of the thrust vector on the x-axis of the system.
Preferably, said step M1.3 comprises:
wherein q isboIs the pre-correction target attitude; q's'boRepresenting the corrected target pose.
And introducing the corrected track control target attitude into an attitude control system for closed-loop control, and compensating a track control error caused by thrust vector deviation.
The invention provides an on-device attitude compensation system for thrust vector deviation of a deep space probe, which comprises:
module M1: calculating the attitude compensation correction amount during the track control according to the result of the calibration of the thrust direction of the engine on the ground;
module M2: and (4) injecting the attitude compensation correction amount during orbit control onto the spacecraft to implement, and compensating the thrust direction deviation of the spacecraft thruster so as to improve the orbit transfer precision.
Preferably, said module M1 comprises:
module M1.1: according to the result of the calibration of the thrust direction of the engine on the ground, calculating the projection l of a thrust vector under the system, injecting the parameter onto a device for attitude compensation of the on-orbit thrust vector deviation, and implementing and realizing the attitude compensation calculation method of the thrust vector deviation on the device; the system is a coordinate system fixedly connected with the satellite, and coordinate axes are associated with the construction layout of the satellite.
Module M1.2: calculating an attitude correction quaternion delta q according to a projection l of the thrust vector under the system;
module M1.3: and calculating the corrected ignition target attitude according to the attitude correction quaternion delta q, and controlling the whole device according to the corrected attitude to compensate the thrust direction deviation.
Preferably, said module M1.1 comprises:
the calculation formula of the projection l of the thrust vector under the system is as follows:
wherein, CfbAnd the alpha and beta represent the deviation angle of the ground calibration thruster.
The method is used for the deep space probe, and because the ground cannot intervene in time delay, the attitude and the acceleration need to be solved and controlled at the same time in the ignition stage, so that the thrust deviation needs to be concerned.
Preferably, said module M1.2 comprises:
wherein, the projection of the nominal thrust vector under the system is [100 ]; l is the projection of the actual thrust vector on the system; l (1) represents the projection of the thrust vector on the x-axis of the system.
Preferably, said module M1.3 comprises:
wherein q isboIs the target attitude before correction; q's'boRepresenting the corrected target pose.
And introducing the corrected track control target attitude into an attitude control system for closed-loop control, and compensating a track control error caused by thrust vector deviation.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. An on-board attitude compensation method for thrust vector deviation of a deep space probe is characterized by comprising the following steps:
step M1: calculating an attitude compensation correction amount during the track control according to a result of the calibration of the thrust direction of the engine on the ground;
step M2: injecting the attitude compensation correction amount during orbit control onto a spacecraft for implementation, and compensating the thrust direction deviation of a spacecraft thruster;
the step M1 includes:
step M1.1: calculating a projection l of a thrust vector under the system according to a result of the calibration of the thrust direction of the engine on the ground;
step M1.2: calculating an attitude correction quaternion delta q according to a projection l of the thrust vector under the system;
step M1.3: and calculating the corrected ignition target attitude according to the attitude correction quaternion delta q.
2. The method for compensating for the attitude of the deep space probe on the thrust vector deviation according to claim 1, wherein the step M1.1 comprises:
the calculation formula of the projection l of the thrust vector under the system is as follows:
wherein, CfbAnd the mounting matrix of the thruster relative to the system in the satellite is shown, and alpha and beta represent deviation angles of the ground calibration thruster.
3. The method for compensating for the attitude of the deep space probe on the thrust vector deviation according to claim 1, wherein the step M1.2 comprises:
wherein, the projection of the nominal thrust vector under the system is [100 ]; l is the projection of the actual thrust vector on the system; l (1) represents the projection of the thrust vector on the x-axis of the system.
4. The method for compensating for the attitude of the deep space probe on the thrust vector deviation according to claim 1, wherein the step M1.3 comprises:
wherein q isboIs the target attitude before correction; q's'boRepresenting the corrected target pose.
5. An attitude compensation system on a deep space probe thrust vector deviation device, comprising:
module M1: calculating the attitude compensation correction amount during the track control according to the result of the calibration of the thrust direction of the engine on the ground;
module M2: injecting the attitude compensation correction amount during orbit control onto a spacecraft for implementation, and compensating the thrust direction deviation of a spacecraft thruster;
the module M1 includes:
module M1.1: calculating a projection l of a thrust vector under the system according to a result of the calibration of the thrust direction of the engine on the ground;
module M1.2: calculating an attitude correction quaternion delta q according to a projection l of the thrust vector under the system;
module M1.3: and calculating the corrected ignition target attitude according to the attitude correction quaternion delta q.
6. The system for compensating for the attitude on board of the thrust vector deviation of the deep space probe according to claim 5, characterized in that said module M1.1 comprises:
the calculation formula of the projection l of the thrust vector under the system is as follows:
wherein, CfbAnd the mounting matrix of the thruster relative to the system in the satellite is shown, and alpha and beta represent deviation angles of the ground calibration thruster.
7. The system for compensating for the attitude on board of the thrust vector deviation of the deep space probe according to claim 5, characterized in that said module M1.2 comprises:
wherein, the projection of the nominal thrust vector under the system is [100 ]; l is the projection of the actual thrust vector on the system; l (1) represents the projection of the thrust vector on the x-axis of the system.
8. The system for compensating for the attitude on board of the thrust vector deviation of the deep space probe according to claim 5, characterized in that said module M1.3 comprises:
wherein q isboIs the target attitude before correction; q's'boRepresenting the corrected target pose.
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| US6481672B1 (en) * | 2001-01-18 | 2002-11-19 | Lockheed Martin Corporation | Gimbaled thruster control system |
| US9334068B2 (en) * | 2014-04-04 | 2016-05-10 | NOA Inc. | Unified orbit and attitude control for nanosatellites using pulsed ablative thrusters |
| CN104058104B (en) * | 2014-05-30 | 2015-12-30 | 北京控制工程研究所 | Without the high precision rail control method based on closing modulation a kind of in accelerometer situation |
| CN104932261A (en) * | 2015-05-26 | 2015-09-23 | 南京航空航天大学 | Attitude-orbit integrated thrust distribution method for satellite |
| CN109398764B (en) * | 2018-11-15 | 2020-08-14 | 上海航天控制技术研究所 | Remote ignition attitude deviation identification method |
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