CN115993777A - Track perturbation model inversion-based diameter-cut joint control decoupling iteration calibration method - Google Patents
Track perturbation model inversion-based diameter-cut joint control decoupling iteration calibration method Download PDFInfo
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Abstract
The invention discloses a track perturbation model inversion-based radial cut joint control decoupling iteration calibration method, which is based on the fact that the existing inverse process research of the track perturbation model inversion-based radial cut joint control iteration calibration method is little. The radial-tangential combined control decoupling iteration calibration method based on the orbit perturbation model inversion has the advantages of good reliability, strong operability and easiness in popularization and use, and the radial-tangential speed increment is calculated through the orbit number before and after satellite control and the orbit perturbation model inversion, so that the synchronous decoupling calibration of the radial thruster and the tangential thruster is realized, the limited calculation precision of an analytic model is considered, and the effectiveness of the calibration method is ensured by adopting numerical iteration in the calibration. The method can improve the orbit control precision of the radial cut joint control of the spacecraft, effectively saves the satellite fuel consumption, has certain economic benefit for the on-orbit operation of the spacecraft, and has important guiding significance for task implementation.
Description
Technical Field
The invention belongs to the technical field of spacecraft measurement and control, and relates to a radial cut joint control decoupling iteration calibration method based on orbit perturbation model inversion.
Background
The on-orbit calibration of the orbit control thruster coefficient is based on the actual measurement orbit number before control, the theoretical orbit number after control and the actual measurement orbit number after control, and various error factors which mainly influence the orbit control effect are comprehensively calibrated based on a correlation model and an algorithm, such as thrust errors of the orbit control thruster, satellite attitude errors and the like. The factors influencing the track control effect are many, the interrelationship is quite complex, and the exact decoupling and separation of the factors are not possible in engineering practice. In general, since the track-controlled thrusters are affected by factors such as on-track running conditions and environment, there is a certain deviation in the thrust amount of the thrusters, and this deviation is often a major factor affecting the track-controlled effect. Therefore, the thrust coefficient of the thruster needs to be calibrated after each track control, so that the calibrated coefficient is used in the subsequent track control, and the track control precision is improved.
With the continuous development of satellite application technology, satellite formation is a common satellite application mode, and under the limitation of satellite size and quality, the working efficiency of single satellite load can be greatly improved through satellite formation. Compared with single-satellite control, the satellite formation flying has higher control precision requirements on the orbit shape and the satellite position. To achieve fine control of the formation configuration, radial control and tangential control may be employed. Because radial and tangential velocity increments have coupling effects on 4 track elements such as a semi-long axis, eccentricity, a near-point amplitude angle, a near-point angle and the like in a track plane, and radial control efficiency is relatively low compared with tangential control efficiency, tangential control or radial decoupling control is generally adopted in most cases. Along with the gradual improvement of the requirements of spacecraft formation on the formation precision, in order to improve the control timeliness, a great deal of researches are carried out by students aiming at the direct-cut joint control, the thought is mainly based on an orbit perturbation model or a relative motion model, the influence of perturbation factors on the formation configuration is analyzed, and the high-precision control on the formation configuration is realized on the basis. However, the inverse process of the direct-cut joint control process is rarely researched, and a direct-cut joint control decoupling calibration method based on inversion of an orbit perturbation model does not exist at present.
Disclosure of Invention
The invention aims to provide a radial-cut joint control decoupling iteration calibration method based on orbit perturbation model inversion, which realizes synchronous decoupling calibration of a radial thruster and a tangential thruster.
The technical scheme adopted by the invention is a radial cut joint control decoupling iteration calibration method based on orbit perturbation model inversion, which is implemented according to the following steps:
step 1: determining parameters of satellite orbit before satellite orbit in intermediate time of direct-cut combined control, wherein the parameters comprise time T of satellite orbit s Semi-major axis a s Eccentricity e s Inclination angle i s The ascending intersection point is right through the meridian omega s Amplitude angle omega of near-spot s Angle of closest point M s ；
Step 2: setting a diameter cut joint control decoupling iteration calibration initial value including the time T of a temporary track t ＝T s Semi-major axis a t ＝a s Eccentricity e t ＝e s Inclination angle i t ＝i s The ascending intersection point is right through the meridian omega t ＝Ω s Amplitude angle omega of near-spot t ＝ω s Angle of closest point M t ＝M s Radial actual control speed increment Deltav re =0, tangential actual control speed increment Δv te ＝0；
Step 3: calculating the satellite position vector before the intermediate time control of the satellite position under the J2000.0 coordinate system
And velocity vector->
/>
step 4: according to the temporary track eccentricity e t And a mean angle of approach M t Iterative calculation of track approach point angle E at radial cut joint control intermediate moment t
E t ＝M t +e t sinE t ；
Step 5: calculating true and near point angle f of temporary track at intermediate moment of diameter-cutting combined control t And the average angular velocity n of the track t ；
Step 6: determining satellite orbit after satellite orbit in intermediate time of diameter cut joint control, wherein parameters comprise time T of satellite orbit e Half major axis a e Eccentricity e e Inclination angle i e The ascending intersection point is right through omega e Near-site amplitude angle omega e Angle of closest point M e ；
Step 7: calculating satellite position vector after intermediate time control of direct-cut joint control under J2000.0 coordinate system
And velocity vector
Step 8: calculating the semi-long axis variation delta a, the eccentricity variation delta e and the average point angle variation delta M of the radius cut joint control track;
step 9: calculating radial control speed increment correction δv according to inversion of orbit perturbation model re And a tangential control speed increase correction amount δv te ；
Step 10: calculating the radial actual control speed increment Deltav re And tangential actual control speed increment Deltav te ；
Step 11: calculating a temporary orbital satellite location vector in a J2000.0 coordinate system
And velocity vector->
Step 12: according to the time T of the temporary orbit of the satellite t Position and location
Speed->
Calculating the temporary orbit number of the satellite;
step 13: calculating the comprehensive deviation J of the temporary orbit and the controlled satellite orbit;
step 14: judging whether the comprehensive deviation J meets the precision requirement, if so, namely J < delta, wherein delta is an iterative calculation threshold value which can be manually selected according to the requirement, performing step 15, otherwise, turning to step 4;
step 15: and decoupling and calibrating the radial thruster and tangential thruster coefficients, and then realizing decoupling iterative calibration of radial-tangential combined control.
The invention is also characterized in that:
the calculation formula of the step 5 is as follows:
wherein arctan2 is an arctangent calculation function and μ is an earth gravitational constant.
The calculation formula of the step 7 is as follows:
the calculation formula of the step 8 is as follows:
the specific calculation process of the step 9 is as follows:
when the position of the diameter-cutting joint control intermediate moment is not near or far, i.e. sinf t When it is not equal to 0,
when the diameter-cutting joint control intermediate moment is positioned at a near site or a far site, i.e. sinf t When the value of the sum is =0,
the calculation formula of step 10 is:
the calculation formula of step 11 is:
wherein M is a transformation matrix from a satellite direct-cut method coordinate system to a J2000.0 coordinate system at the direct-cut combined control intermediate moment.
The calculation formula of step 12 is:
wherein ,
based on satellite orbit time T t Position->
Speed->
And calculating a function of the number of satellite orbits.
The calculation process of the comprehensive deviation J of the temporary orbit and the controlled satellite orbit in the step 13 is as follows: when the number of tracks is used for evaluation, the integrated deviation J is
J＝λ a |a t -a e |+λ e |e t -e e |+λ i |i t -i e |+λ Ω |Ω t -Ω e |+λ ω ω t -ω e |+λ M |M t -M e |
wherein λa 、λ e 、λ i 、λ Ω 、λ ω 、λ M The weight coefficients of the semi-long axis, the eccentricity, the inclination angle, the right ascent and intersection point, the near-place amplitude angle and the flat-near point angle are calculated respectively and can be manually selected according to the needs;
when using position and velocity for evaluation, the integrated deviation
wherein λr 、λ v The calculated weight coefficients of the position and the speed can be selected manually according to the needs.
The calculation formula in step 15 is:
wherein Δvrs Is the theoretical velocity increment of radial control, deltav ts Theoretical speed increment, k, of tangential control rs Is the radial thruster coefficient, k, used in this control ts Is the tangential thruster coefficient, deltav, used in this control rs 、Δv ts 、k rs and kts The method is obtained by the diameter cut joint control orbit transfer control parameters.
According to the radial-cut joint control decoupling iteration calibration method based on orbit perturbation model inversion, the radial-cut speed increment is calculated through satellite orbit and orbit perturbation model inversion before and after control, so that synchronous decoupling calibration of a radial thruster and a tangential thruster is realized. In consideration of limited calculation precision of the analytical model, the effectiveness of the calibration method is ensured by adopting numerical iteration in calibration, the rail control precision is greatly improved, and the method is high in reliability, strong in operability and easy to popularize and use.
Drawings
FIG. 1 is a flow chart of a radial cut joint control decoupling iteration calibration method based on orbit perturbation model inversion.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
In the following embodiment, a certain satellite a is used to perform formation flight around a certain satellite B, and the certain satellite a adopts a diameter cut joint control mode when the formation configuration is kept under control.
Example 1:
the invention discloses a track-switching joint control decoupling iteration calibration method based on inversion of an orbit perturbation model, which is shown in figure 1. When the position of the diameter-switching joint control middle moment is not in a near place or a far place, the specific implementation steps are as follows:
step 1: determining satellite orbit before satellite orbit in intermediate time of diameter cut joint control, wherein parameters comprise time T of satellite orbit s Half major axis a s Eccentric, eccentricRate e s Inclination angle i s The ascending intersection point is right through omega s Near-site amplitude angle omega s Angle of closest point M s ；
Step 2: setting a diameter cut joint control decoupling iteration calibration initial value including the time T of a temporary track t ＝T s Half major axis a t ＝a s Eccentricity e t ＝e s Inclination angle i t ＝i s The ascending intersection point is right through omega t ＝Ω s Near-site amplitude angle omega t ＝ω s Angle of closest point M t ＝M s Radial actual control speed increment Deltav re =0, tangential actual control speed increment Δv te ＝0；
Step 3: calculating the satellite position vector before the intermediate time control of the satellite position under the J2000.0 coordinate system
And velocity vector->
wherein F1 (t s ,a s ,e s ,i s ,Ω s ,ω s ,M s ) Based on satellite orbit time T s Semi-major axis a s Eccentricity e s Inclination angle i s The ascending intersection point is right through the meridian omega s Amplitude angle omega of near-spot s And a mean angle of approach M s Calculating satellite position vectors
And velocity vector->
Is a function of (2);
step 4: according to the temporary track eccentricity e t And a mean angle of approach M t Iterative processCalculating track approach point angle E of radius cut joint control intermediate moment t
E t ＝M t +e t sin E t ；
Step 5: calculating true and near point angle f of temporary track at intermediate moment of diameter-cutting combined control t And the average angular velocity n of the track t
Wherein arctan2 is an arctangent calculation function and μ is an earth gravitational constant;
step 6: determining satellite orbit after satellite orbit in intermediate time of diameter cut joint control, wherein parameters comprise time T of satellite orbit e Half major axis a e Eccentricity e e Inclination angle i e The ascending intersection point is right through omega e Near-site amplitude angle omega e Angle of closest point M e ；
Step 7: calculating satellite position vector after intermediate time control of direct-cut joint control under J2000.0 coordinate system
And velocity vector
Step 8: calculating the semi-long axis variation delta a, the eccentricity variation delta e and the average point angle variation delta M of the radius-cut joint control track
Step 9: calculating radial control speed increment correction δv according to inversion of orbit perturbation model re And a tangential control speed increase correction amount δv te
Step 10: calculating the radial actual control speed increment Deltav re And tangential actual control speed increment Deltav te
Step 11: calculating a temporary orbital satellite location vector in a J2000.0 coordinate system
And velocity vector->
Wherein M is a transformation matrix from a satellite direct-cut method coordinate system to a J2000.0 coordinate system at the direct-cut combined control intermediate moment;
step 12: according to the time T of the temporary orbit of the satellite t Position and location
Speed->
Calculating the temporary orbit number of satellite
wherein ,
based on satellite orbit time T t Position->
Speed->
Calculating a function of the number of satellite orbits;
step 13: calculating the comprehensive deviation J of the temporary orbit and the controlled satellite orbit, evaluating the comprehensive deviation by adopting the position speed
wherein λr 、λ v The calculated weight coefficients of the position and the speed can be selected manually according to the needs;
step 14: judging whether the comprehensive deviation J meets the precision requirement, if so, namely J < delta, wherein delta is an iterative calculation threshold value which can be manually selected according to the requirement, performing step 15, otherwise, turning to step 4;
step 15: decoupling calibration of radial thruster and tangential thruster coefficients
wherein Δvrs Is the theoretical velocity increment of radial control, deltav ts Theoretical speed increment, k, of tangential control rs Is the radial thruster coefficient, k, used in this control ts Is the tangential thruster coefficient, deltav, used in this control rs 、Δv ts 、k rs and kts The method is obtained by the diameter cut joint control orbit transfer control parameters.
Example 2
When the position of the diameter-switching joint control middle moment is near or far, the specific implementation steps are as follows:
step 1: determining satellite orbit before satellite orbit in intermediate time of diameter cut joint control, wherein parameters comprise time T of satellite orbit s Half major axis a s Eccentricity e s Inclination angle i s The ascending intersection point is right through omega s Near-site amplitude angle omega s Angle of closest point M s ；
Step 2: setting a diameter cut joint control decoupling iteration calibration initial value including the time T of a temporary track t ＝T s Half major axis a t ＝a s Eccentricity e t ＝e s Inclination angle i t ＝i s The ascending intersection point is right through omega t ＝Ω s Near-site amplitude angle omega t ＝ω s Angle of closest point M t ＝M s Radial actual control speed increment Deltav re =0, tangential actual control speed increment Δv te ＝0；
Step 3: calculating the satellite position vector before the intermediate time control of the satellite position under the J2000.0 coordinate system
And velocity vector->
wherein F1 (t s ,a s ,e s ,i s ,Ω s ,ω s ,M s ) Based on satellite orbit time T s Semi-major axis a s Eccentricity e s Inclination angle i s The ascending intersection point is right through the meridian omega s Amplitude angle omega of near-spot s And a mean angle of approach M s Calculating satellite position vectors
And velocity vector->
Is a function of (2);
step 4: according to the temporary track eccentricity e t And a mean angle of approach M t Iterative calculation of track approach point angle E at radial cut joint control intermediate moment t
E t ＝M t +e t sinE t ；
Step 5: calculating true and near point angle f of temporary track at intermediate moment of diameter-cutting combined control t And the average angular velocity n of the track t
Wherein arctan2 is an arctangent calculation function and μ is an earth gravitational constant;
step 6: determining satellite orbit after satellite orbit in intermediate time of diameter cut joint control, wherein parameters comprise time T of satellite orbit e Half major axis a e Eccentricity e e Inclination angle i e The ascending intersection point is right through omega e Near-site amplitude angle omega e Angle of closest point M e ；
Step 7: calculating satellite position vector after intermediate time control of direct-cut joint control under J2000.0 coordinate system
And velocity vector
Step 8: calculating the semi-long axis variation delta a, the eccentricity variation delta e and the average point angle variation delta M of the radius-cut joint control track
Step 9: calculating radial control speed increment correction δv according to inversion of orbit perturbation model re And a tangential control speed increase correction amount δv te
When the position of the diameter-cutting joint control intermediate moment is not near or far, i.e. sinf t When not equal to 0
When the diameter-cutting joint control intermediate moment is positioned at a near site or a far site, i.e. sinf t When=0
Step 10: calculating the radial actual control speed increment Deltav re And tangential actual control speed increment Deltav te
Step 11: calculating a temporary orbital satellite location vector in a J2000.0 coordinate system
And velocity vector->
step 12: according to the time T of the temporary orbit of the satellite t Position and location
Speed->
Calculating the temporary orbit number of satellite
wherein ,
based on satellite orbit time T t Position->
Speed->
Calculating a function of the number of satellite orbits;
step 13: calculating the comprehensive deviation J of the temporary orbit and the controlled satellite orbit, wherein the comprehensive deviation J is when the orbit number is adopted for evaluation
J＝λ a |a t -a e |+λ e |e t -e e |+λ i |i t -i e |+λ Ω |Ω t -Ω e |+λ ω |ω t -ω e |+λ M |M t -M e|, wherein λa 、
λ e 、λ i 、λ Ω 、λ ω 、λ M The weight coefficients of the semi-long axis, the eccentricity, the inclination angle, the right ascent and intersection point, the near-place amplitude angle and the flat-near point angle are calculated respectively and can be manually selected according to the needs;
when using position and velocity for evaluation, the integrated deviation
wherein λr 、λ v The calculated weight coefficients of the position and the speed can be selected manually according to the needs;
step 14: judging whether the comprehensive deviation J meets the precision requirement, if so, namely J < delta, wherein delta is an iterative calculation threshold value which can be manually selected according to the requirement, performing step 15, otherwise, turning to step 4;
step 15: decoupling calibration of radial thruster and tangential thruster coefficients
wherein Δvrs Is the theoretical velocity increment of radial control, deltav ts Theoretical speed increment, k, of tangential control rs Is the radial thruster coefficient, k, used in this control ts Is the tangential thruster coefficient, deltav, used in this control rs 、Δv ts 、k rs and kts The method is obtained by the diameter cut joint control orbit transfer control parameters.
Claims (10)
1. The track-cut joint control decoupling iteration calibration method based on the inversion of the orbit perturbation model is characterized by comprising the following steps of:
step 1: determining parameters of satellite orbit before satellite orbit in intermediate time of direct-cut combined control, wherein the parameters comprise time T of satellite orbit s Semi-major axis a s Eccentricity e s Inclination angle i s The ascending intersection point is right through the meridian omega s Amplitude angle omega of near-spot s Angle of closest point M s ；
Step 2: setting a diameter cut joint control decoupling iteration calibration initial value including the time T of a temporary track t ＝T s Semi-major axis a t ＝a s Eccentricity e t ＝e s Inclination angle i t ＝i s The ascending intersection point is right through the meridian omega t ＝Ω s Amplitude angle omega of near-spot t ＝ω s Angle of closest point M t ＝M s Radial actual control speed increment Deltav re =0, tangential actual control speed increment Δv te ＝0；
Step 3: calculating the satellite position vector before the intermediate time control of the satellite position under the J2000.0 coordinate system
And velocity vector
step 4: according to the temporary track eccentricity e t And a mean angle of approach M t Iterative calculation of track approach point angle E at radial cut joint control intermediate moment t
E t ＝M t +e t sinE t ；
Step 5: calculating true and near point angle f of temporary track at intermediate moment of diameter-cutting combined control t And the average angular velocity n of the track t ；
Step 6: determining satellite orbit after satellite orbit in intermediate time of diameter cut joint control, wherein parameters comprise time T of satellite orbit e Half major axis a e Eccentricity e e Inclination angle i e The ascending intersection point is right through omega e Near-site amplitude angle omega e Angle of closest point M e ；
Step 7: calculating satellite position vector after intermediate time control of direct-cut joint control under J2000.0 coordinate system
And velocity vector->
Step 8: calculating the semi-long axis variation delta a, the eccentricity variation delta e and the average point angle variation delta M of the radius cut joint control track;
step 9: calculating radial control speed increment correction δv according to inversion of orbit perturbation model re And a tangential control speed increase correction amount δv te ；
Step 10: calculating the radial actual control speed increment Deltav re And tangential actual control speed increment Deltav te ；
Step 11: calculating a temporary orbital satellite location vector in a J2000.0 coordinate system
And velocity vector->
Step 12: according to the time T of the temporary orbit of the satellite t Position and location
Speed->
Calculating the temporary orbit number of the satellite;
step 13: calculating the comprehensive deviation J of the temporary orbit and the controlled satellite orbit;
step 14: judging whether the comprehensive deviation J meets the precision requirement, if so, namely J < delta, wherein delta is an iterative calculation threshold value which can be manually selected according to the requirement, performing step 15, otherwise, turning to step 4;
step 15: and decoupling and calibrating the radial thruster and tangential thruster coefficients, and then realizing decoupling iterative calibration of radial-tangential combined control.
2. The track-perturbation-model-inversion-based radial-tangential-control decoupling iterative calibration method of claim 1, wherein the calculation formula of the step 5 is as follows:
wherein arctan2 is an arctangent calculation function and μ is an earth gravitational constant.
3. The track-perturbation-model-inversion-based radial-tangential-control decoupling iterative calibration method according to claim 1, wherein the calculation formula of the step 7 is as follows:
4. the track-perturbation-model-inversion-based radial-tangential-control decoupling iterative calibration method of claim 1, wherein the calculation formula of the step 8 is as follows:
5. the track-perturbation-model-inversion-based radial-tangential-control decoupling iterative calibration method according to claim 1, wherein the specific calculation process of the step 9 is as follows:
when the position of the diameter-cutting joint control intermediate moment is not near or far, i.e. sinf t When it is not equal to 0,
when the diameter-cutting joint control intermediate moment is positioned at a near site or a far site, i.e. sinf t When the value of the sum is =0,
6. the track-perturbation-model-inversion-based radial-tangential-control decoupling iterative calibration method of claim 1, wherein the calculation formula of the step 10 is:
7. the track-perturbation-model-inversion-based radial-tangential-control decoupling iterative calibration method according to claim 1, wherein the calculation formula of the step 11 is as follows:
wherein M is a transformation matrix from a satellite direct-cut method coordinate system to a J2000.0 coordinate system at the direct-cut combined control intermediate moment.
8. The track-perturbation-model-inversion-based radial-tangential-control decoupling iterative calibration method according to claim 1, wherein the calculation formula of the step 12 is as follows:
wherein ,
based on satellite orbit time T t Position->
Speed->
Calculating satellite orbitsA function of the root number.
9. The track cut joint control decoupling iteration calibration method based on the inversion of the orbit perturbation model according to claim 1, wherein the calculation process of the comprehensive deviation J of the temporary orbit and the controlled satellite orbit in the step 13 is as follows: when the number of tracks is used for evaluation, the integrated deviation J is
J＝λ a |a t -a e |+λ e |e t -e e |+λ i |i t -i e |+λ Ω |Ω t -Ω e |+λ ω |ω t -ω e |+λ M |M t -M e |
wherein λa 、λ e 、λ i 、λ Ω 、λ ω 、λ M The weight coefficients of the semi-long axis, the eccentricity, the inclination angle, the right ascent and intersection point, the near-place amplitude angle and the flat-near point angle are calculated respectively and can be manually selected according to the needs;
when using position and velocity for evaluation, the integrated deviation
wherein λr 、λ v The calculated weight coefficients of the position and the speed can be selected manually according to the needs.
10. The track-perturbation-model-inversion-based radial-tangential-control decoupling iterative calibration method of claim 1, wherein the calculation formula of the step 15 is:
wherein Δvrs Is the theoretical velocity increment of radial control, deltav ts Theoretical speed increment, k, of tangential control rs Is the radial thruster coefficient, k, used in this control ts Is the tangential thruster coefficient, deltav, used in this control rs 、Δv ts 、k rs and kts The method is obtained by the diameter cut joint control orbit transfer control parameters.
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| CN116946392A (en) * | 2023-07-12 | 2023-10-27 | 中国西安卫星测控中心 | Geosynchronous satellite electric propulsion dip angle control method based on multidimensional attitude bias |
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| CN116946392A (en) * | 2023-07-12 | 2023-10-27 | 中国西安卫星测控中心 | Geosynchronous satellite electric propulsion dip angle control method based on multidimensional attitude bias |
| CN116946392B (en) * | 2023-07-12 | 2024-03-05 | 中国西安卫星测控中心 | Geosynchronous satellite electric propulsion dip angle control method based on multidimensional attitude bias |
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