Collision avoiding method for ground testing system of satellite formation flying

A ground test system and collision avoidance technology, applied in general control systems, control/adjustment systems, instruments, etc., can solve problems such as collisions and achieve the effect of avoiding collisions

Inactive Publication Date: 2012-07-04
HARBIN INST OF TECH
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  • Summary
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the simulated satellites will inevitably collide due to the intersection of trajectories due to the fact that each simulated satellite operates according to its own dynamics during the satellite formation flight, and provides a collision avoidance method for the satellite formation flight ground test system

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  • Collision avoiding method for ground testing system of satellite formation flying
  • Collision avoiding method for ground testing system of satellite formation flying
  • Collision avoiding method for ground testing system of satellite formation flying

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specific Embodiment approach 1

[0017] Specific implementation mode one: combine figure 1 Describe this embodiment, the collision avoidance method of a kind of satellite formation flight ground test system described in this embodiment includes specific steps as follows:

[0018] Step 1. Select the operation mode; the total number of simulated satellites in the system is N, and N is a positive integer;

[0019] Step 2. Set the collision risk factor threshold P 0 ;Collision risk factor threshold P 0 For preset constant value;

[0020] Step 3, normal operation mode; in normal operation mode, the collision risk coefficient Pi is calculated for each control cycle, and the collision risk coefficient Pi is the shortest distance between the i-th simulated satellite and the j-th simulated satellite under no-collision control:

[0021] P i = min j ≠ i | | ...

specific Embodiment approach 2

[0026] Specific implementation mode two: this implementation mode is a further limitation of the collision avoidance method of a satellite formation flight ground test system described in the first implementation mode, and the principle of the artificial potential field method is used as described in step five to calculate the i-th simulated satellite The control force Fi is specifically:

[0027] The working space of the i-th simulated satellite is X i =[x i the y i ] T , the value of the potential field at each point in the space is:

[0028] U(X i ) = U G (X i , X Gi )+U O (X i , X j ), where U G (X i ) and U O (X i , X j ) are the gravitational field relative to the target and the repulsive field between simulated satellites;

[0029] The target gravitational field of simulated satellite i is:

[0030] U G ( X i ) = 1...

specific Embodiment approach 3

[0038] Specific embodiment three: This embodiment is a specific embodiment of specific embodiment one. In this embodiment, the measurement method of data is: obtain the simulated satellite orbit and attitude information through indoor positioning system measurement, and the fiber optic gyroscope is used as the simulated satellite attitude angular velocity The sensor is used to measure angular velocity; Bluetooth is used to realize information interaction between simulated satellites, and wireless local area network is used to realize satellite-ground information interaction; combined with the actual background, the application process of the invented collision avoidance method in the test system is described in detail:

[0039] Step 1. Select the operation mode; the system has 2 simulated satellites in total. According to the selected task, select the satellite formation flight ground test system to enter the normal operation mode;

[0040] During the formation reconstruction p...

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Abstract

A collision avoiding method for a ground testing system of satellite formation flying solves the problem that collision of simulation satellites cannot be avoided due to intersection of tracks and the fact that the simulation satellites move according to respective dynamic theory in satellite formation flying. The method specifically includes steps of: 1 choosing a moving mode; 2 setting a collision danger coefficient threshold P0; 3 choosing a normal moving mode, calculating collision danger coefficient Pi in each control period, and detecting the collision danger coefficient Pi; 4 judging Pi>P0; and 5 entering a collision avoiding mode, obtaining control force Fi of the ith simulation satellite according to artificial potential field, controlling the ith simulation satellite through the control force Fi to achieve collision avoiding, detecting the collision danger coefficient Pi and returning to step 3. The collision avoiding method is suitable for the field of ground testing systems of satellite formation.

Description

technical field [0001] The invention relates to a collision avoidance method for satellite formation flight ground test. Background technique [0002] Due to the characteristics of short development period, low cost and strong adaptability of formation flying satellites, the research on formation flying satellites has become a research hotspot at home and abroad in recent years. When the formation flying satellites are in orbit, the configuration can be reconfigured according to the mission requirements, but the collision avoidance problem must be considered during the maneuvering process. [0003] In the process of satellite development, full physical simulation at the system level is very necessary, which can effectively verify the theoretical algorithm and simulate the motion state of the satellite more realistically. In the full physical simulation, a platform with a smooth surface is used as the simulation platform, the three-degree-of-freedom air-floating turntable is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05B17/02
Inventor 张锦绣王继河曹喜滨兰盛昌侯振东张相宇
Owner HARBIN INST OF TECH
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