Multi-directional driving task autonomous management control method suitable for Mars detection

A technology of autonomous management and control methods, applied in the direction of motor vehicles, space navigation equipment, space navigation aircraft, etc., can solve the problems of low on-orbit efficiency, inability to guarantee simultaneous pointing, etc., and achieve the effect of reducing dependence

Active Publication Date: 2020-08-04
SHANGHAI AEROSPACE CONTROL TECH INST
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Problems solved by technology

As a result, the control according to the fixed attitude reference cannot guarantee simultaneous pointing, and t

Method used

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  • Multi-directional driving task autonomous management control method suitable for Mars detection
  • Multi-directional driving task autonomous management control method suitable for Mars detection
  • Multi-directional driving task autonomous management control method suitable for Mars detection

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Embodiment

[0033] A multi-directional driving mission dynamic planning method suitable for Mars exploration, used in the orbit flight process, using real-time calculation of physical constraints of different targets, combined with its own driving capabilities, to dynamically plan the attitude reference. The method for dynamic programming of multi-point driving tasks includes the following steps:

[0034] S1. Define the coordinate system of the Mars rover body as O h x h Y h Z h , positive and negative O along the two wings of the sun wing h Y h Axial installation, and has around O h Y h Axis one-dimensional rotation capability; after the directional antenna is deployed, the electric axis points to negative O h Z h axis, and has around the body O h x h , O h Y h The two-dimensional rotation capability; X relay antenna axis in Y h o h Z h in-plane, with O h Z h The included angle of the shaft is 45°, and it has the ability to wrap around the body O h x h and O h Z h tw...

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Abstract

The invention discloses a multi-directional driving task autonomous management control method suitable for Mars detection. The method comprises the following steps: S1, according to driving constraints of a solar wing mounting and driving shaft of a Mars detector, a driving shaft of a directional antenna and a driving shaft of an X relay antenna, establishing a small-amplitude dynamic attitude reference capable of realizing multi-directional coverage on a nominal attitude reference in combination with an on-orbit sun vector, an earth vector and a lander vector, and providing a feasible attitude for autonomous management of multiple rotating parts; and S2, autonomously and dynamically tracking and pointing to respective targets according to a dynamic attitude reference established in the S1, a solar wing rotation range constraint, a directional antenna rotation range constraint and an X relay rotation range constraint, and autonomously feeding back the dynamic adjustment of the attitudereference after the rotation constraint range is exceeded so as to realize simultaneous pointing of multiple rotations. The method is simple and feasible, and the pressure of on-orbit time-sharing work of different rotating parts is reduced.

Description

technical field [0001] The invention relates to an autonomous management and control method for multi-directional driving tasks suitable for Mars exploration, and belongs to the technical field of probe attitude control and drive control. Background technique [0002] Our country will launch a Mars probe in 2020, and realize the conventional three-step process of "circling", "falling" and "patrolling" at one time. After the Mars exploration is put into orbit, in order to ensure energy supply, the normal of the solar wing should point to the sun; in order to ensure the function of measurement and control data transmission, the ground antenna should point to the earth; in order to ensure the effective data relay of the lander, the X relay antenna should be guaranteed Pointing to the lander; but due to the vector constraints of the sun, the earth and the lander, and the constraints of the installation of the solar wing, the installation of the directional antenna, and the insta...

Claims

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Application Information

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IPC IPC(8): B64G1/24G06F17/11
CPCB64G1/244G06F17/11
Inventor 王卫华曹赫扬刘斌操宏磊张超吴迪
Owner SHANGHAI AEROSPACE CONTROL TECH INST
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