Spacecraft attitude maneuvering path planning method under time-varying constraint

Abstract

The invention relates to a spacecraft attitude maneuver path planning method under time-varying constraint. The method comprises the following steps: establishing a new attitude maneuver path planning model; the method comprises the following steps: sampling a rotation path of a feature axis fixedly connected to a spacecraft in a celestial coordinate system at a fixed time interval delta t by using an RRT-GoalBias method, and judging whether the feature axis meets time-varying constraint of pointing or not until a group of path node sequences of rotation of the feature axis pointing from an initial pointing direction to a target pointing direction are obtained; rotation between the two nodes is achieved through one-time constant-speed fixed-axis rotation, and a state-time curve of the quaternion of spacecraft attitude maneuver is obtained; the attitude maneuvering spherical shell is used for describing the time history of rotation of a characteristic shaft and the change of a time-varying pointing constraint interval, reversely solving a time curve of a characteristic shaft vector and a time envelope surface of a time-varying pointing constraint area from an obtained quaternion state time curve, and drawing the time curve and the time envelope surface in the attitude maneuvering spherical shell. And judging whether the feature axis meets the pointing constraint or not, and completing the spacecraft attitude maneuver path planning work under the time-varying constraint.

Description

technical field [0001] The invention relates to a spacecraft attitude maneuver path planning method under time-varying constraints, and belongs to the technical field of spacecraft control. Background technique [0002] Spacecraft attitude motion plays an important role in many practical engineering tasks, including earth observation, observation of moving objects in space, and so on. In recent years, many new achievements have been made in the research on the path planning method of spacecraft attitude motion under multiple constraints. These constraints include two types [3] , pointing constraints from outside the spacecraft and control constraints from inside the spacecraft. The research on internal dynamics and kinematics constraints relies on controller design, which is relatively mature, while the research on external constraints starts relatively late, so it is the focus of current research. External orientation constraints can be divided into taboo constraints to a...

AI Technical Summary

Problems solved by technology

[0004] Although the existing spacecraft attitude path planning methods consider the situation that the multi-axis on the spacecraft satisfies multiple pointing constraints at the same time, but the pointing constraints are all time-invariant

When there are time-varying attitude constraints, the path constraints for spacecraft attitude maneuvers will be more complex, and the existing attitude maneuver path planning algorithms are difficult to apply

At the same time, the description of the attitude maneuvering path with pointing constraints in the existing research relies on the maneuvering path of the unit vector point in the direction of the constrained axis on the spacecraft on the unit sphere of the celestial coordinate system and the Mercator projection diagram of the path, which can only represent time-invariant The pointing constraint area of ​​, cannot describe the pointing constraint change under the time-varying constraint

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