An energy-constrained satellite orbit semi-major axis autonomous control method, system, product, device and storage medium

Abstract

A method, system, product, equipment, and storage medium for autonomous control of the satellite's semi-major axis based on energy constraints are disclosed. Belonging to the field of on-orbit satellite orbit control, this invention solves the problem that existing technologies rely on manual ground planning and command uploading, making it difficult to meet the needs of efficient autonomous orbit control for large-scale constellations. The method involves acquiring the satellite's real-time position and velocity, calculating the corresponding orbit control discrimination parameters, combining a bilateral semi-major axis threshold orbit control strategy to obtain the required orbit control quantities, acquiring the current solar phase angle and satellite orbit parameters, calculating the shadow area initiation phase, and the start time of control. Based on the required orbit control quantities and the energy constraints of a single orbit control operation, the planned orbit control duration parameters are calculated. The start time and planned orbit control duration parameters are used as orbit control execution parameters to achieve autonomous control of the satellite's semi-major axis.

Description

Technical Field

[0001] This invention relates to the field of on-orbit satellite orbit control, specifically to methods, systems, products, equipment, and storage media for autonomous control of the semi-major axis of satellite orbits based on energy constraints. Background Technology

[0002] Traditional satellite orbit control missions rely on planning and calculations by ground personnel. The calculated orbit control parameters are then transmitted to the satellites in orbit as commands via ground transit cycles. Upon receiving these commands, the satellites decompose the mission parameters and execute the orbit control actions. However, with the increasing demand for large-scale low-Earth orbit (LEO) constellations, the extremely high frequency of orbit control and the massive number of satellites pose significant challenges to orbit control execution methods. Traditional ground-based orbit control methods are insufficient to meet current needs in terms of human resources, telemetry and control resources, and execution accuracy.

[0003] In summary, existing technologies rely on manual planning and command input from the ground, which makes it difficult to meet the needs of efficient and autonomous orbit control for large-scale constellations. Summary of the Invention

[0004] This invention solves the problem that existing technologies rely on manual planning and command input from the ground, which makes it difficult to meet the needs of efficient and autonomous orbit control for large-scale constellations.

[0005] The present invention discloses an autonomous control method for the semi-major axis of a satellite orbit based on energy constraints, comprising the following steps: Step 1: Obtain the real-time position and velocity of the satellite, and calculate the corresponding orbit control discrimination parameters for the satellite; Step 2: Based on the track control discrimination parameters calculated in Step 1, and combined with the bilateral semi-major axis threshold track control strategy, the track control quantities to be executed are obtained. Step 3: Obtain the solar phase angle and satellite orbit parameters at the current moment, calculate the starting phase of the shadow area, and the start time of control. Step 4: Calculate the planned track control duration parameters based on the track control quantities required and the energy constraints of a single track control operation. Step 5: Use the start time and planned orbit control duration parameters as orbit control execution parameters to perform orbit control and achieve autonomous control of the satellite's orbital semi-major axis.

[0006] Furthermore, in one embodiment of the present invention, the calculation of the orbit control discrimination parameters for the corresponding satellite in step 1 specifically includes: The satellite's real-time position and velocity are converted into the root mean square axis (RMA) of its orbit, and an adaptive low-pass filter is applied to the RMA to obtain the current RMA value. The RMA value at a future time is then predicted, with a preset target reference value. The deviation between the root value of the semi-major axis at a future time and the target reference value is used as the track control discrimination parameter. .

[0007] Furthermore, in one embodiment of the present invention, the bilateral semi-long axis threshold track control strategy in step 2 is specifically as follows: Based on the preset upper limit of the semi-major axis control value Lower limit of semi-major axis control quantity recognition and error buffer value Determine the track control quantities that need to be executed.

[0008] Furthermore, in one embodiment of the present invention, when At that time, autonomous orbit control was executed to lower the orbit, enabling... The corresponding track control quantities that need to be executed are ; when At that time, autonomous track control is executed to raise the rails, enabling... The corresponding track control quantities that need to be executed are ; when and At that time, track control is not performed; in, This is the semi-major axis of the satellite's current orbit.

[0009] Furthermore, in one embodiment of the present invention, step 3 calculates the solar phase angle at any given time based on the current solar phase angle and satellite orbit parameters: ; in, This represents the second-order gravitational field coefficient of Earth. For the Earth's radius, For the track semi-drilled diameter, The orbital angular velocity under two-body conditions. To account for the orbital angular velocity under second-order gravitational field conditions, For the track inclination angle, For the current moment The solar phase angle, For the first time; The phase angle at the starting point of the shadow region is: ; in, The root of the semi-major axis of the track is flat. The angle between the orbital planes; when = When the time is set, the corresponding moment will be used as the start time.

[0010] Furthermore, in one embodiment of the present invention, the calculation of the planned track control duration parameters in step 4 specifically involves: Calculate the initial track control duration parameters based on the track control quantities to be executed in step 2: ; in, The coefficient of Earth's gravitational field. To improve the ratio of thrust to satellite mass, For the predicted future The semi-major axis of the moment is at its root; Based on the energy constraints of a single orbit control operation, determine the planned orbit control duration parameters: ; in, This is the longest single track control operation.

[0011] The energy-constrained satellite orbit semi-major axis autonomous control system of the present invention includes the following modules: Module 1: Obtain the real-time position and velocity of the satellite and calculate the corresponding orbit control discrimination parameters for the satellite; Module 2, based on the track control discrimination parameters calculated in Module 1, combined with the bilateral semi-major axis threshold track control strategy, obtains the track control quantities that need to be executed; Module 3 obtains the solar phase angle and satellite orbit parameters at the current moment, calculates the starting phase of the shadow area, and the start time of control. Module 4 calculates the planned track control duration parameters based on the track control quantities required and the energy constraints of a single track control operation. Module 5 uses the start time and planned orbit control duration parameters as orbit control execution parameters to perform orbit control execution, thereby achieving autonomous control of the satellite's orbital semi-major axis.

[0012] The computer program product described in this invention includes a computer program or instructions that, when executed by a processor, implement any of the above-described energy-constrained satellite orbit semi-major axis autonomous control methods.

[0013] The electronic device of the present invention includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus. Memory, used to store computer programs; When the processor executes the program stored in the memory, it implements any of the above-described energy-constrained satellite orbit semi-major axis autonomous control methods.

[0014] The present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the above-described energy-constrained satellite orbit semi-major axis autonomous control methods.

[0015] This invention solves the problem that existing technologies rely on manual ground planning and command transmission, making it difficult to meet the needs of efficient autonomous orbit control for large-scale constellations. Specific beneficial effects of this invention include: 1. This invention proposes an energy-constrained autonomous control method for the semi-major axis of satellite orbits. This method first performs adaptive low-pass filtering on the real-time semi-major axis root element to obtain accurate orbit control reference variables. Then, it calculates the orbit control quantities based on a bilateral semi-major axis threshold orbit control strategy with an error buffer band. Next, it provides a method for calculating the start time of the shadow zone considering energy conditions. Finally, based on the energy limit of a single orbit control operation, it calculates the start point time, orbit control duration, and other orbit control execution parameters. This autonomous satellite orbit control mode reduces reliance on human resources and ground-based telemetry and control resources. It only requires processing the real-time position and velocity of the satellite measured by the onboard navigation receiver into orbit observations, and then combining this with the onboard autonomous orbit control strategy algorithm to calculate the orbit control parameters. 2. This invention proposes an energy-constrained autonomous control method for the semi-major axis of satellite orbits. It can also achieve efficient autonomous calculation of the semi-major axis and optimized design of the autonomous orbit control strategy during autonomous orbit control, based on actual needs. Furthermore, since most satellites need to adjust the attitude of the entire satellite or solar panels during orbit control missions, thus reducing charging efficiency, this invention, in addition to proposing an orbit control strategy that considers measurement errors, also addresses the limitations imposed by energy constraints such as the start time of the shadow zone and the duration of a single orbit control operation during autonomous orbit control. It also overcomes the shortcomings of general autonomous orbit control algorithms, such as high computational load and limited consideration of constraints, which lead to conflicts in on-orbit applications. Attached Figure Description

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of the satellite orbit semi-major axis autonomous control method described in Implementation Method 1; Figure 2 This is a schematic diagram of the autonomous orbit semi-major axis maintenance principle described in Implementation Method 1; Figure 3 This is a flowchart of the calculation of the start time of the shadow area as described in Implementation Method 1; Figure 4 This is a graph showing the curves before and after the semi-major axis flat root filtering described in Implementation Method 2. Detailed Implementation

[0017] Various embodiments of the present invention will now be clearly and completely described with reference to the accompanying drawings. The embodiments described with reference to the drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0018] Implementation Method 1: Currently, most on-orbit satellites still primarily employ traditional ground-based orbit control methods for their orbit control missions, with limited application of autonomous orbit control technology. There is also a lack of consensus on the research and design of autonomous orbit control. Existing autonomous orbit control schemes generally lack effective consideration of energy constraints in their design, lack an efficient execution algorithm that matches the onboard computing power, and fail to address execution conflicts caused by semi-major axis calculation errors in their orbit control strategies.

[0019] To address the aforementioned technical problems, this embodiment proposes an autonomous track control method capable of efficiently implementing semi-major axis track control functions and considering energy constraints, such as... Figure 1 As shown, it specifically includes the following: Step 1: First, calculate the semi-major axis orbit control discrimination parameters. Obtain the satellite's real-time position and velocity from the output data of the onboard navigation receiver, convert it into the square root of the semi-major axis of the orbit, further process the parameters using an adaptive first-order low-pass filter, and compare it with the target orbit value to form the orbit control discrimination parameters.

[0020] First, using the inertial frame position and velocity output by the spaceborne navigation receiver as the initial observation, The real-time observations at each time point are converted into the root mean square (RMS) of the orbit's semi-major axis. The RMS conversion method used is based on Brouwer's method. The expression for the RMS of the semi-major axis can be given as: ; in, The instantaneous root of the semi-major axis of the orbit. The root of the semi-major axis of the track is flat. For the sake of the Earth The short-period terms of the orbital semi-major axis affected by the main perturbation terms.

[0021] The treated semi-major axis of the track is flat at the root. The system still contains some short-period fluctuations, which can interfere with orbit control decisions and affect orbit control accuracy. Therefore, it is necessary to find an efficient real-time processing method suitable for onboard computers.

[0022] To address the aforementioned issues, this implementation method employs a first-order inertial filtering method to perform low-pass filtering on the semi-major axis horizontal root of the track to obtain its long-term true variation. The filtering formula for the converted track horizontal root number is as follows: ; in, This is the root-square filter value of the semi-major axis at the current moment. This is the root-square filter value of the semi-major axis at the previous time step. This is the adaptive factor for inertial filtering. , The orbital period is calculated in real time. It is a multiple of the orbital period. The size determines the filtering accuracy and The delay period.

[0023] To predict the root value of the semi-major axis at a future time, the following method is proposed: ; in, For the predicted future The semi-major axis of time is flat at the root. The root of the semi-major axis at the current lap time. for The semi-major axis flat root before the moment.

[0024] The principle of this method is to use the correlation of semi-major axis horizontal root changes over a short period of time for short-term prediction.

[0025] by The time corresponding For reference, the target reference value for track semi-major axis control is Then the track control discrimination parameters That is, the difference between the calculated semi-major axis root value and the target reference value is: .

[0026] Step 2: Implement autonomous track control strategy determination and track control quantity calculation. Based on the actual track semi-major axis control accuracy requirements, set the upper and lower limits for semi-major axis control quantity recognition, as well as the error buffer value. Using these settings, input the bilateral semi-major axis threshold track control strategy algorithm based on the error buffer band. Based on the track control discrimination parameters obtained in Step 1, input the above strategy to perform conditional determination, and obtain the track control quantity to be executed.

[0027] In this embodiment, the semi-major axis control of the track adopts a "double-sided threshold control scheme based on error buffer zone". This scheme, based on the double-sided threshold control scheme, further proposes and addresses the problem of wasted control costs due to errors in track determination calculations and track control. Its basic principle is as follows: Figure 2 As shown.

[0028] The specific control strategy is as follows: Assuming the target reference value for the semi-major axis control of the track is Controlled and executed , This is the upper limit for recognizing the semi-major axis control quantity. This is the lower limit for recognizing the semi-major axis control quantity. To control the error buffer value, the track control execution strategy is based on the track control discrimination parameters. The control quantity is then determined relative to the aforementioned control threshold. Therefore: when At that time, autonomous orbit control was executed to lower the orbit, enabling... The corresponding track control quantities that need to be executed are ; when At that time, autonomous track control is executed to raise the rails, enabling... To ensure the longest possible track decay time within the threshold, the corresponding track control quantity to be executed is: ; when and At that time, track control is not performed; in, This is the semi-major axis of the satellite's current orbit.

[0029] Step 3: Calculate the track control start-up point constraint parameters based on energy conditions. First, derive and calculate the phase at the start of the shaded area. Then, derive the phase recursion formula for any given time and calculate the time when the phase at the start of the shaded area is satisfied. The calculation process is as follows: Figure 3 As shown.

[0030] First, it is known that the current situation is... Solar phase angle at time Under the condition that, it is derived that at any time Corresponding phase angle as follows: ; in, This represents the second-order gravitational field coefficient of Earth. For the Earth's radius, For the track semi-drilled diameter, The orbital angular velocity under two-body conditions. To account for the orbital angular velocity under second-order gravitational field conditions, For the track inclination angle, For the current moment The solar phase angle, For the first time; Given the angle between the current orbital solar vector and the orbital plane. Next, the phase at the starting point of the shadow region is calculated. Based on the geometric occlusion relationship, the expression for the shadow region is as follows: ; in, To find the root of the semi-major axis of the track, we can use the result obtained in step one. Instead of calculation, The angle between the orbital planes; Next, combining the phase angle at any given time with the condition satisfying the phase angle at the start of the shadow region, we get... When, solve for the corresponding time. This allows us to obtain the conditions that satisfy the starting moment of entering the shadow region.

[0031] Step 4: Calculate autonomous track control parameters based on constraints. Based on the track control quantities obtained in Step 2, and combined with the energy constraints for the longest single track control time, calculate the planned track control duration parameters.

[0032] First, the ratio of propulsion thrust to satellite mass is known to be... Longest single track control operation ,in Generally, this is also determined by energy constraints. It is determined by the orbital control quantity D that needs to be executed in step 2. Calculate the required track control duration for: ; in, is the Earth's gravitational field coefficient.

[0033] if If it is positive, then it is a descending trajectory, such as... If it is negative, it indicates an ascending trajectory.

[0034] Longest time under energy constraints Final orbit control duration The value can be: ; Finally, the start time of the track control operation is obtained. Track control duration The execution module is sent to perform autonomous track control tasks according to these parameters.

[0035] Step 5: Finally, the parameters such as the starting point and duration of the track control operation are sent to the onboard execution module as track control execution parameters for track control execution.

[0036] To enhance the automation capability of on-orbit satellite semi-major axis control while considering the overall satellite energy usage constraints during orbit control, this implementation proposes an on-orbit autonomous semi-major axis control method. This method includes algorithms such as real-time determination of the semi-major axis, generation of autonomous semi-major axis control strategies, autonomous calculation of the start time of crossing the shadow zone, and calculation of orbit control parameters considering energy constraints. This method is mainly applicable to satellites that need to efficiently and autonomously execute semi-major axis orbit control tasks while considering energy constraints.

[0037] Implementation Method 2: This implementation method selects different application scenarios to compare the calculation results. The reference benchmark is ground-based manual orbit control mission planning software. The orbit calculation part uses the HPOP model for recursive calculation, taking into account the actual orbit changes caused by higher-order gravity models and atmospheric drag.

[0038] The actual orbit of the low-Earth orbit satellite at an altitude of 534 km was selected, with orbital times corresponding to UTC: 00:00 on February 18, 2019 to 00:00 on February 19, 2019. (Relative maintenance upper limit) The range is 300 meters, maintaining the lower limit. -300 meters, error buffer value It is 150 meters.

[0039] The task conditions for the three sets of scenarios are shown in the table below: Table 1. Task conditions for three application scenarios

[0040] First, a low-pass filter is applied to the semi-major axis root. The comparison before and after filtering is shown in the following figure. Figure 4 As shown, the red curve represents the processed data.

[0041] It can be observed that the error fluctuation of the semi-major axis after filtering remains within ±20 meters. The calculation of autonomous track control parameters is set to begin at 12:00 on February 18, 2019. Using the processed track as a reference, and based on the three application scenarios in Table 2, the longest single track control time is constrained to 6000 seconds, and the start time of track control execution is calculated accordingly. Track control duration Finally, a comparison was made with the manual ground software, as shown in the table below: Table 2 Comparison of calculation results for three application scenarios

[0042] According to the calculation errors in Table 3, it can be found that, under the condition of energy constraints, the errors of the start-up time and track control duration calculated by this method are small and within an acceptable range, which proves that the calculation of autonomous track control parameters is correct and the calculation method of this embodiment is effective.

[0043] The algorithm has been developed into an application program that uses the actual orbital parameters of multiple satellites as input conditions and their energy and orbital control parameters as constraints and usage conditions. After simulation verification, it meets the usage requirements.

[0044] Implementation Method 3: An energy-constrained satellite orbit semi-major axis autonomous control system, comprising the following modules: Module 1: Obtain the real-time position and velocity of the satellite and calculate the corresponding orbit control discrimination parameters for the satellite; Module 2, based on the track control discrimination parameters calculated in Module 1, combined with the bilateral semi-major axis threshold track control strategy, obtains the track control quantities that need to be executed; Module 3 obtains the solar phase angle and satellite orbit parameters at the current moment, calculates the starting phase of the shadow area, and the start time of control. Module 4 calculates the planned track control duration parameters based on the track control quantities required and the energy constraints of a single track control operation. Module 5 uses the start time and planned orbit control duration parameters as orbit control execution parameters to perform orbit control execution, thereby achieving autonomous control of the satellite's orbital semi-major axis.

[0045] Implementation Method 4: A computer program product, comprising a computer program or instructions, which, when executed by a processor, implements any of the above-described energy-constrained satellite orbit semi-major axis autonomous control methods.

[0046] Implementation Method 5: An electronic device includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus. Memory, used to store computer programs; When the processor executes the program stored in the memory, it implements any of the above-described energy-constrained satellite orbit semi-major axis autonomous control methods.

[0047] Implementation Method Six: A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements any of the above-described energy-constrained satellite orbit semi-major axis autonomous control methods.

[0048] The foregoing has provided a detailed description of the energy-constrained autonomous control method, system, product, equipment, and storage medium for the semi-major axis of satellite orbit proposed in this invention. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A method for autonomous control of the semi-major axis of a satellite orbit based on energy constraints, characterized in that, Includes the following steps: Step 1: Obtain the real-time position and velocity of the satellite, and calculate the corresponding orbit control discrimination parameters for the satellite; Step 2: Based on the track control discrimination parameters calculated in Step 1, and combined with the bilateral semi-major axis threshold track control strategy, the track control quantities to be executed are obtained. Step 3: Obtain the solar phase angle and satellite orbit parameters at the current moment, calculate the starting phase of the shadow area, and the start time of control. Step 4: Calculate the planned track control duration parameters based on the track control quantities required and the energy constraints of a single track control operation. Step 5: Use the start time and planned orbit control duration parameters as orbit control execution parameters to perform orbit control and achieve autonomous control of the satellite's orbital semi-major axis.

2. The method for autonomous control of the semi-major axis of a satellite orbit based on energy constraints according to claim 1, characterized in that, The calculation of the orbit control discrimination parameters for the corresponding satellite in step 1 is specifically as follows: The satellite's real-time position and velocity are converted into the root mean square axis (RMA) of its orbit, and an adaptive low-pass filter is applied to the RMA to obtain the current RMA value. The RMA value at a future time is then predicted, with a preset target reference value. The deviation between the root value of the semi-major axis at a future time and the target reference value is used as the track control discrimination parameter. .

3. The method for autonomous control of the semi-major axis of a satellite orbit based on energy constraints according to claim 1, characterized in that, The bilateral semi-long axis threshold track control strategy in step 2 is as follows: Based on the preset upper limit of the semi-major axis control value Lower limit of semi-major axis control quantity recognition and error buffer value Determine the track control quantities that need to be executed.

4. The method for autonomous control of the semi-major axis of a satellite orbit based on energy constraints according to claim 3, characterized in that, when At that time, autonomous orbit control was executed to lower the orbit, enabling... The corresponding track control quantities that need to be executed are ; when At that time, autonomous track control is executed to raise the rails, enabling... The corresponding track control quantities that need to be executed are ; when and At that time, track control is not performed; in, This represents the semi-major axis of the satellite's current orbit.

5. The method for autonomous control of the semi-major axis of a satellite orbit based on energy constraints according to claim 1, characterized in that, Step 3 calculates the solar phase angle at any given time based on the current solar phase angle and satellite orbit parameters: ； in, This represents the second-order gravitational field coefficient of Earth. For the Earth's radius, For the track semi-drilled diameter, The orbital angular velocity under two-body conditions. To account for the orbital angular velocity under second-order gravitational field conditions, For the track inclination angle, For the current moment The solar phase angle, For the first time; The phase angle at the starting point of the shadow region is: ； in, The root of the semi-major axis of the track is flat. The angle between the orbital planes; when = When the time is set, the corresponding moment will be used as the start time.

6. The method for autonomous control of the semi-major axis of a satellite orbit based on energy constraints according to claim 1, characterized in that, The calculation of the planned track control duration parameters in step 4 is as follows: Calculate the initial track control duration parameters based on the track control quantities to be executed in step 2: ； in, The coefficient of Earth's gravitational field. To improve the ratio of thrust to satellite mass, For the predicted future The semi-major axis of the moment is at its root; Based on the energy constraints of a single orbit control operation, determine the planned orbit control duration parameters: ； in, This is the longest single track control operation.

7. An energy-constrained autonomous control system for the semi-major axis of a satellite orbit, characterized in that, Includes the following modules: Module 1: Obtain the real-time position and velocity of the satellite and calculate the corresponding orbit control discrimination parameters for the satellite; Module 2, based on the track control discrimination parameters calculated in Module 1, combined with the bilateral semi-major axis threshold track control strategy, obtains the track control quantities that need to be executed; Module 3 obtains the solar phase angle and satellite orbit parameters at the current moment, calculates the starting phase of the shadow area, and the start time of control. Module 4 calculates the planned track control duration parameters based on the track control quantities required and the energy constraints of a single track control operation. Module 5 uses the start time and planned orbit control duration parameters as orbit control execution parameters to achieve autonomous control of the satellite's orbital semi-major axis.

8. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by the processor, they implement the energy-constrained autonomous control method for the semi-major axis of a satellite orbit as described in any one of claims 1-6.

9. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; When a processor executes a program stored in a memory, it implements the energy-constrained autonomous control method for the semi-major axis of a satellite orbit as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the energy-constrained autonomous control method for the semi-major axis of a satellite orbit as described in any one of claims 1-6.

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