A spacecraft orbit change control method, device, electronic equipment and storage medium

Abstract

The present application relates to the field of spacecraft orbital dynamics, and in particular to a spacecraft orbit change control method, device, electronic device and storage medium. The orbit change control method of the spacecraft proposed in the embodiment of the present application can realize the high-speed re-entry of the spacecraft, and determines the multi-target parameters of orbit control aiming through the associated constraint merging and determination, and adjusts the direction of the apsidal line through orbit control to ensure that the perigee of the large elliptical orbit is located above the landing point and the latitude of the return trajectory passes through the landing point. The orbit control that continuously raises the apogee altitude at the perigee is adopted to ensure that the longitude of the return trajectory passes through the landing point and the regression orbit period, and multi-pulse extension decomposition is performed based on the four-pulse control idea, and the solution relationship between the multi-pulse planning parameters and the multi-target aiming parameters is established. The overall planning mode for solving all the target parameters and the dimensionality reduction planning mode for solving part of the target parameters are designed to achieve high-speed re-entry return orbit under different orbit conditions to meet the requirements.

Description

Technical Field

[0001] The present application relates to the field of spacecraft orbital dynamics, and in particular to a spacecraft orbit change control method, device, electronic equipment and storage medium. Background Art

[0002] In recent years, with the continuous development of lunar exploration and deep space exploration, higher requirements have been put forward for lunar exploration return and deep space exploration return technologies.

[0003] Spacecraft refers to various aircraft that operate in space according to the laws of celestial mechanics and perform specific tasks such as exploring, developing, and utilizing space and celestial bodies. They are important vehicles for human exploration of the moon and deep space. After completing a specific mission, a spacecraft needs to return. Return refers to the process of a spacecraft entering the Earth's atmosphere along its orbit or along a transition orbit after changing its orbit, slowing down under the action of aerodynamics, and landing.

[0004] The return of lunar and deep space samples, as well as manned lunar and manned deep space returns, all face high-speed reentry back to Earth. Compared with reentry from low Earth orbit, spacecraft reentering from the moon and deep space have the characteristics of high-speed reentry, which poses many new challenges to the return technology in terms of aerodynamic thermal environment, mechanical overload, and landing point accuracy. Before the formal flight mission is implemented, key technologies such as aerodynamic thermal ablation, stress structure, and reentry control of spacecraft high-speed reentry must be flight verified. One flight verification method that can be used is to send the spacecraft into a near-circular orbit near the Earth by a launch vehicle. The spacecraft uses its own orbital control capability to achieve the orbital conditions for high-speed reentry, thereby realizing the flight verification of the spacecraft's high-speed reentry.

[0005] The method for a near-Earth spacecraft to achieve high-speed re-entry is as follows: the spacecraft uses its own orbital control capability to change its orbit from a near-Earth near-circular orbit to a large elliptical orbit, and performs braking control at the apogee of the large elliptical orbit, and re-enters near the perigee of the large elliptical orbit, that is, re-enters the return orbit at high speed and returns to land at a predetermined landing point.

[0006] In the process of a spacecraft changing from a near-Earth, near-circular orbit to a highly elliptical orbit and achieving high-speed re-entry and return to the predetermined landing point, it needs to undergo multiple orbit change controls. The so-called orbit change control means that the spacecraft uses the propellant it carries to provide itself with a control pulse at a certain moment in the orbital operation, thereby changing its own speed so that it can complete the orbit change process. Spacecraft orbit change control is the basis for the spacecraft to meet the predetermined orbital requirements and return accurately. A reasonable and efficient orbit change control method is an important way to achieve the spacecraft's change from a near-Earth, near-circular orbit to a highly elliptical orbit and high-speed re-entry and return to the predetermined landing point.

[0007] There are some problems in the orbit control of near-Earth spacecraft to achieve high-speed re-entry: 1. The engine for orbit control of the spacecraft has a rated thrust. The startup process of the orbit control engine is a limited thrust process that needs to consider the startup time. The spacecraft needs a huge speed change from a near-Earth near-circular orbit to a large elliptical orbit through orbit control. The first cosmic speed of the spacecraft flying around the earth is 7.8km / s. When the speed of the spacecraft re-entering the earth reaches more than 9km / s, it basically reaches the orbital conditions for verifying high-speed re-entry. From a near-Earth near-circular orbit to a large elliptical orbit, the orbital speed of the spacecraft increases significantly by about 1.2k m / s. For such a large speed increment, a long engine startup time will cause the adverse effect of large gravity loss of limited thrust orbit change. In addition, spacecraft engines generally have a single maximum startup time limit, that is, they are also faced with the constraint problem of the maximum impulse limit of a single startup of the spacecraft engine. Therefore, a large change in the spacecraft speed needs to be achieved through multiple startup controls of the spacecraft engine. 2. When the spacecraft reenters from a large elliptical orbit at high speed, it brakes at the orbital apogee to minimize the braking speed and maximize the reentry speed, and ensures that the perigee of the large elliptical orbit is above the predetermined landing site, so that the spacecraft returns to the predetermined landing site. However, since the orbital apogee of the spacecraft launch orbit and the orbital apogee of the reentry return orbit are usually inconsistent, the perigee of the reentry return orbit is not above the predetermined landing site. Therefore, the spacecraft needs to control the orbital apogee through orbital change to ensure that the perigee of the large elliptical orbit is above the predetermined landing site. 3. Considering the backup plan for the spacecraft's return and landing, if the spacecraft fails to return at the normal return time, in order to ensure that the spacecraft can still return to the scheduled landing site after a one-day delay, it is necessary to ensure through orbit control that the large elliptical orbit on which the spacecraft normally returns is a periodic orbit for one day's return; 4. The high-speed re-entry and return of near-Earth spacecraft through multi-pulse orbit control is a constrained, multi-variable nonlinear programming problem. There are many orbit control target parameters and constraint parameters, and there are problems of target parameter redundancy and solution parameter redundancy; in addition, with the execution of orbit control, there are problems of reduced control times and reduced planning parameters.

[0008] A reasonably optimized and efficient trajectory control method for high-speed re-entry of near-Earth spacecraft has not yet been proposed in the prior art. Summary of the invention

[0009] The embodiments of the present application provide a spacecraft trajectory change control method, device, electronic device and storage medium for high-speed re-entry of the spacecraft to a predetermined landing point.

[0010] In a first aspect, an embodiment of the present application provides a spacecraft trajectory change control method, the method comprising:

[0011] The preset planning constraints for the near-Earth spacecraft to achieve high-speed re-entry are obtained, wherein the planning constraints include orbital configuration parameters of a large elliptical orbit, where the large elliptical orbit is a high-speed re-entry orbit that the spacecraft enters after multiple orbit change controls in space.

[0012] According to the planning constraints and in combination with a preset orbit control planning method, a target orbit change control number of the spacecraft is obtained.

[0013] Based on the target orbit change control number, the orbit change control strategy of the spacecraft is determined, wherein the spacecraft orbit change control strategy at least includes a method for determining the following parameters: the control moment and control pulse of the spacecraft performing the orbit change control.

[0014] Based on the trajectory change control strategy, the control time and control pulse are obtained by adopting the preset aiming target constraint, and the aiming target constraint includes at least: a preset value of the landing point longitude and a preset value of the re-entry angle.

[0015] In a second aspect, an embodiment of the present application further provides a spacecraft trajectory change control device, comprising:

[0016] The communication module is used to obtain preset planning constraints for a near-Earth spacecraft to achieve high-speed reentry, wherein the planning constraints include orbital configuration parameters of a large elliptical orbit, which is a high-speed reentry orbit that the spacecraft enters after multiple orbit change controls in space.

[0017] The first acquisition module is used to obtain the target orbit change control number of the spacecraft according to the planning constraints and in combination with a preset orbit control planning method.

[0018] A matching module is used to determine the orbit change control strategy of the spacecraft based on the target orbit change control number, wherein the spacecraft orbit change control strategy at least includes a method for determining the following parameters: the control moment and control pulse of the spacecraft performing the orbit change control.

[0019] The second acquisition module is used to obtain the control time and control pulse based on the trajectory change control strategy and using the preset aiming target constraints, wherein the aiming target constraints at least include: a preset value of the landing point longitude and a preset value of the re-entry angle.

[0020] In an optional embodiment, the first acquisition module is specifically used to:

[0021] Based on the planning constraints and in combination with a preset orbit control planning method, a first control number corresponding to a first orbit change control for adjusting the apsidal line, a second control number corresponding to a second orbit change control for raising the apogee altitude, and a third control number corresponding to a third orbit change control for braking the spacecraft are obtained.

[0022] The first control number, the second control number and the third control number are superimposed to obtain a target orbit change control number of the spacecraft.

[0023] In an optional embodiment, based on the target orbit change control number, the serial numbers corresponding to the orbit change control operations performed by the spacecraft are respectively obtained, and the obtained serial numbers are read in sequence according to the arrangement order of the serial numbers. Each time a serial number is read, the matching module is specifically used to perform any one of the following operations:

[0024] If a serial number currently read is less than or equal to the first control number, it is determined that the first overall planning strategy is executed starting from the track change control operation corresponding to the serial number, wherein the first overall planning strategy at least includes: when it is determined that the track change control operation for executing the first overall planning strategy includes at least one of the first track change controls, the control timing and control pulse calculation method of the first track change control, the second track change control, and the third track change control.

[0025] If a serial number currently read is greater than the first control number and less than the sum of the first control number and the second control number, it is determined to start from the track change control operation corresponding to the serial number and execute the second overall planning strategy. The second overall planning strategy at least includes: when at least two second track change controls need to be executed, the control time and control pulse calculation method of the second track change control and the third track change control.

[0026] If a serial number currently read is equal to the sum of the first control number and the second control number, it is determined to start from the track change control operation corresponding to the serial number, and execute the first target dimensionality reduction planning strategy. The first target dimensionality reduction planning strategy at least includes: when the second track change control needs to be executed once more, the control time and control pulse calculation method of the second track change control and the third track change control.

[0027] If a serial number currently read is equal to the sum of the first control number, the second control number and the third control number, it is determined to start from the track change control operation corresponding to the serial number, and execute the second target dimensionality reduction planning strategy. The second target dimensionality reduction planning strategy at least includes: when only the third track change control needs to be executed, the control time and control pulse calculation method of the third track change control.

[0028] In an optional embodiment, the second acquisition module is specifically configured to perform any one of the following operations:

[0029] If the track change control strategy is the first overall planning strategy, then based on the track change control strategy, the preset first overall planning aiming target constraint is adopted to obtain the first overall planning control moment and the first overall planning control pulse.

[0030] If the track change control strategy is the second overall planning strategy, then based on the track change control strategy, the preset second overall planning aiming target constraint is adopted to obtain the second overall planning control moment and the second overall planning control pulse.

[0031] If the track change control strategy is a first target dimension reduction planning strategy, then based on the track change control strategy, the preset first target dimension reduction planning is adopted to aim at the target constraint, and the first target dimension reduction planning control time and the first target dimension reduction planning control pulse are obtained.

[0032] If the track change control strategy is a second target dimension reduction planning strategy, then based on the track change control strategy, the preset second target dimension reduction planning is adopted to aim at the target constraint, and the second target dimension reduction planning control time and the second target dimension reduction planning control pulse are obtained.

[0033] In an optional embodiment, if the track change control strategy is the first overall planning strategy, the second acquisition module is specifically used to:

[0034] Read the first overall planning preset aiming target constraint corresponding to the first overall planning strategy, wherein the first overall planning preset aiming target constraint includes at least: a preset value of the landing point latitude, a preset value of the landing point longitude, a preset value of the semi-major axis of the regression orbit, a preset value of the re-entry angle, a preset value of the control moment of the first orbit change control, a preset value of the control moment of the second orbit change control, and a preset value of the control moment of the third orbit change control.

[0035] According to the preset aiming target constraints of the first overall plan, the initial value calculation method is adopted to obtain the initial values ​​of the first overall plan control moment and the first overall plan control pulse, and the initial values ​​of the first overall plan control moment and the first overall plan control pulse include: the control moment and control pulse of each orbit change control operation of the first orbit change control, the control moment and control pulse of each orbit change control operation of the second orbit change control, and the control moment and control pulse of each orbit change control operation of the third orbit change control.

[0036] According to the preset aiming target constraints of the first overall plan, a multi-pulse differential correction method is adopted to obtain the first overall plan control moment and the first overall plan control pulse, and the first overall plan control moment and the first overall plan control pulse at least include: the control moment of the second orbit change control, the control moment of the third orbit change control, the control pulse of the last orbit change control operation in the first orbit change control, the control pulse of the first orbit change control operation in the second orbit change control, the control pulse of the last orbit change control operation in the second orbit change control, and the control pulse of the third orbit change control.

[0037] In an optional embodiment, when the initial value calculation method is used to obtain the initial value of the first overall planning control moment and the first overall planning control pulse according to the preset aiming target constraint of the first overall planning, the second acquisition module is specifically used to:

[0038] According to the aiming target constraints preset in the first overall plan, based on the perigee angle control formula, the control time of each orbit change control operation and the initial value of the control pulse of the first orbit change control are obtained; based on the control formula for raising the apogee altitude at the perigee and based on the orbit raising control constraint, the control time of each orbit change control operation and the initial value of the control pulse of the second orbit change control are obtained; based on the re-entry angle control formula, the control time and the initial value of the control pulse of the third orbit change control are obtained, wherein the orbit raising control constraint at least includes: after the second orbit change control is executed, the return circle trajectory of the spacecraft passes through the predetermined landing point longitude.

[0039] In an optional embodiment, if the track change control strategy is a second overall planning strategy, the second acquisition module is specifically used to:

[0040] The second overall planning preset aiming target constraints corresponding to the second overall planning strategy are read, wherein the second overall planning preset aiming target constraints include at least: a preset value of the landing point latitude, a preset value of the landing point longitude, a preset value of the semi-major axis of the regression orbit, a preset value of the re-entry angle, a preset value of the control moment of the second orbit change control, and a preset value of the control moment of the third orbit change control.

[0041] According to the preset aiming target constraint of the second overall plan, a multi-pulse differential correction method is adopted to obtain the second overall plan control moment and the second overall plan control pulse.

[0042] In an optional embodiment, if the track change control strategy is a first target dimension reduction planning strategy, the second acquisition module is specifically used to:

[0043] The first target dimensionality reduction planning preset aiming target constraints corresponding to the first target dimensionality reduction planning strategy are read, wherein the first target dimensionality reduction planning preset aiming target constraints include at least: a preset value of the landing point longitude, a preset value of the semi-major axis of the regression orbit, a preset value of the re-entry angle, and a preset value of the control moment of the third orbit change control.

[0044] According to the preset aiming target constraint of the first target dimensionality reduction planning, a multi-pulse differential correction method is adopted to obtain the control moment of the first target dimensionality reduction planning and the control pulse of the first target dimensionality reduction planning.

[0045] In an optional embodiment, if the track change control strategy is a second target dimension reduction planning strategy, the second acquisition module is specifically used to:

[0046] The preset aiming target constraints of the second target dimension reduction planning are read, where the preset aiming target constraints of the second target dimension reduction planning include at least: a preset value of the longitude of the landing point and a preset value of the re-entry angle.

[0047] According to the preset aiming target constraint of the second target dimension reduction planning, a multi-pulse differential correction method is adopted to obtain the control moment of the second target dimension reduction planning and the control pulse of the second target dimension reduction planning.

[0048] In an optional embodiment, the second acquisition module is further configured to set the aiming target constraint in any one of the following ways:

[0049] The preset value of the landing point latitude, the preset value of the landing point longitude, the preset value of the semi-major axis of the regression orbit, and the preset value of the reentry angle are obtained, and the aiming target constraint is set based on the obtained preset values.

[0050] According to the preset re-entry point geocentric distance and the preset re-entry point speed, and based on the corresponding relationship between the re-entry speed and the regression orbit period, the semi-major axis of the regression orbit that satisfies the high-speed re-entry return of the spacecraft is calculated; based on the preset value of the re-entry angle, the preset value of the landing point latitude, the preset value of the landing point longitude and the obtained semi-major axis of the regression orbit, the aiming target constraint is set.

[0051] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the spacecraft trajectory change control method of the first aspect is implemented.

[0052] In a fourth aspect, an embodiment of the present application further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the computer program is executed by the processor, the processor implements the spacecraft orbit change control method of the first aspect.

[0053] The technical effects brought about by any one of the implementation methods in the second to fourth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0054] The orbit change control method for realizing high-speed reentry of near-Earth spacecraft proposed in the embodiment of the present application determines the multi-target parameters of orbit control aiming through associative constraint merging, adjusts the direction of the apsidal line through orbit control, ensures that the perigee of the large elliptical orbit is located above the landing point and the latitude of the return trajectory passes through the landing point, adopts orbit control that continuously raises the apogee altitude at the perigee, ensures that the longitude of the return trajectory passes through the landing point and the regression orbit period, performs multi-pulse extension decomposition based on the four-pulse control idea, establishes the solution relationship between multi-pulse planning parameters and multi-target aiming parameters, designs an overall planning mode for all solution of target parameters and a dimensionality reduction planning mode for partial solution, and realizes high-speed reentry orbit meeting requirements under different orbital conditions. The spacecraft orbit change control method proposed in the embodiment of the present application is a reasonable optimization and efficient solution orbit change control method for realizing high-speed reentry of near-Earth spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1 A schematic diagram of the trajectory change control for high-speed re-entry of a spacecraft provided in an embodiment of the present application;

[0057] Figure 2 A schematic diagram of a spacecraft trajectory change control method provided in an embodiment of the present application;

[0058] Figure 3 A re-entry point coordinate system pointing from a target re-entry point to a target landing point provided in an embodiment of the present application;

[0059] Figure 4 A schematic diagram of a spacecraft trajectory change control method provided in an embodiment of the present application for aiming at a target in different ways;

[0060] Figure 5 An example diagram of the target orbit change control times of a spacecraft provided in an embodiment of the present application;

[0061] Figure 6 An example diagram of a spacecraft simulation result 1 provided in an embodiment of the present application;

[0062] Figure 7An example diagram of a spacecraft simulation result 2 provided in an embodiment of the present application;

[0063] Figure 8 An example diagram of a spacecraft simulation result 3 provided in an embodiment of the present application;

[0064] Fig. 9 An example diagram of a spacecraft simulation result 4 provided in an embodiment of the present application;

[0065] Fig.10 A schematic diagram of the structure of a spacecraft trajectory change control device provided in an embodiment of the present application;

[0066] Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] See also Figure 1 As shown, it is a schematic diagram of trajectory change control for high-speed re-entry of a spacecraft provided in an embodiment of the present application.

[0069] In the embodiment of the present application, before obtaining the preset planning constraints for the near-Earth spacecraft to achieve high-speed reentry, the aiming target constraints may be set in the following manners, but not limited to:

[0070] Method 1:

[0071] The preset value of the landing point latitude, the preset value of the landing point longitude, the preset value of the semi-major axis of the regression orbit, and the preset value of the reentry angle are obtained, and the aiming target constraint is set based on the obtained preset values.

[0072] For example, in the embodiment of the present application, the preset value of the latitude of the landing point is obtained. The preset value of the landing point longitude λ=101.11°, the preset value of the semi-major axis of the regression orbit a=10516 km, and the preset value of the reentry angle γ=-7.804° are set based on the preset values ​​obtained, and the aiming target constraint is set to the preset values ​​of the above parameters.

[0073] Method 2: According to the preset re-entry point geocentric distance and the preset re-entry point speed, and based on the corresponding relationship between the re-entry speed and the regression orbit period, the semi-major axis of the regression orbit that satisfies the high-speed re-entry return of the spacecraft is calculated; based on the preset value of the re-entry angle, the preset value of the landing point latitude, the preset value of the landing point longitude and the obtained semi-major axis of the regression orbit, the aiming target constraint is set.

[0074] For example:

[0075] According to the Vitality Formula:

[0076]

[0077] Where μ is the gravitational constant of the Earth, v is the velocity, r is the distance from the center of the Earth, and a is the semi-major axis.

[0078] Usually, the altitude of the spacecraft reentry point is taken as 120km, and the approximate distance from the center of the earth to the reentry point is r E =R M +120km, of which R M =6371.004km is the average radius of the earth.

[0079] Therefore, the re-entry velocity is:

[0080]

[0081] It can be solved as follows:

[0082]

[0083] The reentry speed requirement for high-speed reentry is greater than 9 km / s. The corresponding semi-major axis a is obtained by solving the above equation: E >9446.432km, corresponding orbital period p E >2.5381hour.

[0084] Without considering the influence of perturbation factors, the period p of the regression orbit is R Satisfy the following formula:

[0085]

[0086] Where N is the number of circles of the return orbit flight

[0087] When p R ≥p E , we can solve: N≤9.

[0088] Based on this method, the semi-major axis a of the regression orbit is calculated to ensure that the reentry speed is greater than 9km / s.

[0089] Based on the preset value of the landing point latitude The preset value of the landing point longitude λ=101.11° and the preset value of the reentry angle γ=-7.804° are used to set the aiming target constraint.

[0090] See also Figure 2 As shown, the orbit change control method of the spacecraft provided in the embodiment of the present application is as follows:

[0091] Step 210: Obtain preset planning constraints for a near-Earth spacecraft to achieve high-speed reentry. The planning constraints include orbital configuration parameters of a large elliptical orbit. The large elliptical orbit is a reentry orbit that the spacecraft enters after multiple orbit changes in space.

[0092] In the embodiment of the present application, the above-mentioned planning constraints include: the longitude of the landing point is a preset value, the latitude of the landing point is a preset value, the reentry angle is a preset value, and the regression orbit period of the large elliptical orbit is a preset value. In the embodiment of the present application, the above-mentioned planning constraints also include: under the constraint of the target range, the associated constraint relationship between the target reentry point and the target landing point. Specifically, the above-mentioned associated constraint relationship is set based on the following method:

[0093] See also Figure 3 As shown, a target reentry point coordinate system is established with the target reentry point pointing to the target landing point, and based on the target range constraint, the mutual calculation between the landing point parameters and the reentry point parameters is realized. According to this calculation method, the associated constraint relationship between the target reentry point and the target landing point is set, wherein the above calculation method includes:

[0094] 1) Establishing a target re-entry point coordinate system pointing to the target landing point, based on a preset target range and preset re-entry point coordinates, and using the ground-fixed system position vector conversion method according to the target re-entry point coordinate system, calculate the landing point latitude and landing point longitude, including:

[0095] According to the target re-entry point coordinates Target landing point coordinates With the target re-entry point as the origin, a target re-entry point coordinate system is established, with the target re-entry point pointing to the target landing point.

[0096] Next, the target reentry point coordinates Get the fixed position vector of the target reentry point

[0097] The target landing point coordinates Get the fixed position vector of the target landing point

[0098] Also, define:

[0099] The transformation matrix from the target re-entry point coordinate system to the ground fixed system is obtained as:

[0100] 2) Based on the target range d between the preset reentry point and landing point E0 , according to the direction from the target re-entry point to the target landing point, the re-entry point coordinates or the landing point coordinates are calculated based on the target range constraints.

[0101] Specifically, it can be divided into two situations:

[0102] Case 1: With known reentry point coordinates Calculate the landing point coordinates

[0103] From the reentry point coordinates Get the fixed position vector of the reentry point

[0104] according to Calculate the position vector of the re-entry point in the target re-entry point coordinate system

[0105] Then, the position vector of the landing point in the target reentry point coordinate system is calculated according to the following formula:

[0106]

[0107] The position vector of the landing point on the ground is calculated according to the following formula:

[0108]

[0109] The fixed position vector of the landing point Calculate the landing point coordinates

[0110] Case 2: With known landing point coordinates Calculate the reentry point coordinates

[0111] From the landing point coordinates Get the fixed position vector of the landing point

[0112] The position vector of the landing point in the target reentry point coordinate system is:

[0113]

[0114] The position vector of the re-entry point in the target re-entry point coordinate system is:

[0115]

[0116] The position vector of the reentry point on the ground fixed system is:

[0117]

[0118] The fixed position vector of the reentry point Calculate the reentry point coordinates

[0119] Step 220: According to the planning constraints and in combination with the preset orbit control planning method, the target orbit change control times of the spacecraft are obtained.

[0120] In specific implementation, the so-called preset track control planning method is a track control planning method formed by combining the track control planning model in the prior art and the experience of relevant personnel, which is used to determine the number of executions of the above-mentioned track change control operation, and optionally, is also used to determine the control time and control pulse of the track change control operation.

[0121] Specifically, the relevant personnel can obtain the first control number corresponding to the first orbit change control for adjusting the apsidal line, the second control number corresponding to the second orbit change control for raising the apogee height, and the third control number corresponding to the third orbit change control for braking the spacecraft according to the above preset orbit control planning method, and perform superposition operation on the first control number, the second control number and the third control number to obtain the target orbit change control number of the spacecraft. The superposition operation can be either the direct addition of multiple items or the first assignment of a preset weight to each item and then the addition, and the preset weight can be set by user.

[0122] In the embodiment of the present application, it is assumed that the data obtained is as follows: the first control number corresponding to the first orbit change control for adjusting the apsidal line is M, the second control number corresponding to the second orbit change control for raising the apogee height is N, and the third control number corresponding to the third orbit change control for braking the spacecraft is B, wherein M=2, N=5, B=1, and after superposition, the target orbit change control number of the spacecraft obtained is 8.

[0123] According to the above four aiming target parameters, i.e., the latitude of the landing point, the longitude of the landing point, the semi-major axis of the regression orbit and the reentry angle, the spacecraft needs to pass at least four control pulses to achieve high-speed reentry and return to the predetermined landing point. However, in actual situations, when the reentry speed of the high-speed reentry spacecraft reaches more than 9km / s, the spacecraft reaches the large elliptical orbit from the near-earth near-circular orbit, and its orbital speed increases by about 1.2km / s. Since the engine for orbital control of the spacecraft has a rated thrust, the engine startup process needs to consider the limited thrust process of the startup time length. For such a large speed increment, the engine startup time is too long, which will cause the limited thrust orbit change gravity loss to be large. The adverse effect. In addition, the engine itself usually has a constraint condition that the length of a single startup is limited. Therefore, it is necessary to decompose the orbit change control with a large speed increment, which is achieved by the engine through multiple startups. This means that it is necessary to extend and decompose the above four control pulses. In the embodiment of the present application, it is represented that it is decomposed into M times of the first orbit change control, N times of the second orbit change control, and B times of the third orbit change control.

[0124] Step 230: Based on the target orbit change control number, determine the orbit change control strategy of the spacecraft, wherein the orbit change control strategy of the spacecraft at least includes a method for determining the following parameters: the control time and control pulse of the spacecraft performing the orbit change control.

[0125] Specifically, when executing step 230, the following methods may be used but are not limited to:

[0126] Step 3001: Based on the target orbit change control number, the serial number corresponding to each orbit change control operation performed by the spacecraft is obtained respectively.

[0127] Among them, the serial numbers of the above-mentioned track change control operations are determined according to the order of execution time of the track change control operations, and are arranged in order from small to large according to the numbers of each serial number.

[0128] For example: the target track change control number is 8, and includes 2 track change control operations of the first track change control, 5 track change control operations of the second track change control, and 1 track change control operation of the third track change control. Taking this as an example, the 2 track change control operations corresponding to the first track change control are arranged in the order of execution time of the 2 track change control operations, and correspond to sequence numbers 1 and 2 respectively. The 5 track change control operations corresponding to the second track change control are arranged in the order of execution time of the 5 track change control operations, and on this basis, they are added to the control number of the first track change control. For example, the control number of the first track change control is 2, and the 5 track change control operations corresponding to the second track change control correspond to sequence numbers 3, 4, ..., 7 respectively. For the 1 track change control operation corresponding to the third track change control, the track change control operation of the third track change control is added to the control number of the first track change control and the control number of the second track change control, and the corresponding sequence number after being arranged in the order of execution time is sequence number 8. Similarly, taking the second track change control operation of the second track change control as an example, since its execution time is the second time in the above-mentioned second track change control, plus the control times M=2 corresponding to the first track change control, the serial number of this track change control operation is 4.

[0129] Step 3002: read each serial number obtained in sequence according to the arrangement order of the serial numbers, and formulate a corresponding sub-strategy based on the value of each serial number after each serial number is read.

[0130] Specifically, when executing step 3002, the serial number is read in order to determine the current operation stage of the entire track change control process. This is because, in the entire track change control process, different operation stages require the execution of different sub-strategies, which together constitute the track change control strategy. Different sub-strategies have different names, which will be described in detail in subsequent embodiments.

[0131] In specific implementation, when executing step 3002, it can be divided into the following stages:

[0132] Phase 1: If a currently read serial number is less than or equal to the first control number, it is determined to start from a track change control operation corresponding to a serial number and execute a first overall planning strategy, wherein the first overall planning strategy at least includes: when it is determined that the track change control operation for executing the first overall planning strategy includes at least one first track change control, the control timing and control pulse calculation method of the first track change control, the second track change control, and the third track change control.

[0133] For example: if the currently read serial number is 1, which is less than the first control number 2, it is determined to start from executing the track change control operation of the first serial number, and execute the first overall planning strategy to calculate the control time and control pulse of the track change control operations of the first serial number, the second serial number, ..., the eighth serial number.

[0134] Phase 2: If a currently read serial number is greater than the first control number and less than the sum of the first control number and the second control number, it is determined to start from the track change control operation corresponding to a serial number and execute the second overall planning strategy. The second overall planning strategy at least includes: when at least two second track change controls need to be executed, the control time and control pulse calculation method of the second track change control and the third track change control.

[0135] For example: if the currently read serial number is 3, which is greater than the first control number 2, and less than the sum of the first control number and the second control number 7, then it is determined to start from executing the track change control operation of the third serial number, and execute the second overall planning strategy to calculate the control time and control pulse of the track change control operations of the third serial number, the fourth serial number, ..., the eighth serial number.

[0136] Phase 3: If a currently read serial number is equal to the sum of the first control number and the second control number, it is determined to start from the track change control operation corresponding to a serial number, and execute the first target dimensionality reduction planning strategy. The first target dimensionality reduction planning strategy at least includes: when the second track change control needs to be executed once more, the control time and control pulse calculation method of the second track change control and the third track change control.

[0137] For example: if the currently read serial number is 7, which is equal to the sum of the first control number and the second control number, 7, then it is determined to start from executing the track change control operation of the 7th serial number, and execute the first target dimensionality reduction planning strategy to calculate the control time and control pulse of the track change control operations of the 7th serial number and the 8th serial number.

[0138] Stage 4: If a currently read serial number is equal to the sum of the first control number, the second control number and the third control number, it is determined to start from the track change control operation corresponding to a serial number, and execute the second target dimensionality reduction planning strategy. The second target dimensionality reduction planning strategy at least includes: when only the third track change control needs to be executed, the control time and control pulse calculation method of the third track change control.

[0139] For example: if the currently read serial number is 8, which is equal to the sum of the first control number, the second control number and the third control number, then for the track change control operation of the 8th serial number, the second target dimensionality reduction planning strategy is executed to calculate the control time and control pulse of the track change control operation of the 8th serial number.

[0140] Step 240: Based on the trajectory change control strategy, a preset aiming target constraint is adopted to obtain a control time and a control pulse, wherein the aiming target constraint includes at least: a preset value of the landing point longitude and a preset value of the reentry angle.

[0141] Specifically, since there are different operation stages in step 3002, the execution method of step 240 is also different for the sub-strategies corresponding to different operation stages, as follows:

[0142] Case 1: If it is determined that the current operation stage of the entire track change control process is stage 1, the execution method of step 240 is as shown in the following method 1.

[0143] Case 2: If it is determined that the current operation stage of the entire track change control process is stage 2, the execution method of step 240 is as shown in the following method 2.

[0144] Case 3: If it is determined that the current operation stage of the entire track change control process is stage 3, the execution method of step 240 is as shown in the following method 3.

[0145] Case 4: If it is determined that the current operation stage of the entire track change control process is stage 4, the execution method of step 240 is as shown in the following method 4.

[0146] The following will describe in detail the four methods corresponding to the above four situations.

[0147] Method 1:

[0148] Reading a first overall planning preset aiming target constraint corresponding to the first overall planning strategy, wherein the first overall planning preset aiming target constraint includes at least: a preset value of a landing point latitude, a preset value of a landing point longitude, a preset value of a semi-major axis of a regression orbit, a preset value of a reentry angle, a preset value of a control time of the first orbit change control, a preset value of a control time of the second orbit change control, and a preset value of a control time of the third orbit change control;

[0149] For example, in the embodiment of the present application, the preset value of the latitude of the landing point is The preset value of the landing point longitude λ = 101.11°, the preset value of the semi-major axis of the regression orbit a = 10516 km, the preset value of the reentry angle γ = -7.804°, the preset value of the control time of the first orbit change control t ω True anomaly or The preset value t of the control time of the second track change control is h is the perigee time, i.e. the true anomaly f = 0, and the preset value t of the control time of the third track change control B It is the time of apogee, that is, the true anomaly angle f = π.

[0150] According to the preset aiming target constraints of the first overall plan, an initial value calculation method is adopted to obtain the initial value of the first overall plan control moment and the first overall plan control pulse, and the first overall plan control moment and the initial value of the first overall plan control include: the control moment and the initial value of the control pulse of each orbit change control operation of the first orbit change control, the control moment and the initial value of the control pulse of each orbit change control operation of the second orbit change control, and the control moment and the initial value of the control pulse of each orbit change control operation of the third orbit change control.

[0151] Specifically, based on the perigee angle control formula, the control moment of each orbit change control operation and the initial value of the control pulse of the first orbit change control are obtained. Based on the control formula for raising the apogee altitude at the perigee, and based on the orbit lift control constraint, the orbit lift control constraint at least includes: after the second orbit change control is executed, the return circle trajectory of the spacecraft passes through the predetermined landing point longitude, thereby obtaining the control moment of each orbit change control operation and the initial value of the control pulse of the second orbit change control. Based on the re-entry angle control formula, the control moment and the initial value of the control pulse of the third orbit change control are obtained.

[0152] For example, the initial value of the control time of each orbit change control operation of the first orbit change control is obtained based on the perigee argument control formula: ω1 , ..., t ωM , choose the true anomaly angle or The control is performed at the position with the minimum control amount. The initial value of the control pulse of each track change control operation of the first track change control is: v ω1 , ..., v ωM , M is the control number of the first track change control.

[0153] The control formula of the perigee angle is as follows:

[0154] ( Take +; Take -), where μ is the earth's gravitational constant, p is the orbital semi-diameter, e is the orbital eccentricity, r is the distance from the center of the earth, and Δω is the perigee angle adjustment.

[0155] The reasoning process is as follows:

[0156] When a spacecraft reenters the predetermined landing point at high speed from a large elliptical orbit, it needs to brake at the orbital apogee, and the orbital perigee is approximately above the landing point. At this time, the perigee argument ω of the large elliptical orbit is approximately equal to the perigee latitude argument u, that is, it satisfies the following formula:

[0157]

[0158] Where i is the orbital inclination.

[0159] The above formula shows that by controlling the perigee argument ω, when the perigee argument of the high-speed reentry large elliptical orbit satisfies the above formula, the perigee can be located at the latitude of the subsatellite point Place.

[0160] The control pulse for aiming at the latitude of the landing point is defined as or Δv ω .

[0161] According to the latitude of the landing point It can be seen that the target perigee argument is:

[0162]

[0163] Assume that the actual perigee argument of the spacecraft is ω, and the perigee argument adjustment is: Δω=ω T -ω

[0164] According to the perigee argument correction formula, only the tracking control pulse Δv is considered. t hour:

[0165]

[0166] In the formula, p = a(1-e 2 ) is the orbit semi-diameter, e is the orbit eccentricity, and f is the orbit true anomaly.

[0167] We can get:

[0168] (f≠0,π)

[0169] when The control amount is the smallest when the landing point latitude control orbital control time should be selected at the true anomaly angle t represents the initial value t of the control time of each track change control operation of the first track change control ω1 , ..., t ωM True anomaly moment.

[0170] The perigee argument control formula can also be expressed as:

[0171] ( Take +; Pick-)

[0172] Based on the control formula of raising the apogee height at the perigee, the initial value of the control time of each orbit change control operation of the second orbit change control is obtained: t h1 , ..., t hNare all perigee moments, that is, control is performed at the true perigee angle f=0. The initial value of the control pulse of each orbit change control operation of the second orbit change control is: h1 , ..., v hN , N is the control number of the second orbit change control, and the initial value of the above-mentioned second orbit change control should also satisfy the orbit lift control constraint, at least including: after the above-mentioned second orbit change control is executed, the return circle trajectory of the spacecraft passes through the predetermined landing point longitude.

[0173] Among them, the control formula of perigee elevation apogee height is as follows:

[0174] (f=0)

[0175] In the formula, Δa λ To eliminate the semi-major axis control value of the landing point longitude deviation, Δa a The semi-major axis control amount is used to raise the apogee altitude to the semi-major axis of the regression orbit.

[0176] The reasoning process is as follows:

[0177] Define the control pulse aiming at the longitude of the landing point as Δv λ . Assume that the longitude deviation of the spacecraft passing the predetermined landing point is Δλ=λ L0 -λ, adjusting the semi-major axis of the orbit through orbit control can eliminate the longitude deviation of the landing point:

[0178]

[0179] In the formula, Δa λ To eliminate the semi-major axis control value of the landing point longitude deviation, ω E is the angular velocity of the Earth’s rotation, R E is the equatorial radius of the earth, and Δt is the flight time from the orbit control moment to the landing moment.

[0180] The control pulse for the longitude of the landing point is obtained as follows:

[0181]

[0182] In order to change the near-circular orbit into a large elliptical orbit, the orbit control time of the landing point longitude control should be selected at the perigee time, that is, the true anomaly f = 0, and the control of raising the apogee orbit altitude is adopted. The apogee altitude change Δh aλ =2Δa λ .

[0183] In addition, according to the semi-major axis control formula:

[0184]

[0185] Where Δa is the change in the semi-major axis, e is the eccentricity, f is the true anomaly, and n is the orbital angular velocity.

[0186] In order to transform a near-circular orbit into a large elliptical orbit, it is necessary to implement orbit control at the perigee to raise the apogee altitude. Therefore, the orbit change control time is selected at the perigee time, that is, the true anomaly angle f=0.

[0187] It is known that the target semi-major axis of the regression orbit is a B0 , the semi-major axis control amount is Δa=a B0 -a, the change in apogee altitude is Δh a =2Δa a .

[0188] The control pulse aimed at the semi-major axis of the regression orbit is obtained as follows:

[0189]

[0190] The control pulse Δv will be aimed at the longitude of the landing point λ and the control pulse Δv aimed at the semi-major axis of the regression orbit a Unified as a control pulse Δv to raise the apogee height h =Δv λ +Δv a , then the control formula for raising the apogee height at the perigee is expressed as:

[0191]

[0192] In addition, the upper track lifting control constraint can be expressed as:

[0193] (P 0 Q 0 +P 1 Q 1 +...+P N Q N )ω E =λ L0 , where P 0 , P 1 , ..., P N are the initial orbital period and the orbital period after each orbital change control operation of the second orbital change control, i.e., after each orbital apogee height is raised, Q 0 , Q 1 , ..., Q N are the number of orbits of the initial orbit and the number of orbits of the orbit after each orbit change control operation of the second orbit change control, that is, the number of orbits after the apogee height of each orbit is raised, λ L0 The longitude of the preset landing point.

[0194] Specifically, in order to meet the above track lifting control constraints, the initial value should be processed as follows:

[0195] It is known that the target semi-major axis of the regression orbit is a B0 , the initial orbital semi-major axis is a 0 , then the total change in apogee height from the initial orbit to the target orbit is: Δh a =2(a B0 -a 0 )

[0196] The initial distribution of track lifting control amount is

[0197] The orbit after the apogee height of each orbit is raised must meet the above orbit raising control constraints:

[0198] (P 0 Q 0 +P 1 Q 1 +...+P N Q N )ω E =λ L0

[0199] According to the relationship between orbital period and orbital semi-major axis The semi-major axis δ of each lift control needs to be corrected a1 , ..., δa N , and assigned to Δh aj (j=1, ..., N), so that after executing the second track change control, the total change in the apogee height satisfies the above formula and satisfies the above orbit lift control constraint, it is necessary to perform multiple corrections on the above initial value.

[0200] Based on the reentry angle control formula, the initial value of the control time of each orbit change control operation of the third orbit change control is obtained: B The third track change control is a braking control. The control time of the track change should be selected at the apogee, that is, the true anomaly f = π. The initial value of the control pulse of each track change control operation of the third track change control is: v B .

[0201] The reentry angle control formula is as follows:

[0202] f=π

[0203] In the formula, Δr p The change in the distance from the center of the earth to the perigee during braking control

[0204] The reasoning process is as follows:

[0205] Let γ be the reentry angle, the position vector and velocity vector of the reentry point are The position vector and velocity vector of perigee are According to the principle of conservation of orbital momentum, we can get:

[0206]

[0207] In the formula, r P is the distance from the perigee to the center of the earth, r E is the distance from the geocenter of the reentry point.

[0208] For large elliptical orbits, we have:

[0209]

[0210] The target reentry angle is known to be γ E0 , the distance from the perigee to the center of the earth for the braking control aiming is:

[0211]

[0212] In the formula, r E0 =h E0 +R M , target reentry altitude h E0 =120km, R M is the average radius of the Earth.

[0213] Assume that the change of the distance from the perigee to the center of the earth during braking control is Δr P =r P0 -r P , known So the braking control pulse Δv aimed at the reentry angle γ or Δv B for:

[0214]

[0215] The track change control moment of the braking control needs to be selected at the apogee of the large elliptical orbit, that is, the true anomaly angle f = π, and the orbit altitude reduction control should be adopted.

[0216] That is, the reentry angle control formula is: f=π

[0217] Then, according to the preset aiming target constraint of the first overall plan, a multi-pulse differential correction method is adopted to obtain the first overall plan control moment and the first overall plan control pulse, and the first overall plan control moment and the first overall plan control pulse at least include: the control moment of the second orbit change control, the control moment of the third orbit change control, the control pulse of the last orbit change control operation in the first orbit change control, the control pulse of the first orbit change control operation in the second orbit change control, the control pulse of the last orbit change control operation in the second orbit change control, and the control pulse of the third orbit change control.

[0218] For example, the orbit change control operations at the 1st sequence number, the 2nd sequence number, ..., the 8th sequence number among the above-mentioned 8 orbit change control operations are executed, wherein the orbit change control operations at the 1st sequence number and the 2nd sequence number are the first orbit change control, the orbit change control operations at the 3rd sequence number, the 4th sequence number ..., the 7th sequence number are the second orbit change control, and the orbit change control operation at the 8th sequence number is the third orbit change control, then the above-mentioned first overall planning control moment and the first overall planning control pulse include: the control moment t corresponding to the orbit change control operations at the 3rd sequence number, the 4th sequence number, the 5th sequence number, the 6th sequence number, and the 7th sequence number of the second orbit change control h1 , t h2 , t h3 , t h4 , t h5 is the perigee time, that is, the true anomaly angle f = 0, corresponding to the control time t of the orbit change control operation with the 8th serial number of the third orbit change control B is the apogee time, that is, the true anomaly angle f = π, and the control pulse v of the track change control operation with the second sequence number corresponding to the last track change control operation in the first track change control ω2 , corresponding to the control pulse v of the track change control operation with the third sequence number of the first track change control operation in the second track change control h1 , corresponding to the control pulse v of the track change control operation with the 7th sequence number of the last track change control operation in the second track change control h7 , corresponding to the control pulse v of the track change control operation with the 8th sequence number of the third track change control B .

[0219] Method 1 targets the four target parameters of landing point latitude, landing point longitude, reentry angle, and semi-major axis of the regression orbit. In this method, the planning constraint is to adjust the control time of the perigee angle at the true perigee angle. or The control moment of the apogee height rise is at the perigee, that is, the true anomaly angle f h1 =... =f hN = 0, the control moment of track braking is at the apogee, that is, the true anomaly angle f B=π, and only the velocity increment of each control pulse is used as the planning variable for solution, so that all the target parameters of the landing point latitude, landing point longitude, re-entry angle, and regression orbit semi-major axis meet the requirements.

[0220] Method 2:

[0221] Read the second overall planning preset aiming target constraint, the second overall planning preset aiming target constraint at least includes: the preset value of the landing point latitude The preset value λ of the landing point longitude, the preset value a of the semi-major axis of the regression orbit, the preset value γ of the reentry angle, the preset value of the control time of the second orbit change control, and the preset value of the control time of the third orbit change control.

[0222] For example, in the embodiment of the present application, the preset value of the latitude of the landing point is The preset value of the landing point longitude λ = 101.11°, the preset value of the semi-major axis of the regression orbit a = 10516 km, the preset value of the reentry angle γ = -7.804°, the preset value of the control time of the second orbit change control t h is the perigee time, i.e. the true anomaly f = 0, and the preset value t of the control time of the third track change control B It is the time of apogee, that is, the true anomaly angle f = π.

[0223] Next, according to the preset aiming target constraint of the second overall plan, a multi-pulse differential correction method is adopted to obtain the second overall plan control moment and the second overall plan control pulse.

[0224] For example, the track change control operations at the 3rd sequence number, ..., the 8th sequence number among the above 8 track change control operations are executed, wherein the track change control operations at the 3rd sequence number, the 4th sequence number ..., the 7th sequence number are the second track change control, and the track change control operation at the 8th sequence number is the third track change control, then the above second overall planning control moment and the second overall planning control pulse include: the control moment and control pulse t corresponding to the track change control operations at the 3rd sequence number, the 4th sequence number, the 5th sequence number, the 6th sequence number, and the 7th sequence number of the second track change control h1 , t h2 , t h3 , t h4 , t h5 With v h1 , v h2 , v h3 , v h4 , v h5 , where the control time t h2 , t h3 , t h4 , t h5is the perigee time, that is, the true anomaly angle f = 0, corresponding to the control time t of the orbit change control operation with the 8th serial number of the third orbit change control B , v B , where the control time t B It is the time of apogee, that is, the true anomaly angle f = π.

[0225] Method 2 aims at the four target parameters of the landing point latitude, landing point longitude, reentry angle, and semi-major axis of the regression orbit. The difference from method 1 is that in this method, the constraint of the first apogee height lift control moment at the perigee is released, and the first apogee height lift control moment is solved as a planning variable. In this way, the landing point latitude is corrected to achieve that all target parameters of the landing point latitude, landing point longitude, reentry angle, and semi-major axis of the regression orbit meet the requirements. Method 3:

[0226] Read the preset aiming target constraints of the first target dimension reduction planning, which at least include: the preset value λ of the landing point longitude, the preset value a of the semi-major axis of the regression orbit, the preset value γ of the reentry angle, the preset value t of the control time of the third orbit change control B It is the time of apogee, that is, the true anomaly angle f = π.

[0227] For example, in the embodiment of the present application, the preset value of the longitude of the landing point λ=101.11°, the preset value of the semi-major axis of the regression orbit a=10516km, the preset value of the reentry angle γ=-7.804°, the preset value of the control time of the third orbit change control t B It is the time of apogee, that is, the true anomaly angle f = π.

[0228] Next, according to the preset aiming target constraints of the first target dimensionality reduction planning, a multi-pulse differential correction method is adopted to obtain the first target dimensionality reduction planning control time and the first target dimensionality reduction planning control pulse.

[0229] For example, the orbit change control operations at the 7th and 8th sequence numbers among the above 8 orbit change control operations are executed, wherein the orbit change control operation at the 7th sequence number is the second orbit change control, and the orbit change control operation at the 8th sequence number is the third orbit change control, then the above first target dimension reduction planning control time and the first target dimension reduction planning control pulse include: the control time and control pulse t corresponding to the orbit change control operation at the 7th sequence number of the second orbit change control h5 , v h5 , corresponding to the control time t of the track change control operation with the 8th sequence number of the third track change control B , v B , where the control time t B It is the time of apogee, that is, the true anomaly angle f = π.

[0230] The method 3 targets the three target parameters of the landing point longitude, reentry angle, and semi-major axis of the regression orbit, instead of the landing point latitude, and constrains the braking control moment to be the apogee, and increases the speed increment Δv of the Nth apogee height lift control hN and control time t hN , speed increment Δv of brake control B and control time t B The three target parameters of landing point longitude, reentry angle and semi-major axis of the regression orbit are solved as planning variables to meet the requirements.

[0231] Method 4:

[0232] The preset aiming target constraints of the second target dimension reduction planning are read, and the preset aiming target constraints of the second target dimension reduction planning at least include: a preset value λ of the landing point longitude and a preset value γ of the re-entry angle.

[0233] For example, in an embodiment of the present application, the preset value of the landing point longitude λ=101.11°, and the preset value of the reentry angle γ=-7.804°.

[0234] Next, according to the preset aiming target constraints of the second objective dimensionality reduction planning, a multi-pulse differential correction method is adopted to obtain the second objective dimensionality reduction planning control time and the second objective dimensionality reduction planning control pulse.

[0235] For example, the orbit change control operation at the 8th sequence number among the 8 orbit change control operations is executed, wherein the orbit change control operation at the 8th sequence number is the third orbit change control, then the second target dimension reduction planning control time and the second target dimension reduction planning control pulse include: the control time t corresponding to the orbit change control operation at the 8th sequence number of the third orbit change control B , v B .

[0236] When only braking control is performed, the target parameter is reduced in dimension. The speed increment Δv of the braking control B and control time t B Solve as planning variables, aiming at the longitude of the landing point and the reentry angle. This method no longer aims at the latitude of the landing point and the semi-major axis of the regression orbit, and achieves that the two target parameters of the longitude of the landing point and the reentry angle meet the requirements.

[0237] In order to explain in more detail the trajectory change control method proposed in the embodiment of the present application, in the above-mentioned four methods, different aiming target constraints are provided. Figure 4 As shown, M represents the control number of the first track change control, N represents the control number of the second track change control, the control number of the third track change control is set to 1, i represents the first track change control that has been executed, and j represents the second track change control that has been executed. For ease of understanding, Figure 4In the figure, the parameters under the number of orbit changes indicate the control time and control pulse of the corresponding modes 1, 2, 3, and 4. The first digit of the parameter subscript indicates the corresponding orbit change control type. The second digit of the parameter subscript indicates the number of orbit change controls under the corresponding orbit change control type. λ indicates the preset value of the landing point latitude. represents the preset value of the landing point latitude, γ represents the preset value of the reentry angle, and a represents the preset value of the semi-major axis of the regression orbit.

[0238] The orbit change control method for realizing high-speed reentry of near-Earth spacecraft proposed in the embodiment of the present application determines the multi-target parameters of orbit control aiming through associative constraint merging, adjusts the direction of the apsidal line through orbit control, ensures that the perigee of the large elliptical orbit is located above the landing point and the latitude of the return trajectory passes through the landing point, adopts orbit control that continuously raises the apogee altitude at the perigee, ensures that the longitude of the return trajectory passes through the landing point and the regression orbit period, performs multi-pulse extension decomposition based on the four-pulse control idea, establishes the solution relationship between multi-pulse planning parameters and multi-target aiming parameters, designs an overall planning mode for all solution of target parameters and a dimensionality reduction planning mode for partial solution, and realizes high-speed reentry orbit meeting requirements under different orbital conditions. The spacecraft orbit change control method proposed in the embodiment of the present application is a reasonable optimization and efficient solution orbit change control method for realizing high-speed reentry of near-Earth spacecraft.

[0239] In order to prove the feasibility of the trajectory change control method provided in the embodiment of the present application, a simulation verification process of a near-Earth spacecraft undergoing multiple trajectory change controls and reentering at a high speed to return to a predetermined landing site is provided, as shown below:

[0240] Assuming that the spacecraft is launched from the Wenchang Launch Center in Hainan Province and enters a near-circular orbit with a perigee altitude of 170 km and an apogee altitude of 400 km, the parameters of the spacecraft's entry orbit in the 2000 National Geodetic Coordinate System are as follows: the orbital inclination of the entry orbit is 41.23°, the perigee altitude is 170 km, the apogee altitude is 400 km, the longitude of the ascending node is 314°, the argument of the perigee is 164.5°, and the true anomaly is 0°.

[0241] According to the orbit change control method described in the embodiment of the present application, based on the preset planning constraints for the near-Earth spacecraft to achieve high-speed reentry, combined with the preset orbit control planning method, the target orbit change control number of the spacecraft is obtained, see Figure 5As shown in FIG. 1 , a total of 8 orbit change controls are designed, among which 2 orbit changes are designed to adjust the perigee angle, i.e., 2 first orbit change controls, 5 orbit changes are designed to adjust the apogee height, i.e., 5 second orbit change controls, and 1 orbit change is designed to brake, i.e., 1 third orbit change control. In the simulation, in order to ensure the return safety of the spacecraft, the large elliptical orbit after the 7th orbit change is also limited to a one-day return orbit. At the same time, in the simulation, it is further set that the spacecraft implements 2 first orbit change controls when running the 4th and 8th laps, implements 5 second orbit change controls when running the 11th, 14th, 17th, 22nd, and 25th laps, and implements 1 third orbit change control when running the 31st lap. See FIG. Figure 5 shown.

[0242] Furthermore, the simulation also takes into account the non-spherical gravitational perturbation of the earth, the atmospheric drag perturbation, and the gravitational perturbation of the sun and the moon. The corresponding parameters are selected as follows:

[0243] Non-spherical gravitational perturbations of the Earth: 32 times 32 orders

[0244] Atmospheric drag perturbation: NRLMSISE 2000 atmospheric model, Kp = 3, F10.7 = 150, damping coefficient CD = 2.0

[0245] Windward area: 30m*m

[0246] Ship mass: 22000kg

[0247] In the orbit simulation calculation, the engine orbit control error is considered: Δv*0.2% m / s; the orbit determination error is considered: position accuracy (1σ) ≤ 30m; speed accuracy (1σ) ≤ 0.30m / s.

[0248] The target parameters for the spacecraft's high-speed reentry are: reentry point altitude 120km, reentry angle -7.804°, reentry range 1220km, landing point longitude 101.11°, landing point latitude 41.25°, and return orbit semi-major axis 10516km.

[0249] According to the orbit change control method for high-speed reentry of a near-Earth spacecraft provided in the embodiment of the present application, when executing step 220, due to the different operation stages of the orbit change control process, the sub-strategies read are different, so when executing step 230, the control moments and control pulses obtained are different. In the simulation, the simulation results corresponding to different operation stages are different. For the above four operation stages, the orbit change control calculation results obtained by the spacecraft executing the corresponding sub-strategies in each stage are given:

[0250] Result 1: See Figure 6As shown, in order to more intuitively reflect the orbit change after the orbit change control operation is executed, the figure also shows the perigee height Hp, apogee height Ha and perigee argument ω of the spacecraft orbit before and after each orbit change control operation. When the spacecraft executes step 120, if the read serial number is 1, indicating that the current operation stage is stage 1, then the execution method of step 230 is as shown in method 1, thereby obtaining the control moment and control pulse of the orbit change control. According to the obtained control moment and control pulse of the orbit change control, the target parameters of the spacecraft obtained by simulation are as follows:

[0251] Re-entry point altitude H = 120.000km, re-entry angle S = -7.804°, landing point longitude L = 101.11°, landing point latitude B = 41.25°, return orbit semi-major axis A = 10516.258km

[0252] The simulation results show that, in stage 1, the first and second apsidal adjustments are controlled at the true perigee angle f=270°, the third to seventh apogee height lifts are controlled at the perigee, and the eighth braking is controlled at the apogee. The calculated high-speed reentry return orbit meets the four target parameter requirements of the landing point longitude, landing point latitude, reentry angle, and semi-major axis of the return orbit.

[0253] Result 2: See Figure 7 As shown, in order to more intuitively reflect the orbit change after the orbit change control operation is executed, the figure also shows the perigee height Hp, apogee height Ha and perigee argument ω of the spacecraft orbit before and after each orbit change control operation. When the spacecraft executes step 220, if the read serial number is 3 and the current operation stage is stage 2, the execution method of step 230 is as shown in method 2, thereby obtaining the control moment and control pulse of the orbit change control. According to the obtained control moment and control pulse of the orbit change control, the target parameters of the spacecraft obtained by simulation are as follows:

[0254] Reentry point altitude H = 120.000km, reentry angle S = -7.804°, landing point longitude L = 101.11°, landing point latitude B = 41.25°, return orbit semi-major axis A = 10516.246km

[0255] The simulation results show that the trajectory change control method provided by the embodiment of the present application is used as a planning variable in stage 2. The 3rd apogee height lift is controlled near the perigee f=359.516°, the 4th to 7th apogee height lift is controlled at the perigee, and the 8th braking is controlled at the apogee. The calculated high-speed reentry return orbit meets the four target parameter requirements of the landing point longitude, landing point latitude, reentry angle, and semi-major axis of the regression orbit.

[0256] Result 3: See Figure 8 As shown, in order to more intuitively reflect the orbit change after the orbit change control operation is executed, the figure also shows the perigee height Hp, apogee height Ha and perigee argument ω of the spacecraft orbit before and after each orbit change control operation. When the spacecraft executes step 220, if the read serial number is 7 and the current operation stage is stage 3, the execution method of step 230 is as shown in method 3, thereby obtaining the control moment and control pulse of the orbit change control. According to the obtained control moment and control pulse of the orbit change control, the target parameters of the spacecraft obtained by simulation are as follows:

[0257] Reentry point altitude H = 120.000km, reentry angle S = -7.804°, landing point longitude L = 101.11°, landing point latitude B = 41.23°, return orbit semi-major axis A = 10516.255km

[0258] The simulation results show that, according to the track change control method provided in the embodiment of the present application, in stage 3, the 7th apogee height lift solved as the planning variable is controlled near the perigee f=0.959°, and the 8th braking is controlled at the apogee.

[0259] Except that the landing point latitude of 41.23° differs by 0.02° from the aimed target parameter landing point latitude of 41.25°, the calculated high-speed reentry return orbit meets the three aimed target parameter requirements of landing point longitude, reentry angle, and semi-major axis of the regression orbit.

[0260] Result 4: See Fig. 9 As shown in the figure, in order to more intuitively reflect the orbit change after the orbit change control operation is executed, the perigee height Hp and the apogee height Hp of the spacecraft orbit before and after each orbit change control operation are also given. a and the orbit's perigee argument ω. When the spacecraft executes step 220, if the read serial number is 8 and the current operation stage is stage 4, then step 230 is executed as shown in method 4, thereby obtaining the control moment and control pulse of the orbit change control. According to the obtained control moment and control pulse of the orbit change control, the target parameters of the spacecraft obtained through simulation are as follows:

[0261] Reentry point altitude H = 120.000km, reentry angle S = -7.804°, landing point longitude L = 101.11°, landing point latitude B = 41.24°, return orbit semi-major axis A = 10519.472km

[0262] Simulation results show that, according to the track change control method provided in the embodiment of the present application, in stage 4, the 8th braking control as a planning variable is near the apogee at f=185.591°.

[0263] Except that the landing point latitude of 41.24° differs by 0.01° from the aimed target parameter landing point latitude of 41.25°, and the semi-major axis of the regression orbit of 10519.472km differs by about 3km from the semi-major axis of the aimed target parameter regression orbit of 10516km, the calculated high-speed reentry return orbit meets the two aimed target parameter requirements of landing point longitude and reentry angle.

[0264] The spacecraft meets the targeted landing site longitude and reentry angle requirements.

[0265] In summary, the orbit change control method for realizing high-speed re-entry of near-Earth spacecraft proposed in the embodiment of the present application combines and determines the multi-target parameters of orbit control aiming through associated constraints, adjusts the direction of the apsidal line through orbit control, ensures that the perigee of the large elliptical orbit is located above the landing point and the latitude of the return trajectory passes through the landing point, adopts orbit control that continuously raises the apogee altitude at the perigee, ensures that the longitude of the return trajectory passes through the landing point and the regression orbit period, performs multi-pulse extension decomposition based on the four-pulse control idea, establishes the solution relationship between multi-pulse planning parameters and multi-target aiming parameters, designs an overall planning mode for all solution of target parameters and a dimensionality reduction planning mode for partial solution, and realizes high-speed re-entry orbit meeting requirements under different orbital conditions. The spacecraft orbit change control method proposed in the embodiment of the present application is a reasonable optimization and efficient solution orbit change control method for realizing high-speed re-entry of near-Earth spacecraft.

[0266] Fig.10 A schematic diagram of the structure of a spacecraft trajectory change control device provided in an embodiment of the present application is given, such as Fig.10 As shown, the device includes a communication module 1001, a first acquisition module 1002, a matching module 1003, and a second acquisition module 1004; wherein:

[0267] The communication module 1001 is used to obtain preset planning constraints for a near-Earth spacecraft to achieve high-speed re-entry. The planning constraints include orbital configuration parameters of a large elliptical orbit. The large elliptical orbit is a high-speed re-entry orbit that the spacecraft enters after multiple orbit change controls in space.

[0268] The first acquisition module 1002 is used to obtain the target orbit change control number of the spacecraft according to the planning constraints and in combination with a preset orbit control planning method.

[0269] The matching module 1003 is used to determine the orbit change control strategy of the spacecraft based on the target orbit change control number, wherein the spacecraft orbit change control strategy at least includes a method for determining the following parameters: the control moment and control pulse of the spacecraft performing the orbit change control.

[0270] The second acquisition module 1004 is used to obtain the control time and control pulse based on the trajectory change control strategy and using the preset aiming target constraint, wherein the aiming target constraint at least includes: a preset value of the landing point longitude and a preset value of the re-entry angle.

[0271] In an optional embodiment, the communication module 1001 is specifically used to obtain preset planning constraints for a near-Earth spacecraft to achieve high-speed re-entry.

[0272] In an optional embodiment, the first acquisition module 1002 is specifically used for:

[0273] Based on the planning constraints and in combination with a preset orbital control planning method, a first control number corresponding to a first orbit change control for adjusting the apsidal line, a second control number corresponding to a second orbit change control for raising the apogee altitude, and a third control number corresponding to a third orbit change control for braking the spacecraft are obtained.

[0274] The first control number, the second control number and the third control number are superimposed to obtain a target orbit change control number of the spacecraft.

[0275] In an optional embodiment, based on the target orbit change control number, the serial numbers corresponding to the orbit change control operations performed by the spacecraft are respectively obtained, and the obtained serial numbers are read in sequence according to the arrangement order of the serial numbers. Each time a serial number is read, the matching module 1003 is specifically used to perform any one of the following operations:

[0276] If a serial number currently read is less than or equal to the first control number, it is determined that the first overall planning strategy is executed starting from the track change control operation corresponding to the serial number, wherein the first overall planning strategy at least includes: when it is determined that the track change control operation for executing the first overall planning strategy includes at least one of the first track change controls, the control timing and control pulse calculation method of the first track change control, the second track change control, and the third track change control.

[0277] If a serial number currently read is greater than the first control number and less than the sum of the first control number and the second control number, it is determined to start from the track change control operation corresponding to the serial number and execute the second overall planning strategy. The second overall planning strategy at least includes: when at least two second track change controls need to be executed, the control time and control pulse calculation method of the second track change control and the third track change control.

[0278] If a serial number currently read is equal to the sum of the first control number and the second control number, it is determined to start from the track change control operation corresponding to the serial number, and execute the first target dimensionality reduction planning strategy. The first target dimensionality reduction planning strategy at least includes: when the second track change control needs to be executed once more, the control time and control pulse calculation method of the second track change control and the third track change control.

[0279] If a serial number currently read is equal to the sum of the first control number, the second control number and the third control number, it is determined to start from the track change control operation corresponding to the serial number, and execute the second target dimensionality reduction planning strategy. The second target dimensionality reduction planning strategy at least includes: when only the third track change control needs to be executed, the control time and control pulse calculation method of the third track change control.

[0280] In an optional embodiment, the second acquisition module 1004 is specifically configured to perform any one of the following operations:

[0281] If the track change control strategy is the first overall planning strategy, then based on the track change control strategy, the preset first overall planning aiming target constraint is adopted to obtain the first overall planning control moment and the first overall planning control pulse.

[0282] If the track change control strategy is the second overall planning strategy, then based on the track change control strategy, the preset second overall planning aiming target constraint is adopted to obtain the second overall planning control moment and the second overall planning control pulse.

[0283] If the track change control strategy is a first target dimension reduction planning strategy, then based on the track change control strategy, the preset first target dimension reduction planning is adopted to aim at the target constraint, and the first target dimension reduction planning control time and the first target dimension reduction planning control pulse are obtained.

[0284] If the track change control strategy is a second target dimension reduction planning strategy, then based on the track change control strategy, the preset second target dimension reduction planning is adopted to aim at the target constraint, and the second target dimension reduction planning control time and the second target dimension reduction planning control pulse are obtained.

[0285] In an optional embodiment, if the track change control strategy is the first overall planning strategy, the second acquisition module 1004 is specifically used to:

[0286] Read the first overall planning preset aiming target constraint corresponding to the first overall planning strategy, wherein the first overall planning preset aiming target constraint includes at least: a preset value of the landing point latitude, a preset value of the landing point longitude, a preset value of the semi-major axis of the regression orbit, a preset value of the re-entry angle, a preset value of the control moment of the first orbit change control, a preset value of the control moment of the second orbit change control, and a preset value of the control moment of the third orbit change control.

[0287] According to the preset aiming target constraints of the first overall plan, the initial value calculation method is adopted to obtain the initial value of the first overall plan control moment and the first overall plan control pulse, and the first overall plan control moment and the initial value of the first overall plan control include: the control moment and control pulse of each orbit change control operation of the first orbit change control, the control moment and control pulse of each orbit change control operation of the second orbit change control, and the control moment and control pulse of each orbit change control operation of the third orbit change control.

[0288] According to the preset aiming target constraints of the first overall plan, a multi-pulse differential correction method is adopted to obtain the first overall plan control moment and the first overall plan control pulse, and the first overall plan control moment and the first overall plan control pulse at least include: the control moment of the second orbit change control, the control moment of the third orbit change control, the control pulse of the last orbit change control operation in the first orbit change control, the control pulse of the first orbit change control operation in the second orbit change control, the control pulse of the last orbit change control operation in the second orbit change control, and the control pulse of the third orbit change control.

[0289] In an optional embodiment, when the initial value calculation method is used to obtain the initial value of the first overall planning control moment and the first overall planning control pulse according to the preset aiming target constraint of the first overall planning, the second acquisition module is specifically used to:

[0290] According to the aiming target constraints preset in the first overall plan, based on the perigee angle control formula, the control time of each orbit change control operation and the initial value of the control pulse of the first orbit change control are obtained; based on the control formula for raising the apogee altitude at the perigee and based on the orbit raising control constraint, the control time of each orbit change control operation and the initial value of the control pulse of the second orbit change control are obtained; based on the re-entry angle control formula, the control time and the initial value of the control pulse of the third orbit change control are obtained, wherein the orbit raising control constraint at least includes: after the second orbit change control is executed, the return circle trajectory of the spacecraft passes through the predetermined landing point longitude.

[0291] In an optional embodiment, if the track change control strategy is the second overall planning strategy, the second acquisition module 1004 is specifically used to:

[0292] The second overall planning preset aiming target constraints corresponding to the second overall planning strategy are read, wherein the second overall planning preset aiming target constraints include at least: a preset value of the landing point latitude, a preset value of the landing point longitude, a preset value of the semi-major axis of the regression orbit, a preset value of the re-entry angle, and a preset value of the control moment of the third orbit change control.

[0293] According to the preset aiming target constraint of the second overall plan, a multi-pulse differential correction method is adopted to obtain the second overall plan control moment and the second overall plan control pulse.

[0294] In an optional embodiment, if the track change control strategy is a first target dimension reduction planning strategy, the second acquisition module 1004 is specifically used to:

[0295] The first target dimensionality reduction planning preset aiming target constraints corresponding to the first target dimensionality reduction planning strategy are read, wherein the first target dimensionality reduction planning preset aiming target constraints include at least: a preset value of the landing point longitude, a preset value of the semi-major axis of the regression orbit, a preset value of the re-entry angle, and a preset value of the control moment of the third orbit change control.

[0296] According to the preset aiming target constraint of the first target dimensionality reduction planning, a multi-pulse differential correction method is adopted to obtain the control moment of the first target dimensionality reduction planning and the control pulse of the first target dimensionality reduction planning.

[0297] In an optional embodiment, if the track change control strategy is a second target dimension reduction planning strategy, the second acquisition module 1004 is specifically used to:

[0298] The preset aiming target constraints of the second target dimension reduction planning are read, where the preset aiming target constraints of the second target dimension reduction planning include at least: a preset value of the longitude of the landing point and a preset value of the re-entry angle.

[0299] According to the preset aiming target constraint of the second target dimension reduction planning, a multi-pulse differential correction method is adopted to obtain the control moment of the second target dimension reduction planning and the control pulse of the second target dimension reduction planning.

[0300] In an optional embodiment, the second acquisition module 1004 is further configured to set the aiming target constraint in any of the following ways:

[0301] The preset value of the landing point latitude, the preset value of the landing point longitude, the preset value of the semi-major axis of the regression orbit, and the preset value of the reentry angle are obtained, and the aiming target constraint is set based on the obtained preset values.

[0302] According to the preset re-entry point geocentric distance and the preset re-entry point speed, and based on the corresponding relationship between the re-entry speed and the regression orbit period, the semi-major axis of the regression orbit that satisfies the high-speed re-entry return of the spacecraft is calculated; based on the preset value of the re-entry angle, the preset value of the landing point latitude, the preset value of the landing point longitude and the obtained semi-major axis of the regression orbit, the aiming target constraint is set.

[0303] According to one aspect of the present application, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device executes any one of the spacecraft orbit control methods in the above-mentioned embodiments. The program product can use any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0304] Based on the same inventive concept as the above-mentioned application embodiment, the present application embodiment also provides an electronic device, which can be used for orbit control of a spacecraft. In one embodiment, the electronic device can be a server, or a terminal device or other electronic device. In this embodiment, the structure of the electronic device can be as follows: Fig.11 As shown, it includes a memory 1101 , a communication interface 1103 and one or more processors 1102 .

[0305] The memory 1101 is used to store computer programs executed by the processor 1102. The memory 1101 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and programs required for running the instant messaging function, etc.; the data storage area may store various instant messaging information and operation instruction sets, etc.

[0306] The memory 1101 may be a volatile memory, such as a random-access memory (RAM); the memory 1101 may also be a non-volatile memory, such as a read-only memory, a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), or the memory 1101 is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 1101 may be a combination of the above memories.

[0307] The processor 1102 may include one or more central processing units (CPU) or a digital processing unit, etc. The processor 1102 is used to implement the above-mentioned spacecraft orbit change control method when calling the computer program stored in the memory 1101.

[0308] The communication interface 1103 is used to communicate with terminal devices and other servers.

[0309] The specific connection medium between the memory 1101, the communication interface 1103 and the processor 1102 is not limited in the embodiment of the present application. Fig.11 In the embodiment, the memory 1101 and the processor 1102 are connected via a bus 1104. The bus 1104 is connected to the processor 1102 via a bus 1104. Fig.11 The connections between other components are shown in bold lines, which are only for illustration and are not intended to be limiting. The bus 1104 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Fig.11 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0310] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0311] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0312] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0313] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0314] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A spacecraft trajectory change control method, characterized in that: include: Acquire preset planning constraints for a near-Earth spacecraft to achieve high-speed reentry, wherein the planning constraints include orbital configuration parameters of a large elliptical orbit, where the large elliptical orbit is a high-speed reentry orbit that the spacecraft enters after multiple orbit change controls in space; According to the planning constraints and in combination with a preset orbit control planning method, a target orbit change control number of the spacecraft is obtained; Based on the target orbit change control number, determining the orbit change control strategy of the spacecraft, wherein the orbit change control strategy of the spacecraft at least includes a method for determining the following parameters: the control time and control pulse of the spacecraft performing the orbit change control; Based on the trajectory change control strategy, the control time and control pulse are obtained by adopting the preset aiming target constraint, and the aiming target constraint includes at least: a preset value of the landing point longitude and a preset value of the re-entry angle.

2. The method according to claim 1, characterized in that: According to the planning constraints and in combination with a preset orbit control planning method, a target orbit change control number of the spacecraft is obtained, including: Based on the planning constraints and in combination with a preset track control planning method, a first control number corresponding to a first track change control for adjusting the track arch line, a second control number corresponding to a second track change control for raising the apogee height, and a third control number corresponding to a third track change control for track braking are obtained; The first control number, the second control number and the third control number are superimposed to obtain a target orbit change control number of the spacecraft.

3. The method according to claim 2, characterized in that Determining the orbit change control strategy of the spacecraft based on the target orbit change control number includes: Based on the target orbit change control number, respectively obtaining a sequence number corresponding to each orbit change control operation performed by the spacecraft; Read each serial number in the order in which they are arranged. Perform the following operations each time a serial number is read: If a currently read sequence number is less than or equal to the first control number, it is determined that the first overall planning strategy is executed starting from the track change control operation corresponding to the sequence number, wherein the first overall planning strategy at least includes: when it is determined that the track change control operations for executing the first overall planning strategy include at least one of the first track change controls, a method for calculating the control moments and control pulses of the first track change control, the second track change control, and the third track change control; If a currently read sequence number is greater than the first control number and less than the sum of the first control number and the second control number, it is determined to start from the track change control operation corresponding to the sequence number and execute the second overall planning strategy, and the second overall planning strategy at least includes: when at least two second track change controls need to be executed, the control time and control pulse calculation method of the second track change control and the third track change control; If a currently read sequence number is equal to the sum of the first control number and the second control number, it is determined to start from the track change control operation corresponding to the sequence number and execute the first target dimension reduction planning strategy, wherein the first target dimension reduction planning strategy at least includes: when the second track change control needs to be executed once more, the control time and control pulse calculation method of the second track change control and the third track change control; If a serial number currently read is equal to the sum of the first control number, the second control number and the third control number, it is determined to start from the track change control operation corresponding to the serial number, and execute the second target dimensionality reduction planning strategy. The second target dimensionality reduction planning strategy at least includes: when only the third track change control needs to be executed, the control time and control pulse calculation method of the third track change control.

4. The method according to claim 3, characterized in that If the track change control strategy is the first overall planning strategy, then based on the track change control strategy, the control time and control pulse are obtained by using a preset aiming target constraint, including: Reading a first overall planning preset aiming target constraint corresponding to the first overall planning strategy, wherein the first overall planning preset aiming target constraint includes at least: a preset value of a landing point latitude, a preset value of a landing point longitude, a preset value of a semi-major axis of a regression orbit, a preset value of a reentry angle, a preset value of a control time of the first orbit change control, a preset value of a control time of the second orbit change control, and a preset value of a control time of the third orbit change control; According to the preset aiming target constraint of the first overall plan, an initial value calculation method is adopted to obtain the initial value of the first overall plan control moment and the first overall plan control pulse, wherein the initial value of the first overall plan control moment and the first overall plan control pulse includes: each control moment of the first track change control and the control pulse of each track change control operation, each control moment of the second track change control and the control pulse of each track change control operation, and each control moment of the third track change control and the control pulse of each track change control operation; According to the preset aiming target constraints of the first overall plan, a multi-pulse differential correction method is adopted to obtain the first overall plan control moment and the first overall plan control pulse, and the first overall plan control moment and the first overall plan control pulse at least include: the control moment of the second orbit change control, the control moment of the third orbit change control, the control pulse of the last orbit change control operation in the first orbit change control, the control pulse of the first orbit change control operation in the second orbit change control, the control pulse of the last orbit change control operation in the second orbit change control, and the control pulse of the third orbit change control.

5. The method according to claim 4, characterized in that According to the preset aiming target constraint of the first overall plan, an initial value calculation method is adopted to obtain the first overall plan control moment and the first overall plan control pulse initial value, including: According to the aiming target constraints preset in the first overall plan, based on the perigee angle control formula, the control time of each orbit change control operation and the initial value of the control pulse of the first orbit change control are obtained; based on the control formula for raising the apogee altitude at the perigee and based on the orbit raising control constraint, the control time of each orbit change control operation and the initial value of the control pulse of the second orbit change control are obtained; based on the re-entry angle control formula, the control time and the initial value of the control pulse of the third orbit change control are obtained, wherein the orbit raising control constraint at least includes: after the second orbit change control is executed, the return circle trajectory of the spacecraft passes through the predetermined landing point longitude.

6. The method according to claim 3, characterized in that: If the track change control strategy is the second overall planning strategy, then based on the track change control strategy, the control time and control pulse are obtained by using a preset aiming target constraint, including: Reading a second overall planning preset aiming target constraint corresponding to the second overall planning strategy, wherein the second overall planning preset aiming target constraint includes at least: a preset value of the landing point latitude, a preset value of the landing point longitude, a preset value of the semi-major axis of the regression orbit, a preset value of the reentry angle, a preset value of the control time of the second orbit change control, and a preset value of the control time of the third orbit change control; According to the preset aiming target constraint of the second overall plan, a multi-pulse differential correction method is adopted to obtain the second overall plan control moment and the second overall plan control pulse.

7. The method according to claim 3, characterized in that If the track change control strategy is a first target dimension reduction planning strategy, then based on the track change control strategy, the control time and control pulse are obtained by using a preset aiming target constraint, including: Reading a first target dimension reduction planning preset aiming target constraint corresponding to the first target dimension reduction planning strategy, wherein the first target dimension reduction planning preset aiming target constraint at least includes: a preset value of the longitude of the landing point, a preset value of the semi-major axis of the regression orbit, a preset value of the reentry angle, and a preset value of the control time of the third orbit change control; According to the preset aiming target constraint of the first target dimension reduction planning, a multi-pulse differential correction method is adopted to obtain the control moment of the first target dimension reduction planning and the control pulse of the first target dimension reduction planning.

8. The method according to claim 3, characterized in that If the track change control strategy is a second target dimension reduction planning strategy, then based on the track change control strategy, the control time and control pulse are obtained by using a preset aiming target constraint, including: Reading the preset aiming target constraints of the second target dimension reduction planning, wherein the preset aiming target constraints of the second target dimension reduction planning at least include: a preset value of the longitude of the landing point and a preset value of the reentry angle; According to the preset aiming target constraint of the second target dimension reduction planning, a multi-pulse differential correction method is adopted to obtain the control moment of the second target dimension reduction planning and the control pulse of the second target dimension reduction planning.

9. The method according to any one of claims 1 to 8, characterized in that Before obtaining the preset planning constraints of the spacecraft, it also includes: Set the aim target constraint in any of the following ways: Obtaining a preset value of the latitude of the landing point, a preset value of the longitude of the landing point, a preset value of the semi-major axis of the regression orbit, and a preset value of the reentry angle, and setting the aiming target constraint based on the obtained preset values; According to the preset re-entry point geocentric distance and the preset re-entry point speed, and based on the corresponding relationship between the re-entry speed and the regression orbit period, the semi-major axis of the regression orbit that satisfies the high-speed re-entry return of the spacecraft is calculated; based on the preset value of the re-entry angle, the preset value of the landing point latitude, the preset value of the landing point longitude and the obtained semi-major axis of the regression orbit, the aiming target constraint is set.

10. A spacecraft trajectory change control device, characterized in that: include: A communication module is used to obtain preset orbital control planning constraints for a near-Earth spacecraft to achieve high-speed reentry, wherein the planning constraints include orbital configuration parameters of a large elliptical orbit, which is a high-speed reentry orbit that the spacecraft enters after multiple orbit change controls in space; A first acquisition module is used to obtain a target orbit change control number of the spacecraft according to the planning constraint conditions and in combination with a preset orbit control planning method; A matching module is used to determine the orbit change control strategy of the spacecraft based on the target orbit change control number, wherein the orbit change control strategy of the spacecraft at least includes a method for determining the following parameters: a control time and a control pulse for the spacecraft to perform orbit change control; The second acquisition module is used to obtain the control time and control pulse based on the trajectory change control strategy and using the preset aiming target constraints, wherein the aiming target constraints at least include: a preset value of the landing point longitude and a preset value of the re-entry angle.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the orbit change control method of the spacecraft as described in any one of claims 1 to 9 is implemented.

12. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the spacecraft trajectory change control method according to any one of claims 1 to 9 is implemented.

Images