A satellite formation-based expansion and reconstruction control method and system

Abstract

The present invention discloses a control method and system for pulling apart and reconstructing based on a satellite formation, including: pulling apart the semi-major axis offset along the track based on the satellite formation configuration to establish the satellite formation's following state; based on the following state, performing fuel-optimal multi-pulse formation configuration reconstruction planning to obtain the satellite formation's reconstructed flight state; based on the reconstructed flight state, pulling the semi-major axis offset along the track to establish the initial state of the reconstructed circling formation configuration; performing parameter correction processing of the fuel-optimal formation configuration on the initial state of the reconstructed circling formation configuration to obtain the reconstruction index of the formation system configuration; based on the reconstruction index, achieving safe reconstruction of the satellite formation configuration. Based on the principle that the semi-major axis deviation causes the long-term divergence of the constant offset of the formation configuration along the track, the present invention proposes a formation configuration reconstruction strategy of actively pulling apart along the track to ensure inter-satellite safety during the reconstruction of the close-range formation.

Description

Technical Field

[0001] The present invention belongs to the field of satellite formation reconstruction control, and in particular relates to a satellite formation-based stretching reconstruction control method and system. Background Art

[0002] Regarding satellite formation reconstruction control technology, Guikirpal S proposed a collision avoidance reconstruction control scheme for repelling balls. This control scheme is a centralized control scheme. When the number of aircraft is too large, it will bring a large computational burden; Li S used evolutionary algorithms to solve the formation flight path planning problem. This heuristic method has good flexibility, but the optimal solution of the heuristic method is difficult to find. Therefore, there is an urgent need for a control method for the satellite formation reconstruction process. Summary of the invention

[0003] To achieve the above object, the present invention provides the following solution: a satellite formation-based stretching and reconstruction control method, comprising:

[0004] Based on the satellite formation configuration, a semi-major axis offset is stretched along the track to establish a following flight state of the satellite formation;

[0005] Based on the following flight state, a fuel-optimal multi-pulse formation configuration reconstruction plan is performed to obtain a reconstructed flight state of the satellite formation;

[0006] Based on the reconstructed flight state, the semi-major axis offset is pulled closer along the track to establish the initial state of the reconstructed circling formation configuration;

[0007] The reconstructed initial state of the flyby formation configuration is subjected to parameter correction processing of the fuel optimal formation configuration to obtain a reconstruction index of the formation system configuration; based on the reconstruction index, the safe reconstruction of the satellite formation configuration is achieved.

[0008] Preferably, based on the satellite formation configuration, the process of pulling the semi-major axis offset along the track to establish the following state of the satellite formation includes:

[0009] Based on the principle of long-term divergence along the track formed by the semi-major axis difference, the following distance is determined according to safety requirements; based on the following distance and the pull-away time, the active offset of the semi-major axis of the orbiting satellite is obtained; based on the active offset of the semi-major axis of the orbiting satellite, an active offset control instruction of the semi-major axis of the orbiting satellite is generated to establish the following state of the satellite formation.

[0010] Preferably, the process of expanding the semi-major axis offset along the track includes a first ignition control and a second ignition control;

[0011] The first ignition control is the ignition control at the starting moment, and the second ignition control is an ignition control that is equal in magnitude and opposite in direction to the first ignition control after the offset along the track is completed. The two ignition controls are used to achieve a fixed distance of along-track following flight.

[0012] Preferably, the fuel optimal multi-pulse formation configuration reconstruction planning includes in-plane reconstruction instruction planning and out-of-plane reconstruction instruction planning;

[0013] The in-plane reconstruction instruction planning and the out-of-plane reconstruction instruction planning are to realize the switching control of the in-plane relative eccentricity vector and the out-of-plane relative orbital inclination vector in sequence when the satellite formation is following along the track at a fixed distance.

[0014] Preferably, the switching control process of the in-plane relative eccentricity vector and the out-of-plane relative orbital inclination vector includes connecting the pulse vectors end to end to obtain the optimal in-plane relative eccentricity vector increment and the optimal out-of-plane relative orbital inclination vector along the vector direction.

[0015] Preferably, the parameter correction processing of the optimal fuel formation configuration performs in-plane parameter correction and out-of-plane parameter correction respectively through optimal in-plane and out-of-plane control methods.

[0016] A satellite formation-based stretching and reconfiguration control system, comprising:

[0017] A following flight state building module is used to establish a following flight state of the satellite formation by pulling apart a semi-major axis offset along the track based on the satellite formation configuration;

[0018] A flight state reconstruction module is connected to the following flight state construction module and is used to perform fuel optimal multi-pulse formation configuration reconstruction planning based on the following flight state to obtain a reconstructed flight state of the satellite formation;

[0019] A formation configuration module, connected to the flight state reconstruction module, is used to pull the semi-major axis offset along the track based on the reconstructed flight state to establish a reconstructed initial state of the circling formation configuration;

[0020] A parameter correction module, connected to the formation configuration module, is used to perform parameter correction processing of the fuel optimal formation configuration on the initial state of the reconstructed fly-around formation configuration to obtain a reconstruction index of the formation system configuration;

[0021] A formation reconstruction module is connected to the parameter correction module and is used to safely reconstruct the satellite formation based on the reconstruction index.

[0022] Preferably, the following flight state building module includes a parameter acquisition unit and a parameter calculation unit;

[0023] The parameter acquisition unit is used to form a long-term divergence principle along the track based on the semi-major axis difference, and determine the following distance according to safety requirements;

[0024] The parameter calculation unit is used to obtain the active offset of the semi-major axis of the orbiting star based on the follow-up distance and the pull-away time.

[0025] Preferably, the parameter calculation unit includes a first ignition control unit and a second ignition control unit;

[0026] The first ignition control unit is used to implement ignition control at the starting moment;

[0027] The second ignition control unit is used to apply an ignition control that is equal in magnitude to the first ignition control and opposite in direction, so as to realize the ignition control after the offset along the track is completed.

[0028] Preferably, the flight state reconstruction module includes an in-plane reconstruction unit and an out-of-plane reconstruction unit;

[0029] The in-plane reconstruction unit is used to realize the switching control of the in-plane relative eccentricity vector;

[0030] The out-of-plane reconstruction unit is used to realize the switching control of the out-of-plane relative orbital inclination vector.

[0031] The present invention discloses the following technical effects:

[0032] The present invention provides a control method and system for stretching and reconfiguring based on satellite formations. Based on the consideration of safety in the formation reconstruction process, a control strategy for stretching and reconfiguring is proposed, and the reconstruction control quantity is quickly solved according to the Gaussian perturbation equation. Based on the principle that the semi-major axis deviation causes the long-term divergence of the constant offset of the formation configuration along the track, a formation configuration reconstruction strategy of actively stretching along the track is proposed to ensure inter-satellite safety during the reconstruction of the close-range formation. By adopting the strategy of active offset control of the semi-major axis stretching along the track and using the fuel-optimized multi-pulse formation configuration reconstruction instruction planning method, the problem of safe reconstruction of close-range satellites is solved, and the formation configuration is reconstructed with high safety and easy to implement in engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 The figure is a flow chart of a method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] 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 invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] like Figure 1 As shown, the present invention provides a satellite formation-based stretching and reconstruction control method, comprising:

[0038] Based on the satellite formation configuration, a semi-major axis offset is stretched along the track to establish a following flight state of the satellite formation;

[0039] Based on the following flight state, a fuel-optimal multi-pulse formation configuration reconstruction plan is performed to obtain a reconstructed flight state of the satellite formation;

[0040] Based on the reconstructed flight state, the semi-major axis offset is pulled closer along the track to establish the initial state of the reconstructed circling formation configuration;

[0041] The reconstructed initial state of the flyby formation configuration is subjected to parameter correction processing of the fuel optimal formation configuration to obtain a reconstruction index of the formation system configuration; based on the reconstruction index, the safe reconstruction of the satellite formation configuration is achieved.

[0042] Further, based on the satellite formation configuration, the semi-major axis offset is stretched along the track to establish the following flight state of the satellite formation, including:

[0043] Based on the principle of long-term divergence along the track formed by the semi-major axis difference, the following distance is determined according to safety requirements; based on the following distance and the pull-away time, the active offset of the semi-major axis of the orbiting satellite is obtained; based on the active offset of the semi-major axis of the orbiting satellite, an active offset control instruction of the semi-major axis of the orbiting satellite is generated to establish the following state of the satellite formation.

[0044] Furthermore, the process of expanding the semi-major axis offset along the track includes a first ignition control and a second ignition control;

[0045] The first ignition control is the ignition control at the starting moment, and the second ignition control is an ignition control that is equal in magnitude and opposite in direction to the first ignition control after the offset along the track is completed. The two ignition controls are used to achieve a fixed distance of along-track following flight.

[0046] Further, the fuel optimal multi-pulse formation configuration reconstruction planning includes in-plane reconstruction instruction planning and out-of-plane reconstruction instruction planning;

[0047] The in-plane reconstruction instruction planning and the out-of-plane reconstruction instruction planning are to realize the switching control of the in-plane relative eccentricity vector and the out-of-plane relative orbital inclination vector in sequence when the satellite formation is following along the track at a fixed distance.

[0048] Furthermore, the switching control process of the in-plane relative eccentricity vector and the out-of-plane relative orbital inclination vector includes connecting the pulse vectors end to end to obtain the optimal in-plane relative eccentricity vector increment and the optimal out-of-plane relative orbital inclination vector along the vector direction.

[0049] Furthermore, the parameter correction processing of the optimal fuel formation configuration performs in-plane parameter correction and out-of-plane parameter correction respectively through optimal in-plane and out-of-plane control methods.

[0050] To further optimize the scheme, the satellite formation-based stretching and reconstruction control method specifically includes the following steps:

[0051] The first step is to plan and implement active offset control instructions along the semi-major axis along the track.

[0052] Based on the principle of long-term divergence along the track formed by the semi-major axis difference, the following distance is determined according to safety requirements, and combined with the reconstruction time, the active offset of the main semi-major axis of the orbiting satellite is calculated, the active offset control command of the semi-major axis of the orbiting satellite is generated, and the formation reconstruction following state is established.

[0053] Assume that the following distance determined based on safety requirements is l g , given the pull-off time T g , then the active bias of the semi-major axis difference of the orbiting star is

[0054]

[0055] The process of pulling away along the track consists of two ignition controls, namely, ignition at the starting moment and after the completion of the offset along the track, ignition controls of equal magnitude and opposite directions are applied to achieve fixed distance along the track.

[0056] The second step is to plan and implement fuel-optimal multi-pulse formation configuration reconstruction instructions.

[0057] When the satellite formation is following along the track at a fixed distance, the switching control of the in-plane relative eccentricity vector and the out-of-plane relative orbital inclination vector is completed in sequence, and the safety problem of formation configuration reconstruction is avoided based on the long-distance bias along the track.

[0058] The optimal in-plane relative eccentricity vector increment and the optimal out-of-plane relative orbital inclination vector must be along the direction of the vector, and each pulse vector is connected end to end. f =0, Δa0 = Δa f = 0, where a is the semi-major axis of the primary satellite orbit, △l0 is the along-track offset of the primary satellite relative to the reference point, and △l f is the along-track offset of the slave satellite relative to the reference point, △a0 is the semi-major axis difference of the master satellite relative to the reference point, △a f is the difference in semi-major axis from the star to the reference point.

[0059] Take the solution of the relative eccentricity vector of the optimal solution of the three-pulse fuel in the plane as an example. According to the conclusion that the direction of the optimal solution of the fuel is always unchanged, the latitude angle u of the three-pulse is

[0060]

[0061] In the formula, k1,k3∈Z + , k2∈N is any integer, u1 * is the latitude argument of the first pulse ignition, u2 * is the second pulse ignition latitude argument, u3 * is the third pulse ignition latitude argument. β is the ignition position within a single orbital period.

[0062] And satisfy the following constraints

[0063]

[0064]

[0065] Δe3=Δe f

[0066] According to the Gaussian perturbation equation, the three tangential velocity increments used to correct the relative eccentricity vector increment in the plane are:

[0067]

[0068]

[0069]

[0070] In the formula, △e f is the eccentricity vector difference of the slave star relative to the reference point, and △e0 is the eccentricity vector difference of the master star relative to the reference point.

[0071] Step 3: Planning and implementing the active bias control command to pull the semi-major axis closer along the track. This step also uses the semi-major axis difference to form the long-term divergence principle along the track, and the active bias amount ΔV is calculated according to the semi-major axis difference of the orbiting satellite. Tg Plan the semi-major axis active bias control command of the reconstructed configuration to close the star around the star, so as to establish the initial state of the reconstructed flyby formation configuration. The pulse direction of the two implementations is opposite to the first step, and the detailed process will not be repeated.

[0072] Step 4: Planning and implementation of precise correction instructions for the fuel-optimal formation configuration. This step is mainly aimed at the reconstruction error problem caused by the space perturbation force and configuration reconstruction control residual during the process of reconstructing the formation configuration of the fly-by formation. The fuel-optimal in-plane and out-of-plane control method is used to complete the precise correction of the configuration parameters to ensure the configuration reconstruction index of the formation system.

[0073] This embodiment also includes a satellite formation-based stretching and reconstruction control system, including:

[0074] A following flight state building module is used to establish a following flight state of the satellite formation by pulling apart a semi-major axis offset along the track based on the satellite formation configuration;

[0075] A flight state reconstruction module is connected to the following flight state construction module and is used to perform fuel optimal multi-pulse formation configuration reconstruction planning based on the following flight state to obtain a reconstructed flight state of the satellite formation;

[0076] A formation configuration module, connected to the flight state reconstruction module, is used to pull the semi-major axis offset along the track based on the reconstructed flight state to establish a reconstructed initial state of the circling formation configuration;

[0077] A parameter correction module, connected to the formation configuration module, is used to perform parameter correction processing of the fuel optimal formation configuration on the initial state of the reconstructed fly-around formation configuration to obtain a reconstruction index of the formation system configuration;

[0078] A formation reconstruction module is connected to the parameter correction module and is used to safely reconstruct the satellite formation based on the reconstruction index.

[0079] Furthermore, the following flight state construction module includes a parameter acquisition unit and a parameter calculation unit;

[0080] The parameter acquisition unit is used to form a long-term divergence principle along the track based on the semi-major axis difference, and determine the following distance according to safety requirements;

[0081] The parameter calculation unit is used to obtain the active offset of the semi-major axis of the orbiting star based on the follow-up distance and the pull-away time.

[0082] Further, the parameter calculation unit includes a first ignition control unit and a second ignition control unit;

[0083] The first ignition control unit is used to implement ignition control at the starting moment;

[0084] The second ignition control unit is used to apply an ignition control that is equal in magnitude to the first ignition control and opposite in direction, so as to realize the ignition control after the offset along the track is completed.

[0085] Further, the flight state reconstruction module includes an in-plane reconstruction unit and an out-of-plane reconstruction unit;

[0086] The in-plane reconstruction unit is used to realize the switching control of the in-plane relative eccentricity vector;

[0087] The out-of-plane reconstruction unit is used to realize the switching control of the out-of-plane relative orbital inclination vector.

[0088] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A satellite formation-based stretching and reconstruction control method, characterized in that: include: Based on the satellite formation configuration, a semi-major axis offset is stretched along the track to establish a following flight state of the satellite formation; Based on the following flight state, a fuel-optimal multi-pulse formation configuration reconstruction plan is performed to obtain a reconstructed flight state of the satellite formation; Based on the reconstructed flight state, the semi-major axis offset is pulled closer along the track to establish the initial state of the reconstructed circling formation configuration; Performing parameter correction processing of the fuel optimal formation configuration on the initial state of the reconstructed fly-around formation configuration to obtain a reconstruction index of the formation system configuration; and achieving safe reconstruction of the satellite formation configuration based on the reconstruction index; The fuel optimal multi-pulse formation configuration reconstruction planning includes in-plane reconstruction instruction planning and out-of-plane reconstruction instruction planning; The in-plane reconstruction instruction planning and the out-of-plane reconstruction instruction planning are to realize the switching control of the in-plane relative eccentricity vector and the out-of-plane relative orbital inclination vector in sequence when the satellite formation is in a state of following the track at a fixed distance; The switching control process of the in-plane relative eccentricity vector and the out-of-plane relative orbital inclination vector includes connecting the pulse vectors end to end and obtaining the optimal in-plane relative eccentricity vector increment and the optimal out-of-plane relative orbital inclination vector along the vector direction.

2. The satellite formation-based stretching and reconstruction control method according to claim 1, characterized in that: Based on the satellite formation configuration, the process of pulling the semi-major axis offset along the track to establish the following state of the satellite formation includes: Based on the principle of long-term divergence along the track formed by the semi-major axis difference, the following distance is determined according to safety requirements; Based on the following distance and the pull-off time, an active offset of the semi-major axis of the orbiting star is obtained; based on the active offset of the semi-major axis of the orbiting star, an active offset control instruction of the semi-major axis of the orbiting star is generated to establish the following state of the satellite formation.

3. The satellite formation-based stretching and reconstruction control method according to claim 1, characterized in that: The process of expanding the semi-major axis offset along the flight path includes a first ignition control and a second ignition control; The first ignition control is the ignition control at the starting moment, and the second ignition control is an ignition control that is equal in magnitude and opposite in direction to the first ignition control after the offset along the track is completed. The two ignition controls are used to achieve a fixed distance of along-track following flight.

4. The satellite formation-based stretching and reconstruction control method according to claim 1, characterized in that: The parameter correction processing of the optimal fuel formation configuration performs in-plane parameter correction and out-of-plane parameter correction respectively through optimal in-plane and out-of-plane control methods.

5. A satellite formation-based stretching and reconstruction control system, characterized in that: include, A following flight state building module is used to establish a following flight state of the satellite formation by pulling apart a semi-major axis offset along the track based on the satellite formation configuration; A flight state reconstruction module is connected to the following flight state construction module and is used to perform fuel optimal multi-pulse formation configuration reconstruction planning based on the following flight state to obtain a reconstructed flight state of the satellite formation; A formation configuration module, connected to the flight state reconstruction module, is used to pull the semi-major axis offset along the track based on the reconstructed flight state to establish a reconstructed initial state of the circling formation configuration; A parameter correction module, connected to the formation configuration module, is used to perform parameter correction processing of the fuel optimal formation configuration on the initial state of the reconstructed fly-around formation configuration to obtain a reconstruction index of the formation system configuration; A formation reconstruction module, connected to the parameter correction module, for safely reconstructing the satellite formation based on the reconstruction index; Wherein, the fuel optimal multi-pulse formation configuration reconstruction planning includes in-plane reconstruction instruction planning and out-of-plane reconstruction instruction planning; The in-plane reconstruction instruction planning and the out-of-plane reconstruction instruction planning are to realize the switching control of the in-plane relative eccentricity vector and the out-of-plane relative orbital inclination vector in sequence when the satellite formation is in a state of following the track at a fixed distance; The switching control process of the in-plane relative eccentricity vector and the out-of-plane relative orbital inclination vector includes connecting the pulse vectors end to end and obtaining the optimal in-plane relative eccentricity vector increment and the optimal out-of-plane relative orbital inclination vector along the vector direction.

6. The satellite formation-based stretching and reconfiguration control system according to claim 5, characterized in that: The following flight state construction module includes a parameter acquisition unit and a parameter calculation unit; The parameter acquisition unit is used to form a long-term divergence principle along the track based on the semi-major axis difference, and determine the following distance according to safety requirements; The parameter calculation unit is used to obtain the active offset of the semi-major axis of the orbiting star based on the follow-up distance and the pull-away time.

7. The satellite formation-based stretching and reconfiguration control system according to claim 6, characterized in that: The parameter calculation unit includes a first ignition control unit and a second ignition control unit; The first ignition control unit is used to implement ignition control at the starting moment; The second ignition control unit is used to apply an ignition control that is equal in magnitude to the first ignition control and opposite in direction, so as to realize the ignition control after the offset along the track is completed.

8. The satellite formation-based stretching and reconfiguration control system according to claim 5, characterized in that: The flight state reconstruction module includes an in-plane reconstruction unit and an out-of-plane reconstruction unit; The in-plane reconstruction unit is used to realize the switching control of the in-plane relative eccentricity vector; The out-of-plane reconstruction unit is used to realize the switching control of the out-of-plane relative orbital inclination vector.

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