A spacecraft orbit-attitude-modal information observation and disturbance estimation method

Abstract

The present invention discloses a method for observing and estimating spacecraft orbit-attitude-modal information and disturbance, and belongs to the technical field of large-scale spacecraft stability control. The present invention establishes a large-scale spacecraft orbit-attitude-vibration integrated dynamic model, introduces information observation and comprehensive disturbance estimator, performs real-time observation and feedback compensation of orbit, attitude, modal and disturbance information, and realizes the design of controller, thereby overcoming the degradation of control system performance caused by the span change of dynamic characteristics of on-orbit assembly of large-scale spacecraft, making the spacecraft orbit-attitude-vibration integrated control more robust, the assembly process more reliable and the precision higher, thereby significantly improving the on-orbit assembly efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of large spacecraft stability control, and in particular relates to a spacecraft orbit-attitude-modal information observation and disturbance estimation method. Background Art

[0002] Large spacecraft are important strategic aerospace equipment for future space resource utilization, exploration of cosmic mysteries, and long-term in-orbit living. They usually need to be launched multiple times and assembled and constructed in orbit. During the assembly process, the scale and configuration of large spacecraft change, and under the influence of the space environment, dynamic modeling is difficult. There is a serious nonlinear coupling between attitude and orbit stability and structural vibration, which makes it difficult to stabilize large spacecraft, seriously hindering the development of in-orbit fine assembly technology. Comprehensively considering the adverse effects of multi-source complex disturbances such as external interference, model parameter uncertainty, inertial parameter uncertainty, measurement error, nonlinear coupling, and actuator saturation constraints, the orbit-attitude-modal information observation and comprehensive disturbance estimation are realized by constructing an observer structure, and then the spacecraft state and comprehensive disturbance information after the dynamic characteristic span changes are obtained, so that the designed controller has self-disturbance rejection characteristics and better fault tolerance, which is of great significance and value for the in-orbit assembly of large spacecraft. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the present invention provides a method for observing and estimating spacecraft orbit-attitude-modal information and disturbance, which solves the problems of poor control accuracy and low control efficiency caused by unknown information and comprehensive interference during the on-orbit fine assembly of large spacecraft.

[0004] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is: a method for observing and estimating the orbit-attitude-modal information of a spacecraft and the disturbance, comprising the following steps:

[0005] S1. Under the combined action of multiple sources of complex and comprehensive disturbances, a spacecraft orbit-attitude-vibration integrated dynamics model is constructed, and the spacecraft orbit-attitude-vibration integrated dynamics model is converted into a state space form to obtain a spacecraft orbit-attitude-vibration integrated dynamics state space equation;

[0006] S2. With orbit information as the connection, an intermediate state observer is introduced for the spacecraft orbit-attitude-vibration integrated dynamic state space equation to reconstruct and obtain the estimated values ​​of attitude, mode and comprehensive disturbance;

[0007] S3, using attitude information as a connection, introduces an intermediate state observer for the spacecraft orbit-attitude-vibration integrated dynamic state space equation, and reconstructs the estimated values ​​of the orbit, mode, and comprehensive disturbance;

[0008] S4. Based on the estimated values ​​of orbit, attitude, mode and comprehensive disturbance obtained in step S2 and step S3, a feedback compensation controller is designed to achieve integrated control of the spacecraft orbit-attitude-vibration, and complete the spacecraft orbit-attitude-modal information observation and disturbance estimation.

[0009] The beneficial effects of the present invention are as follows: the present invention establishes an integrated dynamic model of orbit-attitude-vibration of a large spacecraft, introduces information observation and a comprehensive disturbance estimator, performs real-time observation and feedback compensation of orbit, attitude, modal, and disturbance information, and realizes the design of a controller, thereby overcoming the degradation of control system performance caused by the span change of the dynamic characteristics of the on-orbit assembly of large spacecraft, making the spacecraft orbit-attitude-vibration integrated control more robust, the assembly process more reliable, and the accuracy higher, thereby significantly improving the on-orbit assembly efficiency.

[0010] Furthermore, the expression of the spacecraft orbit-attitude-vibration integrated dynamic state space equation in step S1 is as follows:

[0011]

[0012] x1=v

[0013] x2=ω

[0014] x3=η

[0015]

[0016] in, represents the orbital motion system matrix, represents the attitude motion system matrix, represents the matrix of the vibrating motion system, represents the orbital motion control matrix, u represents the control input, represents the orbital motion disturbance input matrix, w represents the external disturbance, represents the attitude motion control matrix, represents the posture motion disturbance input matrix, represents the modal vibration control matrix, represents the modal vibration disturbance input matrix, represents the uncertainty of the orbital motion model, represents the uncertainty of the posture motion model, represents the uncertainty of the modal vibration model, y1, y2, y3 and y4 all represent system outputs, C1, C2, C3 and C4 all represent output matrices, x1 represents the orbital motion velocity vector, x2 represents the attitude motion angular velocity vector, x3 represents the modal vibration, x4 represents the modal first-order differential, v1, v2, v3 and v4 all represent measurement errors, v represents the velocity vector, ω represents the attitude angular velocity vector, η represents the vibration mode, and represent the first-order differentials of x1, x2, x3, and x4 respectively.

[0017] The beneficial effect of the above further scheme is: this scheme establishes a dynamic model of attitude-orbit-mode of large spacecraft under the consideration of the influence of inertial parameter uncertainty, external interference, measurement error, nonlinear coupling, etc., laying the foundation for high-precision on-orbit measurement of large spacecraft.

[0018] Furthermore, step S2 includes the following steps:

[0019] S201. Using orbit information as a connection, for the spacecraft orbit-attitude-vibration integrated dynamic state space equation, an intermediate state observer is introduced for the comprehensive disturbance, attitude, and mode;

[0020] S202, establishing a relationship between state information and comprehensive disturbance based on the introduced intermediate state observer;

[0021] S203: Reconstruct and obtain the estimated values ​​of the posture, mode and comprehensive disturbance according to the relationship between the state information and the comprehensive disturbance.

[0022] The beneficial effect of the above further scheme is: this scheme targets the coupling characteristics of orbit-attitude-modality, takes orbit information as the connection, and introduces an intermediate state observer for the attitude-modality part to achieve high-precision estimation of the comprehensive disturbance, attitude information and modality information.

[0023] Furthermore, the relationship between the state information and the comprehensive disturbance in step S202 is expressed as follows:

[0024]

[0025] in, represents the first-order differential of the estimated attitude information, Represents the estimated values ​​of the observer output and intermediate states The first-order differential of a represents the system matrix, represents the posture information estimation, B a1 represents the control input matrix u a (t) Control input, B a2 represents the interference input matrix, represents the attitude disturbance estimation value, L a represents the observer gain, y a (t) represents the true posture output, represents the observer output, C a represents the output matrix, κ a represents the adjustable gain parameter, Indicates B a2 The transpose of .

[0026] The beneficial effect of the above further solution is that the present invention realizes the observation of posture information and modal information and the reconstruction of intermediate variable estimation by establishing a set of observation equations.

[0027] Furthermore, the expressions for reconstructing the estimated values ​​of the posture, mode and comprehensive disturbance in step S203 are as follows:

[0028]

[0029] in, represents the reconstructed estimate of the posture disturbance, represents the estimated value of the intermediate state, κ a represents the adjustable parameter gain, represents the estimated value of attitude information, Indicates B a2 The transpose of .

[0030] The beneficial effect of the above further solution is that a high-precision reconstruction estimation of the attitude-modal partial comprehensive disturbance is achieved through the above formula.

[0031] Furthermore, step S3 includes the following steps:

[0032] S301. Using attitude information as a connection, for the spacecraft orbit-attitude-vibration integrated dynamic state space equation, an intermediate state observer is introduced for the comprehensive disturbance, orbit, and mode;

[0033] S302, establishing a relationship between state information and comprehensive disturbance based on the introduced intermediate state observer;

[0034] S303: Reconstruct and obtain estimated values ​​of the orbit, mode, and comprehensive disturbance according to the relationship between the state information and the comprehensive disturbance.

[0035] The beneficial effect of the above further scheme is: this scheme targets the coupling characteristics of orbit-attitude-modality, takes attitude information as the connection, and introduces an intermediate state observer for the orbit-modality part to achieve high-precision estimation of the comprehensive disturbance, orbit information and modality information.

[0036] Furthermore, the relationship between the state information and the comprehensive disturbance in step S302 is expressed as follows:

[0037]

[0038] in, represents the first-order differential of the orbital information estimate, Estimates of observer outputs and intermediate states The first-order differential of o represents the system matrix, B o1 represents the control input matrix, u o (t) represents the control input, B o2 represents the interference input matrix, represents the estimated value of orbital interference, L o represents the observer gain, y o (t) represents the real track output, represents the observer output, C o represents the output matrix, represents the orbital information estimation, κ o represents the adjustable gain parameter, Indicates B o2 The transpose of .

[0039] The beneficial effect of the above further solution is that the present invention realizes the observation of orbit information and modal information and the reconstruction of intermediate variable estimation by establishing a set of observation equations.

[0040] Furthermore, the expressions for reconstructing and obtaining the estimated values ​​of the orbit, mode and comprehensive disturbance in step S303 are as follows:

[0041]

[0042] in, represents the reconstructed estimate of the orbital disturbance, represents the estimated value of the intermediate state, κ o represents the adjustable parameter gain, Indicates B o2 The transpose of Orbital information estimate.

[0043] The beneficial effect of the above further solution is that the present invention realizes high-precision reconstruction estimation of the orbit-modal partial comprehensive disturbance through the above formula.

[0044] Furthermore, the expression for the integrated control of the spacecraft orbit-attitude-vibration in step S4 is as follows:

[0045]

[0046] Where u(t) represents the control input, u a (t) represents the attitude control part, u o (t) represents the orbit control part, K a represents the attitude control gain, K o represents the track section control gain, represents the estimated value of the attitude part state, represents the estimated state of the track portion, and Both represent pseudo-inverse, B a2 represents the posture part interference input matrix, B o2 represents the orbital partial interference input matrix, represents the attitude disturbance estimation value, represents the orbital disturbance estimate.

[0047] The beneficial effect of the above further scheme is that the present invention designs a feedback compensation controller based on observation information, thereby realizing high-precision and high-stability control of the orbit-attitude-modal integration of large spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 The present invention is a flow chart of the method. DETAILED DESCRIPTION

[0049] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0050] In this embodiment, the relevant basic parameters of the large spacecraft are selected, including: selecting the nominal mass m0 and the nominal inertia matrix J0, determining the orbital coupling coefficient matrix δ o and attitude coupling coefficient matrix δ a The coefficients of modal damping and rigidity are determined by C0=diag([2κ1Λ1 2κ2Λ2… 2κ N Λ N ] T )and Where Λ represents the modal frequency and κ represents the damping coefficient. Select the appropriate posture external disturbance w a and orbital external disturbance w o , and determine the relevant initial states of large spacecraft.

[0051] like Figure 1As shown, the present invention provides a method for spacecraft orbit-attitude-modal information observation and disturbance estimation, and its implementation method is as follows:

[0052] S1. Under the combined action of multiple sources of complex and comprehensive disturbances, a spacecraft orbit-attitude-vibration integrated dynamics model is constructed, and the spacecraft orbit-attitude-vibration integrated dynamics model is converted into a state space form to obtain a spacecraft orbit-attitude-vibration integrated dynamics state space equation;

[0053] In this embodiment, under the combined effect of multiple sources of complex disturbances such as external interference, measurement error, model parameter uncertainty, inertial parameter uncertainty, actuator saturation constraint, etc., a large spacecraft orbit-attitude-vibration integrated dynamics model is established and converted into the form of state space:

[0054] The orbit-attitude-vibration integrated dynamics model of large spacecraft established based on the Lagrangian method can be expressed as follows:

[0055]

[0056]

[0057]

[0058] in, and represents the perturbation part of the mass and moment of inertia caused by the on-orbit assembly, v represents the velocity vector, ω represents the attitude angular velocity vector, η represents the vibration mode, and u o represents the orbit control force, u a represents the attitude control torque, C0 and K0 represent the modal damping and rigid part respectively.

[0059] Because in large spacecraft and is usually bounded, so it can be considered as part of the external disturbance. Let x1 = v, x2 = ω, x3 = η, The integrated dynamic model of orbit, attitude and vibration of large spacecraft can be expressed in the form of the following state space:

[0060]

[0061] in, represents the orbital motion system matrix, represents the attitude motion system matrix, represents the matrix of the vibrating motion system, represents the orbital motion control matrix, u represents the control input, represents the orbital motion disturbance input matrix, w represents the external disturbance, represents the attitude motion control matrix, represents the posture motion disturbance input matrix, represents the modal vibration control matrix, represents the modal vibration disturbance input matrix, represents the uncertainty of the orbital motion model, represents the uncertainty of the posture motion model, represents the uncertainty of the modal vibration model, y1, y2, y3 and y4 all represent system outputs, C1, C2, C3 and C4 all represent output matrices, x1 represents the orbital motion velocity vector, x2 represents the attitude motion angular velocity vector, x3 represents the modal vibration, x4 represents the modal first-order differential, v1, v2, v3 and v4 all represent measurement errors, v represents the velocity vector, ω represents the attitude angular velocity vector, η represents the vibration mode, and represent the first-order differentials of x1, x2, x3, and x4 respectively.

[0062] S2. With orbit information as the connection, the intermediate state observer is introduced for the integrated dynamic state space equation of spacecraft orbit-attitude-vibration to reconstruct the estimated values ​​of attitude, mode and comprehensive disturbance. The implementation method is as follows:

[0063] S201. Using orbit information as a connection, for the spacecraft orbit-attitude-vibration integrated dynamic state space equation, an intermediate state observer is introduced for the comprehensive disturbance, attitude, and mode;

[0064] S202, establishing a relationship between state information and comprehensive disturbance based on the introduced intermediate state observer;

[0065] S203: Reconstruct and obtain the estimated values ​​of the posture, mode and comprehensive disturbance according to the relationship between the state information and the comprehensive disturbance.

[0066] In this embodiment, the orbit information is used as a connection, and the state space equation of the attitude-vibration dynamics part is:

[0067] y2=C2x2+v2

[0068] y3=C3x3+v3

[0069] y4=C4x4+v4

[0070] Expressed in standard state space form:

[0071]

[0072] Considering that attitude information and modal information cannot be accurately measured, and large-scale spacecraft are subject to complex disturbances from multiple sources, an intermediate state observer is introduced to estimate attitude-modal information and observe the comprehensive disturbance. The intermediate variable α is defined as a Has the following form:

[0073]

[0074] The attitude information, modal information, and comprehensive disturbance signal observer have the following forms:

[0075]

[0076] in, represents the first-order differential of the estimated attitude information, Represents the estimated values ​​of the observer output and intermediate states The first-order differential of a represents the system matrix, represents the posture information estimation, B a1 represents the control input matrix u a (t) Control input, B a2 represents the interference input matrix, represents the attitude disturbance estimation value, L a represents the observer gain, y a (t) represents the true posture output, represents the observer output, C a represents the output matrix, κ a represents the adjustable gain parameter, Indicates B a2 The transpose of .

[0077] This enables the reconstruction of the comprehensive disturbance of the posture:

[0078]

[0079] in, represents the reconstructed estimate of the posture disturbance, represents the estimated value of the intermediate state, κ a represents the adjustable parameter gain, represents the estimated value of attitude information, Indicates B a2 The transpose of .

[0080] S3. With attitude information as the connection, an intermediate state observer is introduced for the spacecraft orbit-attitude-vibration integrated dynamic state space equation to reconstruct and obtain the estimated values ​​of the orbit, mode and comprehensive disturbance. The implementation method is as follows:

[0081] S301. Using attitude information as a connection, for the spacecraft orbit-attitude-vibration integrated dynamic state space equation, an intermediate state observer is introduced for the comprehensive disturbance, orbit, and mode;

[0082] S302, establishing a relationship between state information and comprehensive disturbance based on the introduced intermediate state observer;

[0083] S303: Reconstruct and obtain estimated values ​​of the orbit, mode, and comprehensive disturbance according to the relationship between the state information and the comprehensive disturbance.

[0084] In this embodiment, the attitude information is used as the connection, and the state space equation of the orbit-vibration dynamics part is:

[0085] y1=C1x1+v1

[0086] y3=C3x3+v3

[0087] y4=C4x4+v4

[0088] Expressed in standard state space form:

[0089]

[0090] Considering that orbital information and modal information cannot be accurately measured, and large-scale spacecraft are subject to complex disturbances from multiple sources, an intermediate state observer is introduced to estimate orbital-modal information and observe the integrated disturbance. The intermediate variable α is defined as o Has the following form:

[0091]

[0092] The orbit information, modal information and integrated disturbance signal observer have the following forms:

[0093]

[0094] in, represents the first-order differential of the orbital information estimate, Estimates of observer outputs and intermediate states The first-order differential of o represents the system matrix, B o1 represents the control input matrix, u o (t) represents the control input, B o2 represents the interference input matrix, represents the estimated value of orbital interference, L o represents the observer gain, y o (t) represents the real track output, represents the observer output, C o represents the output matrix, represents the orbital information estimation, κ o represents the adjustable gain parameter, Indicates B o2 The transpose of .

[0095] This enables the reconstruction of the orbital comprehensive disturbance:

[0096]

[0097] in, represents the reconstructed estimate of the orbital disturbance, represents the estimated value of the intermediate state, κ o represents the adjustable parameter gain, Indicates B o2 The transpose of Orbital information estimate.

[0098] S4. Based on the estimated values ​​of orbit, attitude, mode and comprehensive disturbance obtained in step S2 and step S3, a feedback compensation controller is designed to achieve integrated control of the spacecraft orbit-attitude-vibration, and complete the spacecraft orbit-attitude-modal information observation and disturbance estimation.

[0099] In this embodiment, a feedback compensation controller is designed based on the estimated values ​​of orbit, attitude, modal information and the reconstructed value of the comprehensive disturbance to achieve integrated stable control of orbit, attitude, and vibration of large-scale aerospace:

[0100] In this embodiment, for a large spacecraft in orbit, the maximum control force / torque that its actuator can provide is limited, that is, there are the following constraints:

[0101] u i (t) = sign (u i (t))min{|u i (t)|,u i max}(i=x,y,z)

[0102] Among them, u i (t) represents the ideal control input of x, y, and z axes, u imax To control the amplitude of force / torque. Under the above constraints, the following feedback compensation controller is designed to achieve the integrated stable control of orbit, attitude and vibration of large spacecraft:

[0103]

[0104] Where u(t) represents the control input, u a (t) represents the attitude control part, uo (t) represents the orbit control part, K a represents the attitude control gain, K o represents the track section control gain, represents the estimated value of the attitude part state, represents the estimated state of the track portion, and Both represent pseudo-inverse, B a2 represents the posture part interference input matrix, B o2 represents the orbital partial interference input matrix, represents the attitude disturbance estimation value, represents the orbital disturbance estimate.

[0105] In this embodiment, the present invention can perform real-time estimation of orbit information, attitude information, modal information and comprehensive disturbances under complex disturbance conditions such as external interference, measurement errors, model parameter uncertainty, inertial parameter uncertainty, actuator saturation constraints, etc., and the designed observer can achieve high-precision and high-stability control of on-orbit assembled spacecraft.

[0106] In this embodiment, the present invention aims at the orbit-attitude-vibration integrated control problem in the on-orbit fine assembly process of large spacecraft under the influence of multi-source disturbances, and can realize real-time estimation of state information and comprehensive disturbances, so that the on-orbit assembly of large spacecraft under the influence of multi-source disturbances can reach a stable state with high precision.

Claims

1. A spacecraft orbit-attitude-modal information observation and disturbance estimation method, characterized in that: The following steps are involved: S1. Under the combined action of multiple sources of complex and comprehensive disturbances, a spacecraft orbit-attitude-vibration integrated dynamics model is constructed, and the spacecraft orbit-attitude-vibration integrated dynamics model is converted into a state space form to obtain a spacecraft orbit-attitude-vibration integrated dynamics state space equation; The expression of the spacecraft orbit-attitude-vibration integrated dynamic state space equation is as follows: x1=v x2=ω x3=η in, represents the orbital motion system matrix, represents the attitude motion system matrix, represents the matrix of the vibrating motion system, represents the orbital motion control matrix, u represents the control input, represents the orbital motion disturbance input matrix, w represents the external disturbance, represents the attitude motion control matrix, represents the posture motion disturbance input matrix, represents the modal vibration control matrix, represents the modal vibration disturbance input matrix, represents the uncertainty of the orbital motion model, represents the uncertainty of the posture motion model, represents the uncertainty of the modal vibration model, y1, y2, y3 and y4 all represent system outputs, C1, C2, C3 and C4 all represent output matrices, x1 represents the orbital motion velocity vector, x2 represents the attitude motion angular velocity vector, x3 represents the modal vibration, x4 represents the modal first-order differential, v1, v2, v3 and v4 all represent measurement errors, v represents the velocity vector, ω represents the attitude angular velocity vector, η represents the vibration mode, and represent the first-order differentials of x1, x2, x3, and x4 respectively; S2. With orbit information as the connection, the intermediate state observer is introduced for the spacecraft orbit-attitude-vibration integrated dynamic state space equation to reconstruct the estimated values ​​of attitude, mode and comprehensive disturbance, specifically: S201. Using orbit information as a connection, for the spacecraft orbit-attitude-vibration integrated dynamic state space equation, an intermediate state observer is introduced for the comprehensive disturbance, attitude, and mode; S202, establishing a relationship between state information and comprehensive disturbance based on the introduced intermediate state observer; S203, reconstructing and acquiring the estimated values ​​of the posture, mode and comprehensive disturbance according to the relationship between the state information and the comprehensive disturbance; S3. With attitude information as the connection, an intermediate state observer is introduced for the spacecraft orbit-attitude-vibration integrated dynamic state space equation to reconstruct and obtain the estimated values ​​of the orbit, mode and comprehensive disturbance, specifically: S301. Using attitude information as a connection, for the spacecraft orbit-attitude-vibration integrated dynamic state space equation, an intermediate state observer is introduced for the comprehensive disturbance, orbit, and mode; S302, establishing a relationship between state information and comprehensive disturbance based on the introduced intermediate state observer; S303, reconstructing and acquiring estimated values ​​of the orbit, mode, and comprehensive disturbance according to the relationship between the state information and the comprehensive disturbance; S4, designing a feedback compensation controller according to the estimated values ​​of the orbit, attitude, mode and comprehensive disturbance obtained in step S2 and step S3, realizing integrated control of the spacecraft orbit-attitude-vibration, and completing the spacecraft orbit-attitude-modal information observation and disturbance estimation; The expression for the integrated control of spacecraft orbit, attitude and vibration is as follows: Where u(t) represents the control input, u a (t) represents the attitude control part, u o (t) represents the orbit control part, K a represents the attitude control gain, K o represents the track section control gain, represents the estimated value of the attitude part state, represents the estimated state of the track portion, and Both represent pseudo-inverse, B a2 represents the posture part interference input matrix, B o2 represents the orbital partial interference input matrix, represents the attitude disturbance estimation value, represents the orbital disturbance estimate.

2. The spacecraft orbit-attitude-modal information observation and disturbance estimation method according to claim 1, characterized in that: The expression of the relationship between the state information and the comprehensive disturbance in step S202 is as follows: in, represents the first-order differential of the attitude information estimation, Represents the estimated values ​​of the observer output and intermediate states The first-order differential of a represents the system matrix, represents the posture information estimation, B a1 represents the control input matrix u a (t) Control input, B a2 represents the interference input matrix, represents the attitude disturbance estimation value, L a represents the observer gain, y a (t) represents the true posture output, represents the observer output, C a represents the output matrix, κ a represents the adjustable gain parameter, Indicates B a2 The transpose of .

3. The spacecraft orbit-attitude-modal information observation and disturbance estimation method according to claim 1, characterized in that: The expressions for reconstructing the estimated values ​​of the posture, mode and comprehensive disturbance in step S203 are as follows: in, represents the reconstructed estimate of the posture disturbance, represents the estimated value of the intermediate state, κ a represents the adjustable parameter gain, represents the estimated value of attitude information, Indicates B a2 The transpose of .

4. The spacecraft orbit-attitude-modal information observation and disturbance estimation method according to claim 1, characterized in that: The expression of the relationship between the state information and the comprehensive disturbance in step S302 is as follows: in, represents the first-order differential of the orbital information estimate, Estimates of observer outputs and intermediate states The first-order differential of o represents the system matrix, B o1 represents the control input matrix, u o (t) represents the control input, B o2 represents the interference input matrix, represents the estimated value of orbital interference, L o represents the observer gain, y o (t) represents the real track output, represents the observer output, C o represents the output matrix, represents the orbital information estimation, κ o represents the adjustable gain parameter, Indicates B o2 The transpose of .

5. The spacecraft orbit-attitude-modal information observation and disturbance estimation method according to claim 1, characterized in that: The expressions for reconstructing and obtaining the estimated values ​​of orbit, mode and comprehensive disturbance in step S303 are as follows: in, represents the reconstructed estimate of the orbital disturbance, represents the estimated value of the intermediate state, κ o represents the adjustable parameter gain, Indicates B o2 The transpose of Orbital information estimate.

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