A method and device for dimensionality reduction characterization and quantitative estimation of spacecraft control capability

Abstract

The present invention discloses a method and device for dimensionality reduction characterization and quantitative estimation of spacecraft control capability, the method comprising: based on the model of the spacecraft, obtaining the technical status parameters of the spacecraft, establishing a dynamic model for analyzing the control capability of the spacecraft; determining the features representing the control capability of the spacecraft, the features including attitude maneuvering error and attitude maneuvering angular velocity error; based on the dynamic model for analyzing the control capability of the spacecraft, converting the features representing the control capability of the spacecraft to form a dimensionality reduction characterization parameter of the spacecraft control capability corresponding to the control capability of the spacecraft; based on the dimensionality reduction characterization parameter of the spacecraft control capability, obtaining an expression for quantitative estimation of the control capability of the spacecraft. The method of the present invention provides a dimensionality reduction characterization parameter of the spacecraft control capability, the dimension of which is only 2, which greatly reduces the dimension of the control capability characterization and is conducive to simplifying the control capability analysis.

Description

Technical Field

[0001] The present invention relates to the field of spacecraft control technology, and in particular to a method and device for dimensionality reduction characterization and quantitative estimation of spacecraft control capability. Background Art

[0002] For space missions, autonomous control technology is one of the key technologies necessary for spacecraft to perform various space missions, such as remote sensing and space operations. Real-time quantitative evaluation of control capabilities on spacecraft is crucial to achieve autonomous control of spacecraft. Based on quantitative evaluation indicators, it can provide an objective basis for autonomous decision-making and control of spacecraft, and fundamentally improve the autonomy level of the control system.

[0003] However, due to the severe constraints of spacecraft computing power, existing methods for quantitative estimation of spacecraft control capabilities are difficult to apply directly on spacecraft. Existing methods for quantitative estimation of spacecraft control capabilities mainly include: 1. Standard analysis of controllability matrix; 2. Attitude maneuvering error method. Among them, the standard analysis of controllability matrix is ​​to construct the controllability matrix of the spacecraft control system, and then quantitatively evaluate the control capability of the system by the size of the standard elements of the matrix; the attitude maneuvering error method is to establish an attitude evaluation index system and evaluate the control capability of the system through numerical simulation calculation. Among the above methods, the establishment of the standard form of the controllability matrix usually involves complex high-dimensional matrix operations, and the attitude maneuvering error law requires a large number of target simulation operations. Under the strict constraints of onboard computing resources, the two methods can only be used in the design stage, and it is difficult to meet the needs of quantitative estimation of spacecraft control capabilities. Summary of the invention

[0004] In view of this, the present invention provides a method and device for dimensionality reduction characterization and quantitative estimation of spacecraft control capability, which can solve the technical problem of the quantitative estimation method of spacecraft control capability.

[0005] In order to solve the above technical problems, the present invention is implemented as follows.

[0006] A method for dimensionality reduction characterization and quantitative estimation of spacecraft control capability, the method comprising the following steps:

[0007] Step S1: Based on the model of the spacecraft, technical status parameters of the spacecraft are obtained, and a dynamic model for analyzing the control capability of the spacecraft is established;

[0008] Step S2: Determine the characteristics representing the control capability of the spacecraft, wherein the characteristics include attitude maneuvering error [δq0 δq1 δq2 δq3] and attitude maneuvering angular velocity error [δω x δω y δω z], where δ is a prefix, indicating the difference in parameter changes, [q0 q1 q2 q3] is the four elements of the spacecraft's attitude, [ω x ω y ω z ] is the angular velocity of the spacecraft’s attitude maneuver;

[0009] Step S3: based on the spacecraft control capability analysis dynamics model, convert the features representing the spacecraft control capability to form spacecraft control capability dimensionality reduction characterization parameters corresponding to the spacecraft control capability;

[0010] Step S4: Based on the dimension reduction characterization parameters of the spacecraft control capability, an expression for quantitative estimation of the spacecraft control capability is obtained.

[0011] Preferably, in step S1, the spacecraft control capability analysis dynamics model is:

[0012]

[0013] Among them, (x, y, z) is the relative position of the spacecraft relative to a ground target point, is the relative velocity of the spacecraft relative to a ground target point, is the relative acceleration of the spacecraft relative to a ground target point, f sat is the true anomaly angle of the spacecraft, is the true near-angular velocity of the spacecraft, is the true anomaly angular acceleration of the spacecraft, R sat is the distance from the center of mass of the spacecraft to the center of mass of the earth, R earth is the distance from the ground target point to the center of mass of the earth, and μ is the gravitational constant of the earth.

[0014] Preferably, the step S3 comprises:

[0015] Step S31: Based on the telemetry data of the spacecraft, determine the attitude four elements [q0 q1 q2q3] of the spacecraft and the attitude maneuvering angular velocity [ω x ω y ω z ];

[0016] Step S32: Determine the spacecraft attitude pointing vector v and the pointing vector change rate

[0017]

[0018]

[0019] Step S33: Analyze the dynamic model based on the control capability of the spacecraft to determine the relative distance ρ and the distance change rate in:

[0020] The relative distance ρ is:

[0021] Distance change rate for:

[0022] Determine the projection position of the spacecraft pointing point on the earth and rate of change in:

[0023]

[0024] The rate at which the projection of the spacecraft pointing point on the Earth changes for:

[0025]

[0026] Step S34: According to the spacecraft attitude maneuvering task, obtain the desired attitude four elements [q r0 q r1 q r2 q r3 ] and the desired attitude maneuver angular velocity [ω rx ω ry ω rz ], and obtain the desired attitude pointing vector υ of the spacecraft r and the expected rate of change of the pointing vector

[0027]

[0028]

[0029] Step S35: Determine the projection point position of the spacecraft's desired pointing point on the earth and rate of change in:

[0030] The projected position of the spacecraft's desired pointing point on the Earth for:

[0031]

[0032] The rate at which the projection of the desired pointing point of the spacecraft on the Earth changes for:

[0033]

[0034] Step S36: Taking the projection point position of the spacecraft pointing point on the earth The projected point position of the spacecraft on the Earth The angle difference δα represents the attitude maneuver error; the change rate of the projection point of the spacecraft pointing point on the earth is The rate at which the projection of the spacecraft's desired pointing point on Earth changes The scale difference Characterizes the attitude maneuver angular velocity error; where δα and They are all dimension reduction characterization parameters of the spacecraft control capability corresponding to the spacecraft control capability.

[0035] Preferably, in step S4, the expression for quantitative estimation of the spacecraft control capability is:

[0036]

[0037]

[0038] in, To perform the vector transpose operation at the desired point, The 2-norm calculation operation for the desired point vector is: Transpose operation for the point vector; The 2-norm calculation operation is the difference between the desired pointing point vector and the pointing point vector.

[0039] The present invention provides a device for dimensionality reduction characterization and quantitative estimation of spacecraft control capability, the device comprising:

[0040] Model building module: configured to obtain technical status parameters of the spacecraft based on the model of the spacecraft and establish a dynamic model for spacecraft control capability analysis;

[0041] Characteristic module: configured to determine characteristics representing the control capability of the spacecraft, the characteristics including attitude maneuvering error [δq0 δq1 δq2 δq3], and attitude maneuvering angular velocity error [δω x δω y δω z ], where δ is a prefix, indicating the difference in parameter changes, [q0 q1 q2 q3] is the four elements of the spacecraft's attitude, [ω x ω y ω z ] is the angular velocity of the spacecraft’s attitude maneuver;

[0042] Parameter expression module: configured to convert the features representing the control capability of the spacecraft based on the spacecraft control capability analysis dynamics model to form a spacecraft control capability dimensionality reduction representation parameter corresponding to the spacecraft control capability;

[0043] A synthesis module: configured to obtain an expression for quantitative estimation of the control capability of the spacecraft based on the dimension reduction characterization parameters of the control capability of the spacecraft.

[0044] The present invention provides a computer-readable storage medium, wherein a plurality of instructions are stored in the storage medium; the plurality of instructions are used for a processor to load and execute the method as described above.

[0045] An electronic device provided by the present invention is characterized in that the electronic device comprises:

[0046] A processor, which is used to execute multiple instructions;

[0047] A memory for storing a plurality of instructions;

[0048] The plurality of instructions are used to be stored by the memory and loaded and executed by the processor to implement the method as described above.

[0049] Beneficial effects:

[0050] The present invention is a method for estimating the observable capability of a second-order system. It has the following beneficial effects:

[0051] (1) Compared with the traditional control capability characterization method, the spacecraft control capability dimensionality reduction characterization parameter provided by the present invention has only two dimensions, which greatly reduces the control capability characterization dimension and is conducive to simplifying the control capability analysis.

[0052] (2) Compared with the traditional control capability quantitative estimation method, the spacecraft control capability quantitative estimation method provided by the present invention has a quantified form of analytical expression, so the computational complexity is lower and it is suitable for control capability estimation on spacecraft with severely limited computing resources.

[0053] (3) The scheme of the present invention is simple and easy to implement, and can comprehensively and quantitatively estimate the control capability of the spacecraft.

[0054] (4) The method of the present invention is reliable and occupies less computing resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic flow chart of a method for dimensionality reduction characterization and quantitative estimation of spacecraft control capability provided by the present invention;

[0056] Figure 2 A schematic diagram of the structure of the device for dimensionality reduction characterization and quantitative estimation of spacecraft control capability provided by the present invention. DETAILED DESCRIPTION

[0057] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0058] like Figure 1 As shown, the present invention proposes a method for dimensionality reduction characterization and quantitative estimation of spacecraft control capability, the method comprising the following steps:

[0059] Step S1: Based on the model of the spacecraft, technical status parameters of the spacecraft are obtained, and a dynamic model for analyzing the control capability of the spacecraft is established;

[0060] Step S2: Determine the characteristics representing the control capability of the spacecraft, wherein the characteristics include attitude maneuvering error [δq0 δq1 δq2 δq3] and attitude maneuvering angular velocity error [δω x δω y δω z ], where δ is a prefix, indicating the difference in parameter changes, [q0 q1 q2 q3] is the four elements of the spacecraft's attitude, [ω x ω y ω z ] is the angular velocity of the spacecraft’s attitude maneuver;

[0061] Step S3: based on the spacecraft control capability analysis dynamics model, convert the features representing the spacecraft control capability to form spacecraft control capability dimensionality reduction characterization parameters corresponding to the spacecraft control capability;

[0062] Step S4: Based on the dimension reduction characterization parameters of the spacecraft control capability, an expression for quantitative estimation of the spacecraft control capability is obtained.

[0063] Step S1, the spacecraft control capability analysis dynamics model is:

[0064]

[0065] Among them, (x, y, z) is the relative position of the spacecraft relative to a ground target point, is the relative velocity of the spacecraft relative to a ground target point, is the relative acceleration of the spacecraft relative to a ground target point, f sat is the true anomaly angle of the spacecraft, is the true near-angular velocity of the spacecraft, is the true anomaly angular acceleration of the spacecraft, R sat is the distance from the center of mass of the spacecraft to the center of mass of the earth, R earth is the distance from the ground target point to the center of mass of the earth, and μ is the gravitational constant of the earth.

[0066] The step S3 comprises:

[0067] Step S31: Based on the telemetry data of the spacecraft, determine the attitude four elements [q0 q1 q2q3] of the spacecraft and the attitude maneuvering angular velocity [ω x ω y ω z ];

[0068] Step S32: Determine the spacecraft attitude pointing vector v and the pointing vector change rate

[0069]

[0070]

[0071] Step S33: Analyze the dynamic model based on the control capability of the spacecraft to determine the relative distance ρ and the distance change rate in:

[0072] The relative distance ρ is:

[0073] Distance change rate for:

[0074] Determine the projection position of the spacecraft pointing point on the earth and rate of change in:

[0075]

[0076] The rate at which the projection of the spacecraft pointing point on the Earth changes for:

[0077]

[0078] Step S34: According to the spacecraft attitude maneuvering task, obtain the desired attitude four elements [q r0 q r1 q r2 q r3 ] and the desired attitude maneuver angular velocity [ω rx ω ry ω rz ], and obtain the desired attitude pointing vector υ of the spacecraft r and the expected rate of change of the pointing vector

[0079]

[0080]

[0081] Step S35: Determine the projection point position of the spacecraft's desired pointing point on the earth and rate of change in:

[0082] The projected position of the spacecraft's desired pointing point on the Earth for:

[0083]

[0084] The rate at which the projection of the desired pointing point of the spacecraft on the Earth changes for:

[0085]

[0086] Step S36: Taking the projection point position of the spacecraft pointing point on the earth The projected point position of the spacecraft on the Earth The angle difference δα represents the attitude maneuver error; the change rate of the projection point of the spacecraft pointing point on the earth is The rate at which the projection of the spacecraft's desired pointing point on Earth changes The scale difference Characterizes the attitude maneuver angular velocity error; where δα and They are all dimension reduction characterization parameters of the spacecraft control capability corresponding to the spacecraft control capability.

[0087] In step S4, the expression for quantitative estimation of the spacecraft control capability is:

[0088]

[0089]

[0090] in, To perform the vector transpose operation at the desired point, The 2-norm calculation operation for the desired point vector is: Transpose operation for the point vector; The 2-norm calculation operation is the difference between the desired pointing point vector and the pointing point vector.

[0091] The present invention also provides a device for dimensionality reduction characterization and quantitative estimation of spacecraft control capability, such as Figure 2 As shown, the device comprises:

[0092] Model building module: configured to obtain technical status parameters of the spacecraft based on the model of the spacecraft and establish a dynamic model for spacecraft control capability analysis;

[0093] Characteristic module: configured to determine characteristics representing the control capability of the spacecraft, the characteristics including attitude maneuvering error [δq0 δq1 δq2 δq3], and attitude maneuvering angular velocity error [δω x δω y δω z ], where δ is a prefix, indicating the difference in parameter changes, [q0 q1 q2 q3] is the four elements of the spacecraft's attitude, [ω x ω y ω z ] is the angular velocity of the spacecraft’s attitude maneuver;

[0094] Parameter expression module: configured to convert the features representing the control capability of the spacecraft based on the spacecraft control capability analysis dynamics model to form a spacecraft control capability dimensionality reduction representation parameter corresponding to the spacecraft control capability;

[0095] A synthesis module: configured to obtain an expression for quantitative estimation of the control capability of the spacecraft based on the dimension reduction characterization parameters of the control capability of the spacecraft.

[0096] The above specific embodiments only describe the design principle of the present invention. The shapes and names of the components in the description may be different and are not limited. Therefore, those skilled in the art in the field of the present invention may modify or replace the technical solutions recorded in the above embodiments; and these modifications and replacements do not deviate from the creative purpose and technical solutions of the present invention and should all fall within the protection scope of the present invention.

Claims

1. A method for dimensionality reduction characterization and quantitative estimation of spacecraft control capability, characterized in that: The method comprises the following steps: Step S1: Based on the model of the spacecraft, technical status parameters of the spacecraft are obtained, and a dynamic model for analyzing the control capability of the spacecraft is established; Step S2: Determine the characteristics representing the control capability of the spacecraft, wherein the characteristics include attitude maneuvering error [δq0 δq1 δq2 δq3] and attitude maneuvering angular velocity error [δω x δω y δω z ], where δ is a prefix, indicating the difference in parameter changes, [q0 q1q2 q3] is the four elements of the spacecraft's attitude, [ω x ω y ω z ] is the angular velocity of the spacecraft’s attitude maneuver; Step S3: based on the spacecraft control capability analysis dynamics model, converting the features representing the spacecraft control capability to form spacecraft control capability dimensionality reduction characterization parameters corresponding to the spacecraft control capability; Step S4: obtaining an expression for quantitative estimation of the spacecraft control capability based on the dimension reduction characterization parameter of the spacecraft control capability; In step S1, the dynamic model for analyzing the control capability of the spacecraft is: Among them, (x, y, z) is the relative position of the spacecraft relative to a ground target point, is the relative velocity of the spacecraft relative to a ground target point, is the relative acceleration of the spacecraft relative to a ground target point, f sat is the true anomaly angle of the spacecraft, is the true near-angular velocity of the spacecraft, is the true anomaly angular acceleration of the spacecraft, R sat is the distance from the center of mass of the spacecraft to the center of mass of the earth, R earth is the distance from the ground target point to the center of mass of the earth, μ is the gravitational constant of the earth; The step S3 comprises: Step S31: Based on the telemetry data of the spacecraft, determine the attitude four elements [q0 q1 q2 q3] of the spacecraft and the attitude maneuvering angular velocity [ω x ω y ω z ]; Step S32: Determine the spacecraft attitude pointing vector v and the pointing vector change rate Step S33: Analyze the dynamic model based on the control capability of the spacecraft to determine the relative distance ρ and the distance change rate in: The relative distance ρ is: Distance change rate for: Determine the projection position of the spacecraft pointing point on the earth and rate of change in: The rate at which the projection of the spacecraft pointing point on the Earth changes for: Step S34: According to the spacecraft attitude maneuvering task, obtain the desired attitude four elements [q r0 q r1 q r2 q r3 ] and the desired attitude maneuver angular velocity [ω rx ω ry ω rz ], and obtain the desired attitude pointing vector υ of the spacecraft r and the expected rate of change of the pointing vector Step S35: Determine the projection point position of the spacecraft's desired pointing point on the earth and rate of change in: The projected position of the spacecraft's desired pointing point on the Earth for: The rate at which the projection of the desired pointing point of the spacecraft on the Earth changes for: Step S36: Taking the projection point position of the spacecraft pointing point on the earth The projected point position of the spacecraft on the Earth The angle difference δα represents the attitude maneuver error; the change rate of the projection point of the spacecraft pointing point on the earth is The rate at which the projection of the spacecraft's desired pointing point on Earth changes The scale difference Characterizes the attitude maneuver angular velocity error; where δα and All are spacecraft control capability dimension reduction characterization parameters corresponding to the spacecraft control capability; In step S4, the expression for quantitative estimation of the spacecraft control capability is: in, To perform the vector transpose operation at the desired point, The 2-norm calculation operation for the desired point vector is: Transpose operation for the point vector; The 2-norm calculation operation is the difference between the desired pointing point vector and the pointing point vector.

2. A device for dimensionality reduction characterization and quantitative estimation of spacecraft control capability, used to implement the method for dimensionality reduction characterization and quantitative estimation of spacecraft control capability as claimed in claim 1, characterized in that: The device comprises: Model building module: configured to obtain technical status parameters of the spacecraft based on the model of the spacecraft and establish a dynamic model for spacecraft control capability analysis; Characteristic module: configured to determine characteristics representing the control capability of the spacecraft, the characteristics including attitude maneuvering error [δq0 δq1 δq2 δq3], and attitude maneuvering angular velocity error [δω x δω y δω z ], where δ is a prefix, indicating the difference in parameter changes, [q0 q1 q2 q3] is the four elements of the spacecraft's attitude, [ω x ω y ω z ] is the angular velocity of the spacecraft’s attitude maneuver; Parameter expression module: configured to convert the features representing the control capability of the spacecraft based on the spacecraft control capability analysis dynamics model to form a spacecraft control capability dimensionality reduction representation parameter corresponding to the spacecraft control capability; A synthesis module: configured to obtain an expression for quantitative estimation of the control capability of the spacecraft based on the dimension reduction characterization parameters of the control capability of the spacecraft.

3. A computer-readable storage medium, wherein a plurality of instructions are stored in the storage medium; the plurality of instructions are used to be loaded by a processor and execute the method as claimed in claim 1.

4. An electronic device, characterized in that: The electronic device comprises: A processor, which is used to execute multiple instructions; A memory for storing a plurality of instructions; Wherein, the plurality of instructions are used to be stored by the memory, and loaded and executed by the processor according to the method as claimed in claim 1.

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