A high-precision tracking and pointing control method and control system under an out-of-plane intersection

Abstract

The application relates to a high-precision tracking and pointing control method and a control system under a non-planar intersection, and the control method comprises the following steps: establishing a three-dimensional line-of-sight coordinate system according to the line-of-sight directions of a task star and a target star and an orbit coordinate system, calculating a rotation quaternion of a body coordinate system of the task star relative to the three-dimensional line-of-sight coordinate system, calculating a feedforward target angular velocity in the body coordinate system according to the relative position and the relative velocity of the task star and the target star in the orbit coordinate system of the target star, obtaining a control attitude angle according to the rotation quaternion, obtaining an attitude angular velocity of the control system according to the feedforward target angular velocity, and finally calculating three-axis command jets according to the control attitude angle and the attitude angular velocity; when the two stars have relative motion, the line-of-sight angle of the target relative to the platform changes rapidly, and through the feedforward compensation angular velocity mode, the platform and the target can still be stably and accurately tracked when the platform and the target are in a grazing intersection.

Description

Technical Field

[0001] This invention relates to a high-precision tracking and pointing control method and control system for non-plane intersection, belonging to the field of spacecraft control technology. Background Technology

[0002] In rendezvous and approach missions against targets on opposite sides, considering that orbital inclination changes require a lot of fuel, there is a problem of rapid attitude tracking and pointing under conditions of large line-of-sight angle changes during fly-by.

[0003] When the mission satellite freely passes near the target, its attitude is controlled based on the relative positional relationship between the mission satellite and the target to ensure that the observation axis always points towards the target for continuous observation. Achieving flyby observation of the target requires rapid attitude tracking control over a wide range. When there is relative motion between the two satellites, and the target's line-of-sight angle relative to the platform changes rapidly, current methods cannot achieve rapid tracking under large dynamic conditions; that is, they cannot solve the problem of target tracking and pointing control under large dynamic conditions of non-plane rendezvous. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned defects of the prior art and provide a high-precision tracking and pointing control method under non-plane rendezvous, which solves the problem of target tracking and pointing control under large dynamic conditions of non-plane rendezvous, so that the platform and the target can still track the target relatively stably and accurately during the flyby rendezvous.

[0005] Another objective of this invention is to provide a high-precision tracking and pointing control system for non-plane intersection.

[0006] The above-mentioned objectives of the present invention are mainly achieved through the following technical solutions:

[0007] A high-precision tracking and pointing control method for non-plane intersection includes:

[0008] A three-dimensional line-of-sight coordinate system is established based on the line-of-sight directions of the mission satellite and the target satellite, as well as the orbital coordinate system. The rotation quaternion of the mission satellite's body coordinate system relative to the three-dimensional line-of-sight coordinate system is then calculated.

[0009] Calculate the feedforward target angular velocity in the body coordinate system based on the relative position and relative velocity of the mission satellite and the target satellite in the target satellite orbit coordinate system.

[0010] The relative control attitude angle of the mission satellite body coordinate system with respect to the three-dimensional line-of-sight coordinate system is obtained based on the rotation quaternion, and the attitude angular velocity of the control system is obtained based on the feedforward target angular velocity.

[0011] The three-axis command jet is calculated based on the control attitude angle and attitude angular velocity.

[0012] In the high-precision tracking and pointing control method under the above-mentioned non-plane rendezvous, a three-dimensional line-of-sight coordinate system is established based on the line-of-sight directions of the mission satellite and the target satellite, as well as the orbital coordinate system, including:

[0013] S1. Based on the line-of-sight angle output by the tracking and aiming unit or the line-of-sight angle calculated by remote relative navigation, the vector representation of the relative position of the mission satellite and the target satellite in the inertial coordinate system is calculated as follows:

[0014]

[0015] in, dX is the transformation matrix from the mission satellite's body coordinate system to its inertial coordinate system. i In this context, i represents the X, Y, and Z axes; β is the elevation angle; and α is the azimuth angle.

[0016] S2, based on vector dX i Establish a three-dimensional line-of-sight coordinate system (X) si ,Y si Z si ),include:

[0017] Let X si =dX i and normalize;

[0018] Let Y temp =

[010]

[0019] And normalize, where This is the transformation matrix from the orbital coordinate system to the inertial coordinate system;

[0020] Y si =Z si ×X si And normalize.

[0021] In the high-precision tracking and pointing control method under the above-mentioned non-plane intersection, the rotation quaternion of the mission satellite body coordinate system relative to the three-dimensional line-of-sight coordinate system is calculated, including:

[0022] S1. Based on the transformation matrix A i←sight Calculate the rotation quaternion q of the inertial coordinate system relative to the three-dimensional line-of-sight coordinate system. i←sight ;

[0023] Where A i←sight =[x si y si z si ];

[0024] S2, based on the rotation quaternion q i←sight Calculate the rotation quaternion q of the mission star's body coordinate system relative to the three-dimensional line-of-sight coordinate system. b←sight ,include:

[0025]

[0026] Where, q b←i It is a quaternion from the inertial coordinate system to the body coordinate system.

[0027] In the aforementioned high-precision tracking and pointing control method under non-plane rendezvous, the feedforward target angular velocity in the body coordinate system is calculated based on the relative position and relative velocity of the mission satellite and the target satellite in the target satellite orbital coordinate system, including:

[0028] Based on the relative position and relative velocity of the mission satellite and the target satellite in the target satellite's orbital coordinate system, calculate the target's attitude angular velocity ω in the target satellite's orbital coordinate system. aimTo The calculation formula is as follows:

[0029]

[0030] in, and These represent the relative positions and relative velocities of the mission satellite and the target satellite in the target satellite's orbital coordinate system, respectively.

[0031] Based on the target attitude angular velocity ω aimTo Calculate the feedforward target angular velocity ω in the body coordinate system aimSb The calculation formula is as follows:

[0032] ω aimSb =C SbTo ω aimTo

[0033] Among them, C SbTo C is the transformation matrix from the target star's orbital coordinate system to the mission star's body coordinate system. SbTo =C SbSo C SoTo C SbSo C is the transformation matrix from the mission orbit coordinate system to the body coordinate system. SoTo This is the transformation matrix from the target star's orbital coordinate system to the mission star's orbital coordinate system.

[0034] In the high-precision tracking and pointing control method under the above-mentioned non-plane intersection, the relative control attitude angle between the mission satellite body coordinate system and the three-dimensional line-of-sight coordinate system is obtained based on the rotation quaternion. con ,include:

[0035] angle con =-2*q b←sight_vec *180 / pi

[0036] Where, q b←sight_vec For q b←sightThe vector part, pi is π, q b←sight It is a rotation quaternion.

[0037] In the high-precision tracking and pointing control method under the above-mentioned non-plane intersection, the attitude angular velocity of the control system is obtained based on the feedforward target angular velocity, including:

[0038] ω con =ω bo -ω aimSb

[0039] Where, ω con Let ω be the attitude angular velocity. bo Let ω be the angular velocity of the mission satellite relative to Earth. aimSb The target angular velocity is the feedforward target velocity.

[0040] In the aforementioned high-precision tracking and pointing control method under non-plane intersection, the calculation of three-axis command jetting based on the control attitude angle and attitude angular velocity includes:

[0041] PDT i,k =kp pq,i ×angle con,i,k +kd pq,i ×ω con,i,k ,

[0042] ST i,k =ST i,k-1 +ki pq,i ×T,

[0043] T i,k =PDT i,k +ST i,k

[0044] Wherein: T i,k For three-axis command jet propulsion, PDT i,k For the proportional differential term, ST i,k For the integral term, ω con,i,k Let be the attitude angular velocity in the k-th period, and angle. con,i,k Let kp be the control attitude angle for the k-th cycle. pq,i kd pq,i ki pq,i These are the jet control parameters, where i represents the X, Y, and Z axes, and T is the control cycle.

[0045] A high-precision tracking and pointing control system for non-plane intersection includes:

[0046] The first calculation module establishes a three-dimensional line-of-sight coordinate system based on the line-of-sight directions of the mission satellite and the target satellite, as well as the orbital coordinate system. It then calculates the rotation quaternion of the mission satellite's body coordinate system relative to the three-dimensional line-of-sight coordinate system and sends it to the third calculation module.

[0047] The second calculation module calculates the feedforward target angular velocity in the body coordinate system based on the relative position and relative velocity of the mission satellite and the target satellite in the target satellite orbit coordinate system, and sends it to the third calculation module.

[0048] The third calculation module obtains the relative control attitude angle of the mission satellite body coordinate system with respect to the three-dimensional line-of-sight coordinate system based on the rotation quaternion of the mission satellite body coordinate system with respect to the three-dimensional line-of-sight coordinate system, obtains the attitude angular velocity of the control system based on the feedforward target angular velocity, and sends it to the fourth calculation module.

[0049] The fourth calculation module calculates the three-axis command jet based on the control attitude angle and attitude angular velocity.

[0050] In the aforementioned high-precision tracking and pointing control system under non-plane rendezvous, the first calculation module establishes a three-dimensional line-of-sight coordinate system based on the line-of-sight directions of the mission satellite and the target satellite, as well as the orbital coordinate system. It then calculates the rotation quaternion of the mission satellite's body coordinate system relative to the three-dimensional line-of-sight coordinate system, including:

[0051] S1. Based on the line-of-sight angle output by the tracking and aiming unit or the line-of-sight angle calculated by remote relative navigation, the vector representation of the relative position of the mission satellite and the target satellite in the inertial coordinate system is calculated as follows:

[0052]

[0053] in, dX is the transformation matrix from the mission satellite's body coordinate system to its inertial coordinate system. i In this context, i represents the X, Y, and Z axes; β is the elevation angle; and α is the azimuth angle.

[0054] S2, based on vector dX i Establish a three-dimensional line-of-sight coordinate system (X) si ,Y si Z si ),include:

[0055] Let X si =dX i and normalize;

[0056] Let Y temp =

[010]

[0057] And normalize, where This is the transformation matrix from the orbital coordinate system to the inertial coordinate system;

[0058] Y si =Z si ×X si and normalize;

[0059] S3. Based on the transformation matrix Ai←sight Calculate the rotation quaternion q of the inertial coordinate system relative to the three-dimensional line-of-sight coordinate system. i←sight ;

[0060] Where A i←sight =[x si y si z si ];

[0061] S4, based on the rotation quaternion q i←sight Calculate the rotation quaternion q of the mission star's body coordinate system relative to the three-dimensional line-of-sight coordinate system. b←sight ,include:

[0062]

[0063] Where, q b←i It is a quaternion from the inertial coordinate system to the body coordinate system.

[0064] In the aforementioned high-precision tracking and pointing control system under non-plane rendezvous, the second calculation module calculates the feedforward target angular velocity in the body coordinate system based on the relative position and relative velocity of the mission satellite and the target satellite in the target satellite orbital coordinate system, including:

[0065] Based on the relative position and relative velocity of the mission satellite and the target satellite in the target satellite's orbital coordinate system, calculate the target's attitude angular velocity ω in the target satellite's orbital coordinate system. aimTo The calculation formula is as follows:

[0066]

[0067] in, and These represent the relative positions and relative velocities of the mission satellite and the target satellite in the target satellite's orbital coordinate system, respectively.

[0068] Based on the target attitude angular velocity ω aimTo Calculate the feedforward target angular velocity ω in the body coordinate system aimSb The calculation formula is as follows:

[0069] ω aimSb =C SbTo ω aimTo

[0070] Among them, C SbTo C is the transformation matrix from the target star's orbital coordinate system to the mission star's body coordinate system. SbTo =C SbSo C SoTo C SbSo C is the transformation matrix from the mission orbit coordinate system to the body coordinate system. SoToThis is the transformation matrix from the target star's orbital coordinate system to the mission star's orbital coordinate system.

[0071] Compared with the prior art, the present invention has the following advantages:

[0072] (1) When there is relative motion between the two stars, the line-of-sight angle of the target relative to the platform changes rapidly. By using the feedforward compensation angular velocity method, the platform can still track the target relatively stably and accurately when the target flies past and rendezvous.

[0073] (2) This invention provides a high-precision tracking and pointing control method for mission satellites under non-plane rendezvous. By using angular velocity feedforward, the satellite can achieve rapid tracking under large dynamic conditions, which solves the problem of target tracking and pointing control under large dynamic conditions under non-plane rendezvous. It is particularly suitable for mission satellites with relative motion control requirements. Attached Figure Description

[0074] Figure 1 This is a flowchart of the high-precision tracking and pointing control method of the present invention;

[0075] Figure 2 This is a schematic diagram illustrating the establishment of the three-dimensional line-of-sight coordinate system in this invention;

[0076] Figure 3 The figures show a comparison of the control attitude angular velocity effects of the present invention in two cases: without feedforward and with feedforward. Figure a shows the control attitude angular velocity without feedforward, and Figure b shows the control attitude angular velocity with feedforward. Detailed Implementation

[0077] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments:

[0078] like Figure 1 The diagram shown is a flowchart of the high-precision tracking and pointing control method of the present invention. The high-precision tracking and pointing control method under non-plane intersection of the present invention specifically includes the following steps:

[0079] I. Determining Relative Attitude

[0080] In this embodiment of the invention, a thruster is configured, and jet propulsion is used for tracking control.

[0081] When there is a large change in the realization angle between the two stars, the relative attitude is determined by using a three-dimensional line-of-sight coordinate system.

[0082] A three-dimensional line-of-sight coordinate system is established based on the line-of-sight directions of the mission satellite and the target satellite, as well as the Y-axis of the orbital system. Combining this with the quaternions from the mission satellite's inertial frame to the home frame, the relative attitude of the mission satellite relative to the line-of-sight coordinate system is obtained. The specific method is as follows:

[0083] 1. The vector representation of the relative position of the mission satellite and the target satellite in the inertial coordinate system, calculated based on the line-of-sight angle output by the tracking and aiming unit or the line-of-sight angle calculated by remote relative navigation, is as follows:

[0084]

[0085] in, This is the transformation matrix from the mission satellite's body coordinate system to the inertial coordinate system; i represents the X, Y, and Z axes; β is the elevation angle, and α is the azimuth angle; when the relative distance between the two satellites is within the range of the tracking and aiming single-machine acquisition distance, the line-of-sight angle output by the tracking and aiming single-machine is used for vector calculation; when the relative distance between the two satellites is outside the range of the tracking and aiming single-machine acquisition distance, the line-of-sight angle calculated by the remote relative navigation is used for vector calculation.

[0086] 2. For example Figure 2 The diagram shown illustrates the establishment of the three-dimensional line-of-sight coordinate system in this invention. The three-dimensional line-of-sight coordinate system (X...) is established... si ,Y si Z si ):

[0087] Let X si =dX i and normalization

[0088] Let Y temp =

[010]

[0089] And normalize, where This is the transformation matrix from the orbital coordinate system to the inertial coordinate system;

[0090] Y si =Z si ×X si and normalization

[0091] 3. Based on the transformation matrix A i←sight Calculate the rotation quaternion q of the inertial coordinate system relative to the three-dimensional line-of-sight coordinate system. i←sight ;where A i←sight =[x si y si z si ];

[0092] q is obtained by converting the transformation matrix to a quaternion subfunction. i←sight .

[0093] 4. Based on the aforementioned rotation quaternion q i←sight Calculate the rotation quaternion q of the mission star's body coordinate system relative to the three-dimensional line-of-sight coordinate system. b←sight The details are as follows:

[0094]

[0095] Where, q b←i It is a quaternion from the inertial coordinate system to the body coordinate system.

[0096] II. Calculation of Feedforward Angular Velocity

[0097] Based on the relative position and relative velocity of the two stars in the target star orbital system output by the relative navigation, and combined with the transformation matrix from the target star orbital system to the mission star orbital system and the transformation matrix from the mission star orbital system to the home system, the feedforward target angular velocity is calculated.

[0098] 1. Based on the relative position and relative velocity of the mission satellite and the target satellite in the target satellite's orbital coordinate system, calculate the tracking target's attitude angular velocity ω in the target satellite's orbital coordinate system. aimTo The calculation formula is as follows:

[0099]

[0100] in, and These represent the relative positions and relative velocities of the mission satellite and the target satellite in the target satellite's orbital coordinate system, obtained through relative navigation.

[0101] 2. Based on the angular velocity ω of the tracked target attitude aimTo Calculate the feedforward target angular velocity ω in the body coordinate system aimSb The calculation formula is as follows:

[0102] ω aimSb =C SbTo ω aimTo

[0103] Among them, C SbTo C is the transformation matrix from the target star's orbital coordinate system to the mission star's body coordinate system. SbTo =C SbSo C SoTo C SbSo C is the transformation matrix from the mission orbit coordinate system to the body coordinate system. SoTo This is the transformation matrix from the target star's orbital coordinate system to the mission star's orbital coordinate system.

[0104] III. Jet tracking control based on angular velocity feedforward

[0105] 1. Obtain the relative control attitude angle of the mission satellite's body coordinate system relative to the three-dimensional line-of-sight coordinate system based on the rotation quaternion of the mission satellite's body coordinate system relative to the three-dimensional line-of-sight coordinate system. con :

[0106] angle con =-2*q b←sight_vec *180 / pi

[0107] Where, qb←sight_vec For q b←sight The vector part, pi is π, q b←sight It is a rotation quaternion.

[0108] 2. Based on the Earth-to-ground attitude angular velocity of the mission satellite determined by the absolute attitude and the feedforward target angular velocity obtained in the previous steps, the attitude angular velocity introduced into the control system is obtained:

[0109] ω con =ω bo -ω aimSb

[0110] Where, ω con Let ω be the attitude angular velocity. bo Let ω be the angular velocity of the mission satellite relative to Earth. aimSb The target angular velocity is the feedforward target velocity.

[0111] 3. Using the relative attitude as the control attitude angle, and combining it with the control attitude angular velocity, the three-axis control commands are calculated. The specific calculation formula is as follows:

[0112] PDT i,k =kp pq,i ×angle con,i,k +kd pq,i ×ω con,i,k ,

[0113] ST i,k =ST i,k-1 +ki pq,i ×T,

[0114] T i,k =PDT i,k +ST i,k

[0115] Wherein: T i,k For three-axis command jet propulsion, PDT i,k For the proportional differential term, ST i,k For the integral term, ω con,i,k Let be the attitude angular velocity in the k-th period, and angle. con,i,k Let kp be the control attitude angle for the k-th cycle. pq,i kd pq,i ki pq,i These are the jet control parameters, where i represents the X, Y, and Z axes, and T is the control cycle.

[0116] like Figure 3The figures show a comparison of the control attitude angular velocity effects of the present invention with and without feedforward, where Figure a represents the control attitude angular velocity without feedforward and Figure b represents the control attitude angular velocity with feedforward. As can be seen from the comparison figures, the feedforward compensation method of the present invention does not produce significant deviations in angular velocity during flyby rendezvous, especially in overhead situations, and can track the target relatively stably.

[0117] The present invention also provides a high-precision tracking and pointing control system for non-plane intersection, comprising:

[0118] The first calculation module establishes a three-dimensional line-of-sight coordinate system based on the line-of-sight directions of the mission satellite and the target satellite, as well as the orbital coordinate system. It then calculates the rotation quaternion of the mission satellite's body coordinate system relative to the three-dimensional line-of-sight coordinate system and sends it to the third calculation module.

[0119] The second calculation module calculates the feedforward target angular velocity in the body coordinate system based on the relative position and relative velocity of the mission satellite and the target satellite in the target satellite orbit coordinate system, and sends it to the third calculation module.

[0120] The third calculation module obtains the relative control attitude angle of the mission satellite body coordinate system with respect to the three-dimensional line-of-sight coordinate system based on the rotation quaternion of the mission satellite body coordinate system with respect to the three-dimensional line-of-sight coordinate system, obtains the attitude angular velocity of the control system based on the feedforward target angular velocity, and sends it to the fourth calculation module.

[0121] The fourth calculation module calculates the three-axis command jet based on the control attitude angle and attitude angular velocity.

[0122] The above description is only the best specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the protection scope of the present invention.

[0123] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A high-precision tracking and pointing control method for non-plane intersection, characterized in that, include: A three-dimensional line-of-sight coordinate system is established based on the line-of-sight directions of the mission satellite and the target satellite, as well as the orbital coordinate system of the mission satellite. The rotation quaternion of the mission satellite's body coordinate system relative to the three-dimensional line-of-sight coordinate system is then calculated. Calculate the feedforward target angular velocity in the mission satellite's body coordinate system based on the relative position and relative velocity of the mission satellite and the target satellite in the target satellite's orbital coordinate system. The relative control attitude angle of the mission satellite body coordinate system with respect to the three-dimensional line-of-sight coordinate system is obtained based on the rotation quaternion, and the attitude angular velocity of the control system is obtained based on the feedforward target angular velocity. Calculate the three-axis command jet based on the control attitude angle and attitude angular velocity; The feedforward target angular velocity in the mission satellite body coordinate system The calculation formula is as follows: in, This is the transformation matrix from the target star's orbital coordinate system to the mission star's body coordinate system; , This is the transformation matrix from the mission satellite's orbital coordinate system to the mission satellite's body coordinate system. This is the transformation matrix from the target star's orbital coordinate system to the mission star's orbital coordinate system; The target's attitude angular velocity in the target star's orbital coordinate system; Calculating the three-axis command jet based on the control attitude angle and attitude angular velocity includes: ， ， in: For three-axis command jet propulsion, For proportional differential terms, For integration, Let be the attitude angular velocity in the k-th period. For the first k Periodic control attitude angle, , , These are jet control parameters. express X, Y, Z axis, T To control the cycle.

2. The high-precision tracking and pointing control method under non-plane intersection as described in claim 1, characterized in that, A three-dimensional line-of-sight coordinate system is established based on the line-of-sight directions of the mission satellite and the target satellite, as well as the orbital coordinate system of the mission satellite, including: S1. Based on the line-of-sight angle output by the tracking and aiming unit or the line-of-sight angle calculated by remote relative navigation, the vector representation of the relative position of the mission satellite and the target satellite in the inertial coordinate system is calculated as follows: in, This is the transformation matrix from the mission satellite's body coordinate system to its inertial coordinate system; In express X, Y, Z axis; For elevation angles, It is the azimuth angle; S2, based on vector Establish a three-dimensional line-of-sight coordinate system ,include: make and normalize; make And normalized, among which This is the transformation matrix from the mission satellite's orbital coordinate system to its inertial coordinate system; And normalize.

3. The high-precision tracking and pointing control method under non-planar intersection as described in claim 2, characterized in that, Calculate the rotation quaternion of the mission satellite body coordinate system relative to the three-dimensional line-of-sight coordinate system, including: S1. Based on the transformation matrix Calculate the rotation quaternion of the inertial coordinate system relative to the three-dimensional line-of-sight coordinate system. ; in ; S2, based on the rotation quaternion Calculate the rotation quaternion of the mission satellite body coordinate system relative to the three-dimensional line-of-sight coordinate system. ,include: in, It is the quaternion from the mission star's inertial coordinate system to the body coordinate system.

4. The high-precision tracking and pointing control method under non-plane intersection as described in claim 1, characterized in that, Based on the relative position and relative velocity of the mission satellite and the target satellite in the target satellite orbital coordinate system, calculate the feedforward target angular velocity in the mission satellite body coordinate system, including: Based on the relative position and relative velocity of the mission satellite and the target satellite in the target satellite's orbital coordinate system, calculate the angular velocity of the tracking target in the target satellite's orbital coordinate system. The calculation formula is as follows: in, and These represent the relative positions and relative velocities of the mission satellite and the target satellite in the target satellite's orbital coordinate system, respectively. Based on the angular velocity of the tracked target Calculate the feedforward target angular velocity in the mission satellite's body coordinate system. The calculation formula is as follows: in, This is the transformation matrix from the target star's orbital coordinate system to the mission star's body coordinate system; , This is the transformation matrix from the mission satellite's orbital coordinate system to the body coordinate system. This is the transformation matrix from the target star's orbital coordinate system to the mission star's orbital coordinate system.

5. The high-precision tracking and pointing control method under non-plane intersection as described in claim 1, characterized in that, The relative control attitude angles of the mission satellite body coordinate system with respect to the three-dimensional line-of-sight coordinate system are obtained based on the rotation quaternion. ,include: in, for The vector part, Pi It is a rotation quaternion.

6. The high-precision tracking and pointing control method under non-plane intersection as described in claim 1, characterized in that, The attitude angular velocity of the control system is obtained based on the feedforward target angular velocity, including: in, For attitude angular velocity, The angular velocity of the mission satellite relative to Earth. The target angular velocity is the feedforward target velocity.

7. A high-precision tracking and pointing control system for non-plane intersection, characterized in that, include: The first calculation module establishes a three-dimensional line-of-sight coordinate system based on the line-of-sight directions of the mission satellite and the target satellite, as well as the orbital coordinate system of the mission satellite. It then calculates the rotation quaternion of the mission satellite's body coordinate system relative to the three-dimensional line-of-sight coordinate system and sends it to the third calculation module. The second calculation module calculates the feedforward target angular velocity in the mission satellite's body coordinate system based on the relative position and relative velocity of the mission satellite and the target satellite in the target satellite's orbital coordinate system, and sends it to the third calculation module. The third calculation module obtains the relative control attitude angle of the mission satellite body coordinate system with respect to the three-dimensional line-of-sight coordinate system based on the rotation quaternion of the mission satellite body coordinate system with respect to the three-dimensional line-of-sight coordinate system, obtains the attitude angular velocity of the control system based on the feedforward target angular velocity, and sends it to the fourth calculation module. The fourth calculation module calculates the three-axis command jet based on the control attitude angle and attitude angular velocity; The feedforward target angular velocity in the mission satellite body coordinate system The calculation formula is as follows: in, This is the transformation matrix from the target star's orbital coordinate system to the mission star's body coordinate system; , This is the transformation matrix from the mission satellite's orbital coordinate system to the mission satellite's body coordinate system. This is the transformation matrix from the target star's orbital coordinate system to the mission star's orbital coordinate system; The target's attitude angular velocity in the target star's orbital coordinate system; Calculating the three-axis command jet based on the control attitude angle and attitude angular velocity includes: ， ， in: For three-axis command jet propulsion, For proportional differential terms, For integration, Let be the attitude angular velocity in the k-th period. For the first k Periodic control attitude angle, , , These are jet control parameters. express X, Y, Z axis, T To control the cycle.

8. The high-precision tracking and pointing control system under non-plane intersection as described in claim 7, characterized in that, The first calculation module establishes a three-dimensional line-of-sight coordinate system based on the line-of-sight directions of the mission satellite and the target satellite, as well as the orbital coordinate system of the mission satellite. It then calculates the rotation quaternions of the mission satellite's body coordinate system relative to the three-dimensional line-of-sight coordinate system, including: S1. Based on the line-of-sight angle output by the tracking and aiming unit or the line-of-sight angle calculated by remote relative navigation, the vector representation of the relative position of the mission satellite and the target satellite in the inertial coordinate system is calculated as follows: in, This is the transformation matrix from the mission satellite's body coordinate system to its inertial coordinate system; In express X, Y, Z axis; For elevation angles, It is the azimuth angle; S2, based on vector Establish a three-dimensional line-of-sight coordinate system ,include: make and normalize; make And normalized, among which This is the transformation matrix from the mission satellite's orbital coordinate system to its inertial coordinate system; and normalize; S3. Based on the transformation matrix Calculate the rotation quaternion of the inertial coordinate system relative to the three-dimensional line-of-sight coordinate system. ; in ; S4, based on the rotation quaternion Calculate the rotation quaternion of the mission satellite body coordinate system relative to the three-dimensional line-of-sight coordinate system. ,include: in, It is the quaternion from the inertial coordinate system to the mission satellite's body coordinate system.

9. The high-precision tracking and pointing control system under non-plane intersection as described in claim 7, characterized in that, The second calculation module calculates the feedforward target angular velocity in the mission satellite's body coordinate system based on the relative position and relative velocity of the mission satellite and the target satellite in the target satellite's orbital coordinate system, including: Based on the relative position and relative velocity of the mission satellite and the target satellite in the target satellite's orbital coordinate system, calculate the angular velocity of the tracking target in the target satellite's orbital coordinate system. The calculation formula is as follows: in, and These represent the relative positions and relative velocities of the mission satellite and the target satellite in the target satellite's orbital coordinate system, respectively. Based on the angular velocity of the tracked target Calculate the feedforward target angular velocity in the mission satellite's body coordinate system. The calculation formula is as follows: in, This is the transformation matrix from the target star's orbital coordinate system to the mission star's body coordinate system. , This is the transformation matrix from the mission satellite's orbital coordinate system to the mission satellite's body coordinate system. This is the transformation matrix from the target star's orbital coordinate system to the mission star's orbital coordinate system.

Images