Single-star fly-around orbit design method, system and electronic device

Abstract

This invention discloses a single-satellite orbit design method, system, and electronic equipment. Based on the orbital parameter description method using correlation coefficient k, this design method proposes orbit configuration optimization methods for both plane angle optimization and vector angle optimization. Considering avoidance constraints and imaging constraints, an objective function for correlation coefficient k is obtained. Further simulations yield single-satellite orbits for observation of key points on the space station. This invention significantly simplifies the traditional optimization process, providing a rapid design optimization algorithm for single-satellite orbit configurations in specific regions or random locations on the space station.

Description

Technical Field

[0001] This invention belongs to the field of aerospace technology, specifically relating to a single-satellite orbit design method, system, and electronic equipment. Background Technology

[0002] Microsatellites are small in size and lightweight, allowing for flexible mission configuration. my country is the second country to master companion satellite technology. The Tiangong-2 companion satellite is a miniaturized, lightweight, and high-functional-density microsatellite. During its mission, this microsatellite conducted flyby observations of the space assembly, providing support for the main spacecraft's technical experiments and expanding the applications of space technology.

[0003] The healthy operation of a space station in orbit relies heavily on on-orbit maintenance. The routine work of companion satellites involves orbiting the spacecraft to take photos and record data, enabling the inspection of certain minute components on the space station's surface during their orbital flights. However, current research lacks satellite configuration design solutions specifically for covering certain areas of the space station. Therefore, it is necessary to study single-satellite orbit design methods to effectively provide models, methods, and basic design ideas for the inspection and testing of numerous minute components on the space station's surface. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the present invention aims to provide a single-satellite orbit design method, system and electronic equipment, fill the current research gap, and effectively provide models, methods and basic design ideas for the inspection and detection of several tiny devices on the surface of the space station.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] A method for designing a single-satellite orbit includes the following steps:

[0007] Obtain the illumination vector on the surface of the space station. The feature point cluster parameters are used to fit the feature plane and determine the normal vector of the feature plane. ;

[0008] Obtain the orbital parameters of the microsatellite based on the correlation coefficient k, construct the orbital plane equation, and determine the normal vector of the orbital plane. ;

[0009] Construct a function to minimize the angle between the satellite's orbital plane and the characteristic plane, as well as the orbital plane normal vector. and illumination vector The function that minimizes the included angle;

[0010] Based on the function that minimizes the angle between the satellite's orbital plane and the characteristic plane, and the orbital plane normal vector and illumination vector The objective function for designing and optimizing the single-satellite orbit for observation of feature points on the space station under illumination is constructed by minimizing the included angle function.

[0011] The objective function was optimized through simulation to obtain the initial parameters of the single-satellite orbit for observation of feature points on the space station.

[0012] Preferably, the feature point cluster parameters on the space station surface further include: micro-nano satellite collision avoidance constraints, satellite camera perception constraints, feature point cluster position distribution parameters, and the maximum included angle of satellite camera imaging.

[0013] Preferably, the feature plane is fitted using the SVD decomposition method, as follows:

[0014] The general expression for the equation of a space plane is:

[0015] (1)

[0016] The mean of the coordinates of all feature points is Then we can get:

[0017] (2)

[0018] From formula (1) - formula (2), we can obtain:

[0019] (3)

[0020] make

[0021] ,

[0022] Construct the objective function: The constraints are ,but

[0023] (4)

[0024] Therefore, the optimal solution of the objective function under the constraints is: Substitute the coefficient vector X of the fitting plane into formula (2) to obtain the value of d, and then substitute it into formula (1) to obtain the feature plane of the feature point cluster.

[0025] The specific equations for the orbital plane are constructed as follows:

[0026] The general equation for the orbital plane is defined as follows:

[0027] (5)

[0028] in , , , These are all constants defined by the initial state parameters, and their expressions are as follows:

[0029] (6)

[0030] (7)

[0031] (8)

[0032] (9)

[0033] Where q=0, we can obtain:

[0034]

[0035]

[0036]

[0037] Substituting into formula (5), we obtain the plane equation of the orbital path.

[0038] Preferably, the characteristic plane normal vector The normal vector of the orbital plane is .

[0039] Preferably, a function is constructed to minimize the angle between the satellite's orbital plane and the characteristic plane, as follows:

[0040] The normal vector of the orbital plane is The normal vector of the characteristic plane is Then, minimizing the angle between the normal vectors of the two planes can be expressed as:

[0041] (10)

[0042] Will = 1, =k, =0, = Substitute 1 into the above formula, Minimization can be expressed as:

[0043] (11)

[0044] Orbital plane normal vector and illumination vector The included angle The minimization function is as follows:

[0045] (12)

[0046] Will =k, =0, = Substitute 1 into the above formula, Minimization can be expressed as:

[0047] (13).

[0048] Preferably, a genetic algorithm based on the weighted coefficient transformation method is used to construct an objective function for optimizing the single-satellite orbit design for observations of feature points on the space station under the influence of illumination, as follows:

[0049] For each objective function Assign weights , Let represent the importance of the objective function; ,in , Using μ as the evaluation function, we obtain a new objective function:

[0050] (14)

[0051] The relative motion amplitude A satisfies:

[0052] (15)

[0053] Calculated according to formula (15) The range of values Then the constraints of the objective function are: The decision is based on the importance of the optimization metrics to the task requirements. and Substituting the magnitude into the equation yields the objective function for optimizing the single-satellite orbit design.

[0054] Preferably, the initial parameter calculation process for the single-satellite orbit for observation of feature points on the space station is as follows: Optimization simulation yields the optimized results. Substituting the magnitude of the relative motion amplitude A into formula (15), we can obtain the range of the relative motion amplitude A [A min A max ], set A = (A min +A max ) / 2, q =0, φ =0, substitute into the formula for calculating the initial motion parameters (16).

[0055] (16)

[0056] The corresponding initial orbital parameters can then be obtained as [ A 0 kA 0-2 ωA 0].

[0057] A single-satellite flyby orbit design system for observing feature points on a space station includes:

[0058] Fitting unit, used to obtain the illumination vector on the surface of the space station. The feature point cluster parameters are used to fit the feature plane and determine the normal vector of the feature plane. ;

[0059] The first building unit is used to obtain the orbital parameters of the microsatellite based on the correlation coefficient k, construct the orbital plane equation, and determine the normal vector of the orbital plane. ;

[0060] The second building unit is used to construct the angle minimization function between the satellite's orbital plane and the characteristic plane, as well as the orbital plane normal vector. and illumination vector The function that minimizes the included angle;

[0061] The third building block is used to minimize the angle between the satellite's orbital plane and the characteristic plane, and the orbital plane normal vector. and illumination vector The objective function for designing and optimizing the single-satellite orbit for observation of feature points on the space station under illumination is constructed by minimizing the included angle function.

[0062] The parameter determination unit is used to optimize the objective function through simulation, and obtain the initial parameters of the single-satellite orbit for observation of feature points of the space station.

[0063] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the single-satellite orbit design method.

[0064] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the single-satellite orbit design method.

[0065] Compared with the prior art, the present invention has the following beneficial effects:

[0066] This invention discloses a single-satellite orbit design method, which employs a function to minimize the angle between the satellite's orbital plane and a characteristic plane, making the satellite's nadir trajectory on the space station surface as close as possible to the characteristic point group; and constructs the orbital plane normal vector. and illumination vector The objective function for minimizing the included angle is used to ensure that the accompanying satellite is as close to the sunlight as possible when passing overhead, guaranteeing that the accompanying satellite's observation position is exposed to sunlight and that the accompanying satellite has good optical conditions for detecting and observing the space station. An objective function for orbit design optimization is constructed, and through optimization simulation, a single-satellite orbit for observing characteristic points on the space station is obtained. This design method can effectively provide a model, method, and basic design idea for the inspection and detection of several small devices on the surface of the space station. Attached Figure Description

[0067] Figure 1 This is a flowchart of the design method of the present invention;

[0068] Figure 2 This is a diagram illustrating the single-satellite orbit for observation of feature points on a space station, based on the present invention.

[0069] Figure 3 This is a planar diagram of the satellite's orbit.

[0070] Figure 4 This is a diagram illustrating the positions of the feature plane, the orbital plane, their normal vectors, and the illumination vectors.

[0071] Figure 5 This is a simplified model of the space station and a diagram of its coordinate system;

[0072] Figure 6 It is a feature point cluster diagram

[0073] Figure 7 It is a feature plane map corresponding to a cluster of feature points;

[0074] Figure 8 This is a diagram showing the optimized orbital results of a single satellite for observation of key points on the space station. Detailed Implementation

[0075] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0076] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

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

[0078] like Figure 1 As shown, this invention is a method for designing a single-satellite orbit, comprising the following steps:

[0079] S1, Considering the geometric parameters of the space station, input appropriate collision avoidance constraints for micro / nano satellites. and satellite camera perception constraints Simultaneously input the location distribution parameters of the feature point clusters on the space station surface. S ={ s 1, s 2, s 3,…, s n}={ (x 1, y 1, z 1),( x 2, y 2, z 2),…,( x n , y n , z n Lighting vector n S The maximum angle between the image and the satellite camera image. θ max ;

[0080] S2. The SVD decomposition method is used to fit the feature point clusters on the surface of the space station to a plane. This fitted plane is called the feature plane, and the normal vector of the feature plane is defined. ;

[0081] S3, Constructing micro-nano satellites based on correlation coefficients kThe equations of the orbital plane are described by the orbital parameters, and the normal vector of the orbital plane is defined. ;

[0082] S4, construct a function to minimize the angle between the satellite's orbital plane and the characteristic plane, so that the satellite's orbital trajectory on the surface of the space station is as close as possible to the group of characteristic points;

[0083] S5, Construct the orbital plane normal vector n M and illumination vector n S The angle minimization function ensures that the accompanying satellite is as close to the light source as possible when passing overhead;

[0084] S6 employs a genetic algorithm based on the weighted coefficient transformation method, considering satellite collision avoidance constraints and satellite camera perception constraints, to calculate the correlation coefficients of the initial orbital parameters of the micro / nano satellite. k Within the scope of illumination, construct the objective function for designing and optimizing the single-satellite orbit for observation of feature points on the space station;

[0085] S7. By optimizing the objective function through simulation, the initial parameters of the single-satellite orbit for observation of characteristic points of the space station can be obtained.

[0086] like Figure 2 As shown, the microsatellite orbits the space station, with its camera always facing the station, creating a nadir trajectory on the satellite's surface. The imaging range is determined by the satellite's orbital altitude, the maximum imaging angle of the camera, and its orbital plane position. If several tiny components on the space station's surface need to be observed, they are denoted as a cluster of random feature points. S ={ s 1, s 2, s 3,…, s n Furthermore, to avoid constraints, the safe distance between the space station and the satellite to prevent collision is... The perception constraint, i.e., the maximum distance at which micro / nano satellite cameras can achieve distortion-free imaging, is... The maximum included angle for satellite camera imaging is θ max Design an optimal orbit for a microsatellite to fly around, calculate the initial relative motion parameters of the orbit, and ensure that the imaging area of ​​the orbit covers as many feature points as possible. Constraint avoidance should be considered during the design modeling and optimization process. Perceptual constraints (and the effects of light)

[0087] The specific steps of step S2 are as follows:

[0088] The feature plane is defined as the spatial plane fitted by a number of feature points on the surface of the space station, i.e., the feature points in three-dimensional coordinates. S { n The coordinates of} are ( x { i}, y { i}, z { i}), i Given points = 1, 2, ..., n, find a plane in space such that the distance between these feature points and the plane is minimized.

[0089] Fitting discrete points in space to a plane is an optimization process, i.e., finding the minimum sum of distances from these points to a certain plane. Therefore, it is known that the fitted plane will pass through the average value of these discrete points. The equation of the fitted plane can be obtained by finding the normal vector of the plane and substituting the mean of the discrete points into the general equation of the plane. Using the SVD decomposition method to fit a spatial plane, in the SVD transformation of the covariance matrix, the singular vector corresponding to the minimum singular value is the coefficient vector of the fitted plane. The general expression of the spatial plane equation is:

[0090] (1)

[0091] The mean of the coordinates of all feature points is Then we can get:

[0092] (2)

[0093] From formula (1) - formula (2), we can obtain:

[0094] (3)

[0095] Assumption:

[0096] ,

[0097] Then formula (3) is equivalent to Ideally, all points lie on the fitted plane. However, in reality, not all points lie on the fitted plane. Therefore, to minimize the sum of distances from the fitted plane to all points, we can construct an objective function: The constraints are ,like A Singular value decomposition can be performed. ( D It is a diagonal matrix. U and V (If all are unitary matrices), then ,in It is a column vector, and .because D The diagonal elements are singular values. Assuming the last diagonal element is the smallest singular value, then the following holds true if and only if... When the objective function is true, then:

[0098] (4)

[0099] Therefore, the optimal solution of the objective function under the constraints is: .

[0100] The coefficient vector of the fitting plane X Substituting into formula (2) yields d By substituting the value of into the general equation of the spatial plane, we can obtain the feature plane map of the feature point cluster.

[0101] This invention defines the characteristic plane normal vector. .

[0102] Step S3 is as follows:

[0103] The satellite's initial relative position and velocity are: The parameterized analytical solution for drift-free flight based on the CW equations is known to be:

[0104]

[0105] in:

[0106]

[0107]

[0108]

[0109]

[0110]

[0111] Where n is the orbital angular velocity of the space station around the Earth, and .

[0112] The necessary and sufficient condition for a satellite to close its orbit is: The orbital center is located at (0, q, 0). Based on the actual requirements for the accompanying satellite orbiting the space station, the orbital center of the microsatellite must be located at the space station's center of mass, which means q = 0. Therefore, the orbital equation of the accompanying satellite is as follows:

[0113]

[0114] At this point, we get:

[0115]

[0116] When x0≠0, the above expression satisfies:

[0117]

[0118] but:

[0119]

[0120] The orbital equations for the microsatellite at this point are as follows:

[0121]

[0122] In the formula, k∈(-∞,∞) is called the correlation coefficient, and A is the amplitude of the relative motion of the orbital trajectory in the xy plane. Let be the relative motion amplitude along the z-axis of the orbit. and Let be the initial phases in the xy plane and the z-axis, respectively. This represents the drift term along the y-axis around the flight path.

[0123] like Figure 3 As shown, since the orbits of micro and nano satellites always lie within a specific space plane, this plane is called the orbital plane, and the general equation defining the orbital plane is:

[0124] (5)

[0125] in , , , These are all constants defined by the initial state parameters, and their expressions are as follows:

[0126] (6)

[0127] (7)

[0128] (8)

[0129] (9)

[0130] Where q=0, we can obtain:

[0131]

[0132]

[0133]

[0134] Therefore, the orbital plane of the accompanying satellite always passes through the center of mass of the space station, i.e., the origin of the orbital coordinate system, and the normal vector of the orbital plane is defined as... .

[0135] Step S4 is as follows:

[0136] To ensure that the satellite's orbital path on the space station's surface is as close as possible to the characteristic point group, the angle between the satellite's orbital plane and the characteristic plane needs to be as small as possible, i.e., the angle between the normal vectors of the two planes needs to be minimized. , The included angle θ As small as possible. The normal vector of the orbital plane is... The normal vector of the characteristic plane is Then, minimizing the angle between the normal vectors of the two planes can be expressed as:

[0137] (10)

[0138] Based on the definition of the normal vector above, n F3 = 1, n M1 = k , n M2 =0, n M3 = Substitute 1 into the above formula, Minimization can be expressed as:

[0139] (11)

[0140] Step S5 is as follows:

[0141] When the accompanying satellite orbits and re-examines the space station, it is affected by sunlight. The satellite's observation position is exposed to sunlight, providing good optical conditions for observing the space station. However, if the accompanying satellite is located in a shaded area or the observation area is in shadow, it cannot achieve good imaging. Therefore, during the orbiting process, the accompanying satellite should be positioned under direct sunlight when passing over key feature points on the space station's surface.

[0142] like Figure 4 The diagram assumes that during a short period of time when the accompanying satellite is orbiting above the feature point, the solar illumination vector... Always remain unchanged. , Let these be the characteristic plane normal vector and the orbital plane normal vector. To ensure that the accompanying satellite is as close to the light source as possible when passing overhead, the satellite's orbital plane needs to be as perpendicular to the illumination vector as possible. That is, the normal vector of the orbital plane. and illumination vector The included angle β Minimize as much as possible, satisfying the formula:

[0143] (12)

[0144] According to the definition of normal vector, n M1 = k , n M2 =0, n M3 = Substitute 1 into the above formula, β Minimization can be expressed as:

[0145] (13)

[0146] Step S6 is as follows:

[0147] The design problem of a single-satellite orbit for observing feature points on a space station, considering constraints such as collision avoidance, satellite camera perception, and illumination, can be viewed as a multi-objective optimization problem. Here, a genetic algorithm based on the weighted coefficient transformation method is used to construct the objective function. For each objective function... Assign weights , Let represent the importance of the objective function. ,in , This transforms the multi-objective function into a single-objective function, and... μ As an evaluation function, a new objective function can be obtained:

[0148] (14)

[0149] Relative motion amplitude A Should meet:

[0150] (15)

[0151] According to formula (15), it can be calculated that k The range of values Then the constraints of the objective function are: ,and ω 1 and ω The value of 2 is determined by how important the task requirements are to the optimization metrics.

[0152] Step S7 is as follows:

[0153] The optimization results were obtained through simulation. kThe magnitude of the relative motion amplitude can be calculated using formula (15). A Scope A min , A max Select a suitable amplitude value: A =( A min + A max ) / 2, and q =0, φ =0, substitute these three values ​​into the initial motion parameter calculation formula (16).

[0154] (16)

[0155] The corresponding initial orbital parameters can then be obtained as [ A 0 kA 0-2 ωA 0].

[0156]

Example

[0157] The following is a specific embodiment to illustrate the specific calculation process of the present invention.

[0158] Assume the space station is orbiting the Earth in a circular orbit at an altitude of 380 km, and assume that the space station's attitude remains constant during its flight with its accompanying satellite. Figure 4 As shown, the space station consists of two cylinders and five solar panels. Cylinder 1 is divided into two sections, 10 meters and 6 meters in length, while cylinder 2 is divided into two equal sections, 8 meters and 8 meters in length. The solar panels are symmetrically installed, and their thickness is negligible. The center of SP1 is... O Points O are 2 meters apart. SP2 and SP3 are located at opposite ends of cylinder 1, 9 meters and 5 meters away from point O, respectively. SP4 and SP5 are located at opposite ends of cylinder 2, at a distance of... O The points are 7 meters and 7 meters respectively.

[0159] Based on the space station model, the space station model is simplified to a combination of 5 cubes. The length, width, and height of the 5 cubes are (1m, 2m, 16m), (1m, 12m, 2m), (1m, 10m, 1m), (1m, 16m, 2m), and (1m, 10m, 1m), respectively. Their positional relationship is as follows: Figure 5 As shown.

[0160] Considering avoidance and perception constraints, if the safe distance between the microsatellite and space to avoid collision is 1m, and the farthest distance at which the microsatellite can image relative to the space station is 40m, then... d safe =10 m ,d observe =40 m The maximum included angle of the satellite camera imaging was selected as 20°. Several feature points were randomly selected on the surface of the space station to form a feature point cluster, simulating the positions of several micro-components to be detected. Simulation verification was performed using the relevant algorithms described in this paper. The feature point cluster consisted of seven random point groups (unit / m) located on the surface of the space station, and their positions are shown in Table 1.

[0161] Table 1 Spatial Location Table of Feature Point Clusters

[0162]

[0163] The feature plane obtained by fitting according to the SVD decomposition method is as follows: Figure 6 , Figure 7 As shown, the coefficient vector of the fitted plane is [0.9363, [0.0667, 0.3448] T From the definition of the characteristic plane normal vector, the characteristic plane normal vector fitted to the first set of data is: n F =[ n F1 , n F2 , n F3 ] T =[ 2.7156, 0.1933 1] T

[0164] Assuming the illumination vector n S = ( Based on the objective function construction method in section 3.5, the objective function is:

[0165]

[0166] Constraints:

[0167] Appropriate weights can be selected based on the importance of the objective function. Taking the first cluster of feature points as an example, the weights are assigned as follows: ω 1 = 0.6 ω 2=0.4, and the optimization simulation result obtained in MATLAB is as follows. k = 2.9337. Obtain an appropriate... AThe value is 8.9457, and it is substituted into the calculation formula (16) for the initial orbital parameters to obtain the initial relative motion parameters of the orbital. The orbital configuration corresponding to these parameters is the illumination vector. n S = ( The optimal configuration for a satellite's orbit under illumination constraints of 1,0,0). The optimization results are as follows: Figure 8 As shown.

[0168] This invention also discloses a single-satellite flyby orbit design system for observing feature points on a space station, comprising:

[0169] Fitting unit, used to obtain the illumination vector on the surface of the space station. The feature point cluster parameters are used to fit the feature plane and determine the normal vector of the feature plane. ;

[0170] The first building unit is used to obtain the orbital parameters of the microsatellite based on the correlation coefficient k, construct the orbital plane equation, and determine the normal vector of the orbital plane. ;

[0171] The second building unit is used to construct the angle minimization function between the satellite's orbital plane and the characteristic plane, as well as the orbital plane normal vector. and illumination vector The function that minimizes the included angle;

[0172] The third building block is used to minimize the angle between the satellite's orbital plane and the characteristic plane, and the orbital plane normal vector. and illumination vector The objective function for designing and optimizing the single-satellite orbit for observation of feature points on the space station under illumination is constructed by minimizing the included angle function.

[0173] The parameter determination unit is used to optimize the objective function through simulation, and obtain the initial parameters of the single-satellite orbit for observation of feature points of the space station.

[0174] The objective function for designing and optimizing the single-satellite orbit for observation of feature points on the space station under illumination is specifically as follows:

[0175] The design problem of a single-satellite orbit for observing feature points on a space station, considering constraints such as collision avoidance, satellite camera perception, and illumination, can be viewed as a multi-objective optimization problem. Here, a genetic algorithm based on the weighted coefficient transformation method is used to construct the objective function. For each objective function... Assign weights , Let represent the importance of the objective function. ,in , This transforms the multi-objective function into a single-objective function, and... μ As an evaluation function, a new objective function can be obtained:

[0176] (14)

[0177] Relative motion amplitude A Should meet:

[0178] (15)

[0179] According to formula (15), it can be calculated that k The range of values Then the constraints of the objective function are: ,and ω 1 and ω The value of 2 is determined by how important the task requirements are to the optimization metrics.

[0180] The present invention also discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the single-satellite orbit design method.

[0181] The single-satellite orbit design method includes:

[0182] S1, Considering the geometric parameters of the space station, input appropriate collision avoidance constraints for micro / nano satellites. and satellite camera perception constraints Simultaneously input the location distribution parameters of the feature point clusters on the space station surface. S ={ s 1, s 2, s 3,…, s n}={ (x 1, y 1, z 1),( x 2, y 2, z 2),…,( x n , y n , z n Lighting vector n S The maximum angle between the image and the satellite camera image. θ max ;

[0183] S2. The SVD decomposition method is used to fit the feature point clusters on the surface of the space station to a plane. This fitted plane is called the feature plane, and the normal vector of the feature plane is defined. ;

[0184] S3, Constructing micro-nano satellites based on correlation coefficients k The equations of the orbital plane are described by the orbital parameters, and the normal vector of the orbital plane is defined. ;

[0185] S4, construct a function to minimize the angle between the satellite's orbital plane and the characteristic plane, so that the satellite's orbital trajectory on the surface of the space station is as close as possible to the group of characteristic points;

[0186] S5, Construct the orbital plane normal vector n M and illumination vector n S The angle minimization function ensures that the accompanying satellite is as close to the light source as possible when passing overhead;

[0187] S6 employs a genetic algorithm based on the weighted coefficient transformation method, considering satellite collision avoidance constraints and satellite camera perception constraints, to calculate the correlation coefficients of the initial orbital parameters of the micro / nano satellite. k Within the scope of illumination, construct the objective function for designing and optimizing the single-satellite orbit for observation of feature points on the space station;

[0188] S7. By optimizing the objective function through simulation, the initial parameters of the single-satellite orbit for observation of characteristic points of the space station can be obtained.

[0189] The present invention also discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the single-satellite orbit design method.

[0190] The single-satellite orbit design method includes:

[0191] S1, Considering the geometric parameters of the space station, input appropriate collision avoidance constraints for micro / nano satellites. and satellite camera perception constraints Simultaneously input the location distribution parameters of the feature point clusters on the space station surface. S ={ s 1, s 2, s 3,…, s n}={ (x 1, y 1, z 1),( x 2,y 2, z 2),…,( x n , y n , z n Lighting vector n S The maximum angle between the image and the satellite camera image. θ max ;

[0192] S2. The SVD decomposition method is used to fit the feature point clusters on the surface of the space station to a plane. This fitted plane is called the feature plane, and the normal vector of the feature plane is defined. ;

[0193] S3, Constructing micro-nano satellites based on correlation coefficients k The equations of the orbital plane are described by the orbital parameters, and the normal vector of the orbital plane is defined. ;

[0194] S4, construct a function to minimize the angle between the satellite's orbital plane and the characteristic plane, so that the satellite's orbital trajectory on the surface of the space station is as close as possible to the group of characteristic points;

[0195] S5, Construct the orbital plane normal vector n M and illumination vector n S The angle minimization function ensures that the accompanying satellite is as close to the light source as possible when passing overhead;

[0196] S6 employs a genetic algorithm based on the weighted coefficient transformation method, considering satellite collision avoidance constraints and satellite camera perception constraints, to calculate the correlation coefficients of the initial orbital parameters of the micro / nano satellite. k Within the scope of illumination, construct the objective function for designing and optimizing the single-satellite orbit for observation of feature points on the space station;

[0197] S7. By optimizing the objective function through simulation, the initial parameters of the single-satellite orbit for observation of characteristic points of the space station can be obtained.

[0198] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0199] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0200] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0201] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0202] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for designing a single-satellite orbit, characterized in that, Includes the following steps: Obtain the illumination vector on the surface of the space station. The feature point cluster parameters are used to fit the feature plane and determine the normal vector of the feature plane. ; The orbital parameters of the microsatellite based on the correlation coefficient k are obtained. The orbital plane equation is constructed according to the parameterized analytical solution of the CW equation, and the normal vector of the orbital plane is determined. ; Construct a function to minimize the angle between the satellite's orbital plane and the characteristic plane, as well as the orbital plane normal vector. and illumination vector The angle minimization function for constructing the angle minimization function between the satellite's orbital plane and the characteristic plane is as follows: The normal vector of the orbital plane is The normal vector of the characteristic plane is Then the angle between the normal vectors of the two planes θ Minimization is represented as: Will = 1, =k, =0, = Substitute 1 into the above formula, Minimization is represented as: Orbital plane normal vector and illumination vector The included angle The minimization function is as follows: Will =k, =0, = Substitute 1 into the above formula, Minimization is represented as: Where k is the correlation coefficient, Expressed as the included angle containing the coefficient k Minimize function, This represents the maximization of a function containing the coefficient k. Expressed as the included angle containing the coefficient k Minimize the function; Based on the angle minimization function between the satellite's orbital plane and the characteristic plane, and the orbital plane normal vector and illumination vector The objective function for designing and optimizing the single-satellite orbit for observation of feature points on the space station under illumination is constructed by minimizing the included angle function. The objective function was optimized through simulation to obtain the initial parameters of the single-satellite orbit for observation of feature points on the space station.

2. The method for designing a single-satellite orbit according to claim 1, characterized in that, The feature point cluster parameters on the surface of the space station also include: micro-nano satellite collision avoidance constraints, satellite camera perception constraints, feature point cluster position distribution parameters, and the maximum included angle of satellite camera imaging.

3. The method for designing a single-satellite orbit according to claim 1, characterized in that, The feature plane is fitted using the SVD decomposition method, as detailed below: The equation of the space plane is expressed as: The mean of the coordinates of all feature points is Then we get: From the equation of the space plane - have to: make ， Construct the objective function: The constraints are ,but Therefore, the optimal solution of the objective function under the constraints is: Substitute the coefficient vector X of the fitted plane into By obtaining the value of d and substituting it into the expression of the spatial plane equation, we obtain the feature plane of the feature point cluster. The feature plane normal vector ; in, , , , For plane equation parameters, It is the difference matrix between the coordinates of the feature points and the coordinates of the mean feature point. represent The singular vector corresponding to the minimum singular value in the SVD transform.

4. The method for designing a single-satellite orbit according to claim 1, characterized in that, The specific steps for constructing the orbital plane equations are as follows: The equation for the orbital plane is defined as follows: in , , , All of these are constants defined by the initial state parameters, and their expressions are as follows: in =0, therefore: Substituting into the equations defining the orbital plane, we obtain the equations for the orbital plane. The normal vector of the orbital plane is ; in The correlation coefficient, This is the drift term along the y-axis around the flight path.

5. The method for designing a single-satellite orbit according to claim 1, characterized in that, The objective function for designing and optimizing the single-satellite fly-by orbit for observation of feature points on the space station under illumination is constructed using a genetic algorithm based on the weight coefficient transformation method, as follows: For each objective function Assign weights , Let represent the importance of the objective function; ,in , ;Will As an evaluation function, a new objective function is obtained: The extreme distances between the satellite and the space station are the semi-major and semi-minor axes of the orbit, respectively. The formulas for calculating the maximum and minimum distances from the origin to the orbit are as follows: From the above equation, the relative motion amplitude A satisfies: The result is obtained from the conditional relationship satisfied by the relative motion amplitude A. The range of values Then the constraints of the objective function are: The decision is based on the importance of the optimization metrics to the task requirements. and Substituting the magnitude into the equation yields the objective function for optimizing the single-satellite orbit design. in, The correlation coefficient; This is the minimum distance required to avoid collisions with satellites stationed on the space station. This is the maximum distance at which the satellite can image the data. This represents the maximum distance from the origin to the orbital trajectory. This represents the maximum distance from the origin to the orbital trajectory. The amplitude of relative motion; The weights are those of the objective function.

6. The method for designing a single-satellite orbit according to claim 5, characterized in that, The initial parameter calculation process for the single-satellite orbit for observation of key points on the space station is as follows: Optimization simulation yields the optimized results. Substituting the magnitude of the relative motion amplitude A into the conditional relationship, we can obtain the range of the relative motion amplitude A [A]. min A max ], set A = (A min +A max ) / 2, q =0, φ =0, substitute into the formula for calculating the initial motion parameters, That is, the corresponding initial orbital parameters are obtained as [ A 0 A 0-2 nA 0]; in, A The amplitude of relative motion; k The correlation coefficient; This represents the drift term along the y-axis of the orbital path. φ This represents the initial phase of the orbital trajectory. This refers to the orbital angular velocity of the space station as it orbits the Earth.

7. A single-satellite orbit design system for observing characteristic points on a space station, characterized in that, The method for designing a single-satellite orbit according to any one of claims 1 to 6 includes: Fitting unit, used to obtain the illumination vector on the surface of the space station. The feature point cluster parameters are used to fit the feature plane and determine the normal vector of the feature plane. ; The first building unit is used to obtain the orbital parameters of the microsatellite based on the correlation coefficient k, construct the orbital plane equation, and determine the normal vector of the orbital plane. ; The second building unit is used to construct the angle minimization function between the satellite's orbital plane and the characteristic plane, as well as the orbital plane normal vector. and illumination vector The function that minimizes the included angle; The third building block is used to minimize the angle between the satellite's orbital plane and the characteristic plane, and the orbital plane normal vector. and illumination vector The objective function for designing and optimizing the single-satellite orbit for observation of feature points on the space station under illumination is constructed by minimizing the included angle function. The parameter determination unit is used to optimize the objective function through simulation, and obtain the initial parameters of the single-satellite orbit for observation of feature points of the space station.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of a single-satellite orbital design method according to any one of claims 1-6.

9. A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of a single-satellite orbital design method according to any one of claims 1-6.

Images