A method and system for controlling orbital maneuver divergence during gravity satellite center of mass calibration

Abstract

The present invention discloses a method and system for controlling orbital maneuver divergence during the gravity satellite center of mass calibration process, relating to the field of spacecraft control technology. The method comprises: configuring the output of a magnetic torquer so that the output of the magnetic torquer is converted from an angular acceleration signal to an initial square wave signal or an initial sine wave signal; setting the phase of the square wave signal or the initial sine wave signal at the initial moment to 1 / 4 of a cycle to obtain a square wave signal or a sine wave signal; and performing center of mass calibration on the gravity satellite based on the method signal or the sine wave signal. The present invention solves the problem of orbital maneuver divergence during the gravity satellite center of mass calibration process and prevents the gravity satellite from losing control during the center of mass calibration process.

Description

Technical Field

[0001] The present invention relates to the field of spacecraft control technology, and in particular to a method and system for controlling orbital maneuvering divergence during a gravity satellite mass center calibration process. Background Art

[0002] Center of mass calibration, a crucial testing step during the on-orbit operation of gravity satellites, determines the accuracy of non-conservative force measurements and is crucial for obtaining high-precision Earth gravity fields. Satellite center of mass calibration involves performing a specified attitude rotation maneuver on the satellite platform. When the satellite center of mass and the accelerometer locations do not coincide, the corresponding center of mass deviation is estimated using the translational acceleration generated by the satellite's attitude motion at the accelerometer locations. Satellite attitude rotation maneuvers typically use a magnetic torquer to generate an angular acceleration signal as input for calibration. However, as the angular deviation generated by the angular acceleration increases, the orbit will diverge during the center of mass calibration process, potentially leading to satellite loss of control. Summary of the Invention

[0003] The purpose of the present invention is to provide a method and system for controlling orbital maneuver divergence during a gravity satellite mass center calibration process, so as to solve the problem of orbital maneuver divergence during a gravity satellite mass center calibration process.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] A method for controlling orbital maneuver divergence during a gravity satellite mass center calibration process, comprising:

[0006] Setting the output of the magnetic torquer so that the output of the magnetic torquer is converted from an angular acceleration signal to an initial square wave signal;

[0007] Setting the phase of the initial square wave signal at the start time to 1 / 4 cycle to obtain a square wave signal;

[0008] The center of mass of the gravity satellite is calibrated based on the square wave signal.

[0009] Preferably, the square wave signal is as follows:

[0010]

[0011] Where: x1(t) represents the square wave signal, t represents the time, T represents the period, and A represents the amplitude of the voltage input to the magnetic torquer.

[0012] The present invention also provides a method for controlling orbital maneuver divergence during a gravity satellite mass center calibration process, comprising:

[0013] Setting the output of the magnetic torquer so that the output of the magnetic torquer is converted from an angular acceleration signal to an initial sinusoidal wave signal;

[0014] Setting the phase of the initial sine wave signal at the starting moment to 1 / 4 cycle to obtain a sine wave signal;

[0015] The center of mass of the gravity satellite is calibrated based on the sinusoidal wave signal.

[0016] Preferably, the sinusoidal wave signal is as follows:

[0017]

[0018] Where: x2(t) represents the sinusoidal wave signal, t represents time, T represents period, and A represents the amplitude of the voltage input to the magnetic torquer.

[0019] The present invention also provides an orbit maneuver divergence control system for a gravity satellite mass center calibration process, comprising:

[0020] A square wave conversion module, configured to configure the output of the magnetic torquer so as to convert the output of the magnetic torquer from an angular acceleration signal into an initial square wave signal;

[0021] A square wave phase module is used to set the phase of the initial square wave signal at the starting moment to 1 / 4 cycle to obtain a square wave signal;

[0022] The square wave calibration module is used to calibrate the center of mass of the gravity satellite based on the square wave signal.

[0023] Preferably, the square wave signal is as follows:

[0024]

[0025] Where: x1(t) represents the square wave signal, t represents the time, T represents the period, and A represents the amplitude of the voltage input to the magnetic torquer.

[0026] The present invention also provides an orbit maneuver divergence control system for a gravity satellite mass center calibration process, comprising:

[0027] a sine wave conversion module, configured to configure the output of the magnetic torquer so as to convert the output of the magnetic torquer from an angular acceleration signal to an initial sine wave signal;

[0028] A sine wave phase module, used to set the phase of the initial sine wave signal at the starting moment to 1 / 4 cycle to obtain a sine wave signal;

[0029] The sine wave calibration module is used to calibrate the center of mass of the gravity satellite based on the sine wave signal.

[0030] Preferably, the sinusoidal wave signal is as follows:

[0031]

[0032] Where: x2(t) represents the sinusoidal wave signal, t represents time, T represents period, and A represents the amplitude of the voltage input to the magnetic torquer.

[0033] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0034] The present invention discloses a method and system for controlling orbital maneuver divergence during the gravity satellite center of mass calibration process. The method comprises: configuring the output of a magnetic torquer so that the output of the magnetic torquer is converted from an angular acceleration signal to an initial square wave signal or an initial sine wave signal; setting the phase of the initial square wave signal or the initial sine wave signal at a starting moment to 1 / 4 cycle to obtain a square wave signal or a sine wave signal; and performing center of mass calibration on the gravity satellite based on the square wave signal or the sine wave signal. The present invention solves the problem of orbital maneuver divergence during the gravity satellite center of mass calibration process. Since the attitude angle of a gravity satellite is the integral of the angular acceleration, to avoid orbital maneuver divergence, the attitude angular velocity of the gravity satellite must fluctuate around 0 rad / s. Setting the phase at the starting moment to 1 / 4 cycle ensures that the attitude angular velocity of the gravity satellite fluctuates around 0 rad / s, preventing the satellite attitude from diverging and preventing loss of control of the gravity satellite during the center of mass calibration process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 This is a flow chart of the first embodiment of the orbit maneuver divergence control method for the gravity satellite center of mass calibration process of the present invention;

[0037] Figure 2 This is a flow chart of the second embodiment of the orbit maneuver divergence control method for the gravity satellite center of mass calibration process of the present invention;

[0038] Figure 3 This is a structural diagram of the first embodiment of the orbit maneuver divergence control system for the gravity satellite center of mass calibration process of the present invention;

[0039] Figure 4 This is a structural diagram of the second embodiment of the orbit maneuver divergence control system for the gravity satellite center of mass calibration process of the present invention;

[0040] Figure 5 Schematic diagram of the angular acceleration and angular velocity of a gravity satellite when the center of mass of the gravity satellite is calibrated based on a square wave signal according to the present invention;

[0041] Figure 6 Schematic diagram of the angular acceleration and angular velocity of a gravity satellite when performing barycenter calibration on the gravity satellite based on a sinusoidal wave signal according to the present invention;

[0042] Figure 7 This is a partial schematic diagram of the angular acceleration and angular velocity of a gravity satellite during the period of 0-50s when the center of mass of the gravity satellite is calibrated based on a square wave signal according to the present invention;

[0043] Figure 8 This is a partial schematic diagram of the angular acceleration and angular velocity 0-50s of a gravity satellite when the center of mass of the gravity satellite is calibrated based on a sine wave signal in the present invention.

[0044] Explanation of symbols: 11. Square wave conversion module; 12. Square wave phase module; 13. Square wave calibration module; 21. Sine wave conversion module; 22. Sine wave phase module; 23. Sine wave calibration module. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0046] The purpose of the present invention is to provide a method and system for controlling orbital maneuver divergence during a gravity satellite mass center calibration process, so as to solve the problem of orbital maneuver divergence during a gravity satellite mass center calibration process.

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] Figure 1 This is a flow chart of the first embodiment of the orbital maneuver divergence control method for the gravity satellite center of mass calibration process of the present invention. Figure 1 As shown, the present invention provides a method for controlling orbital maneuver divergence during the centroid calibration process of a gravity satellite, comprising:

[0049] Step S11: setting the output of the magnetic torquer so that the output of the magnetic torquer is converted from an angular acceleration signal to an initial square wave signal. Specifically, the output current (angular acceleration signal) of the magnetic torquer is set to a square wave form to obtain the initial square wave signal.

[0050] Step S12 sets the phase of the initial square wave signal at the start time to 1 / 4 cycle, thereby obtaining a square wave signal. Since the attitude angle of the gravity satellite is the integral of the angular acceleration, to prevent orbital maneuver divergence, the attitude angular velocity of the gravity satellite must fluctuate around 0 rad / s. When outputting square wave angular acceleration, setting the phase of the square wave at the start time to 1 / 4 cycle ensures that the attitude angular velocity of the gravity satellite fluctuates around 0 rad / s, meaning that the attitude of the gravity satellite does not diverge.

[0051] Step S13, calibrating the center of mass of the gravity satellite based on the square wave signal. When calibrating the center of mass of the gravity satellite based on the square wave signal, the angular acceleration and angular velocity of the gravity satellite are as follows: Figure 5 and Figure 7 As shown, Figure 5 and Figure 7 The solid line is the angular acceleration, and the dotted line is the angular velocity. Figure 5 and Figure 7 It can be seen that during the center of mass calibration process, the angular acceleration and angular velocity of the gravity satellite did not diverge, that is, the attitude of the gravity satellite did not diverge.

[0052] Preferably, the square wave signal is as follows:

[0053]

[0054] Where: x1(t) represents the square wave signal, t represents the time, T represents the period, and A represents the amplitude of the voltage input to the magnetic torquer.

[0055] Figure 2 This is a flow chart of the second embodiment of the orbital maneuver divergence control method for the gravity satellite center of mass calibration process of the present invention. Figure 2 As shown, the present invention provides a method for controlling orbital maneuver divergence during the centroid calibration process of a gravity satellite, comprising:

[0056] Step S21: setting the output of the magnetic torquer so that the output of the magnetic torquer is converted from an angular acceleration signal to an initial sinusoidal wave signal. Specifically, the output current of the magnetic torquer (angular acceleration signal) is converted into a sinusoidal wave form to obtain the initial sinusoidal wave signal.

[0057] Step S22 sets the phase of the initial sinusoidal signal at the start time to 1 / 4 cycle, thereby obtaining a sinusoidal signal. Since the attitude angle of the gravity satellite is the integral of the angular acceleration, to prevent orbital maneuver divergence, the attitude angular velocity of the gravity satellite must fluctuate around 0 rad / s. When outputting a sinusoidal angular acceleration, the angular velocity of the gravity satellite is also a periodic triangular wave. Since the phase of the sinusoidal wave at the start time is set to 1 / 4 cycle, the angular velocity of the gravity satellite fluctuates around 0 rad / s, and thus the angular increment of the gravity satellite's change also fluctuates around 0 rad. This means that the attitude of the gravity satellite does not diverge, allowing for a longer-term gravity satellite center of mass calibration process.

[0058] Step S23, calibrating the center of mass of the gravity satellite based on the sinusoidal wave signal. When calibrating the center of mass of the gravity satellite based on the sinusoidal wave signal, the angular acceleration and angular velocity of the gravity satellite are as follows: Figure 6 and Figure 8 As shown, Figure 6 and Figure 8 The solid line is the angular acceleration, and the dotted line is the angular velocity. Figure 6 and Figure 8 It can be seen that during the barycenter calibration process, the angular acceleration and angular velocity of the gravity satellite did not diverge, that is, the attitude of the gravity satellite did not diverge.

[0059] Preferably, the sinusoidal wave signal is as follows:

[0060]

[0061] Where: x2(t) represents the sinusoidal wave signal, t represents time, T represents period, and A represents the amplitude of the voltage input to the magnetic torquer.

[0062] Square wave signals are simple and accurate to generate with hardware, but they also have more harmonics. Sine wave signals are simple and have concentrated energy, but they are approximated using small step signals, resulting in higher noise levels. The correct choice depends on your needs.

[0063] Figure 3 This is a structural diagram of the first embodiment of the orbital maneuver divergence control system for the gravity satellite mass center calibration process of the present invention. Figure 3 As shown, the present invention provides an orbit maneuver divergence control system for a gravity satellite center of mass calibration process, comprising: a square wave conversion module 11, a square wave phase module 12 and a square wave calibration module 13.

[0064] The square wave conversion module 11 is used to set the output of the magnetic torquer so that the output of the magnetic torquer is converted from an angular acceleration signal to an initial square wave signal.

[0065] The square wave phase module 12 is used to set the phase of the initial square wave signal at the starting moment to 1 / 4 cycle to obtain a square wave signal.

[0066] The square wave calibration module 13 is used to calibrate the center of mass of the gravity satellite based on the square wave signal.

[0067] Preferably, the square wave signal is as follows:

[0068]

[0069] Where: x1(t) represents the square wave signal, t represents the time, T represents the period, and A represents the amplitude of the voltage input to the magnetic torquer.

[0070] Figure 4 This is a structural diagram of the second embodiment of the orbital maneuver divergence control system for the gravity satellite mass center calibration process of the present invention. Figure 4 As shown, the present invention provides an orbit maneuver divergence control system for a gravity satellite center of mass calibration process, comprising: a sine wave conversion module 21, a sine wave phase module 22 and a sine wave calibration module 23.

[0071] The sine wave conversion module 21 is used to set the output of the magnetic torquer so that the output of the magnetic torquer is converted from an angular acceleration signal to an initial sine wave signal.

[0072] The sine wave phase module 22 is used to set the phase of the initial sine wave signal at the starting moment to 1 / 4 cycle to obtain a sine wave signal.

[0073] The sine wave calibration module 23 is used to calibrate the center of mass of the gravity satellite based on the sine wave signal.

[0074] Preferably, the sinusoidal wave signal is as follows:

[0075]

[0076] Where: x2(t) represents the sinusoidal wave signal, t represents time, T represents period, and A represents the amplitude of the voltage input to the magnetic torquer.

[0077] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation of the present invention.

Claims

1. A method for controlling orbital maneuver divergence during the centroid calibration process of a gravity satellite, characterized in that: include: Setting the output of the magnetic torquer so that the output of the magnetic torquer is converted from an angular acceleration signal to an initial square wave signal; Setting the phase of the initial square wave signal at the start time to 1 / 4 cycle to obtain a square wave signal; The center of mass of the gravity satellite is calibrated based on the square wave signal.

2. The orbital maneuver divergence control method for the gravity satellite center of mass calibration process according to claim 1 is characterized in that: The square wave signal is as follows: Where: x1(t) represents the square wave signal, t represents the time, T represents the period, and A represents the amplitude of the voltage input to the magnetic torquer.

3. A method for controlling orbital maneuver divergence during the centroid calibration process of a gravity satellite, characterized in that: include: Setting the output of the magnetic torquer so that the output of the magnetic torquer is converted from an angular acceleration signal to an initial sinusoidal wave signal; Setting the phase of the initial sine wave signal at the starting moment to 1 / 4 cycle to obtain a sine wave signal; The center of mass of the gravity satellite is calibrated based on the sinusoidal wave signal.

4. The orbital maneuver divergence control method for the gravity satellite center of mass calibration process according to claim 3 is characterized in that: The sine wave signal is as follows: Where: x2(t) represents the sinusoidal wave signal, t represents time, T represents period, and A represents the amplitude of the voltage input to the magnetic torquer.

5. An orbital maneuver divergence control system for the gravity satellite center of mass calibration process, characterized in that: include: A square wave conversion module, configured to configure the output of the magnetic torquer so as to convert the output of the magnetic torquer from an angular acceleration signal into an initial square wave signal; A square wave phase module is used to set the phase of the initial square wave signal at the starting moment to 1 / 4 cycle to obtain a square wave signal; The square wave calibration module is used to calibrate the center of mass of the gravity satellite based on the square wave signal.

6. The orbit maneuver divergence control system for the gravity satellite mass center calibration process according to claim 5, characterized in that: The square wave signal is as follows: Where: x1(t) represents the square wave signal, t represents the time, T represents the period, and A represents the amplitude of the voltage input to the magnetic torquer.

7. An orbital maneuver divergence control system for the gravity satellite mass center calibration process, characterized in that: include: a sine wave conversion module, configured to configure the output of the magnetic torquer so as to convert the output of the magnetic torquer from an angular acceleration signal to an initial sine wave signal; A sine wave phase module, used to set the phase of the initial sine wave signal at the starting moment to 1 / 4 cycle to obtain a sine wave signal; The sine wave calibration module is used to calibrate the center of mass of the gravity satellite based on the sine wave signal.

8. The orbit maneuver divergence control system for the gravity satellite center of mass calibration process according to claim 7, characterized in that: The sine wave signal is as follows: Where: x2(t) represents the sinusoidal wave signal, t represents time, T represents period, and A represents the amplitude of the voltage input to the magnetic torquer.

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