A method and system for controlling the attitude recovery of a probe under micrometeoroid impact

Abstract

The present invention relates to the field of spacecraft safety technology, and in particular to a method and system for controlling the attitude recovery of a probe under a micrometeoroid impact, comprising: detecting whether a system-level failure occurs after a micrometeoroid impacts a space gravitational wave detector; if not, monitoring the detector state parameters to perform state estimation and obtain estimated values of the detector attitude angular velocity and the relative velocity of a proof mass; performing recovery control based on the detector posture and the proof mass posture when an intersatellite laser link exists; and performing recovery control based on the estimated values of the detector attitude angular velocity and the estimated values of the proof mass relative velocity when an intersatellite laser link does not exist, thereby re-establishing the laser link. When a micrometeoroid impacts a probe, the present invention converts the momentum transferred to the probe by the micrometeoroid impact into monitorable probe state parameters, and implements different recovery control strategies based on the probe state parameters, thereby rapidly achieving recovery of the probe attitude pointing direction.

Description

Technical Field

[0001] The present invention relates to the field of spacecraft space safety technology, and in particular to a method and system for controlling the attitude recovery of a probe under a micrometeoroid impact. Background Art

[0002] The space gravitational wave detection program uses ultra-high-precision space laser interferometers to measure the relative distance changes of the test mass to detect gravitational wave signals. One of the key mission stages is the detection stage in scientific mode. In scientific mode, the detector not only needs to maintain ultra-high-precision attitude pointing, but also needs to have strong anti-interference capabilities. Micrometeoroid impacts may cause the attitude pointing of the detector to diverge in scientific mode, the relative position of the test mass to change, and the laser link to be interrupted. It may also force the detector to switch from the scientific mission stage back to the constellation laser link recapture stage, affecting the normal detection of gravitational waves. The constellation laser link recapture process may take several hours.

[0003] Traditional research on the impact of micrometeoroid impacts on spacecraft has mainly focused on the field of materials science, studying the physical and electromagnetic protection properties of solar panels and spacecraft as a whole. However, there is less research on the attitude disturbance and attitude recovery control caused by micrometeoroid impacts. Compared with general spacecraft, space gravitational wave detectors have extremely high control accuracy and are more sensitive to disturbances in outer space. The disturbances caused by micrometeoroid impacts have to be analyzed separately to confirm the impact of the disturbance on the control system, establish a high-precision attitude recovery control strategy for space gravitational wave detectors, and provide active recovery control based on the control strategy to achieve rapid recovery.

[0004] However, the current attitude pointing recovery method for space gravitational wave detectors mainly relies on laser link recapture between constellation detectors. This capture process can take up to several hours to achieve detector attitude recovery control, which affects the time required for fault recovery and cannot meet the high-precision and low-latency requirements of aerospace. In addition, space gravitational wave detectors are only equipped with gyro-sensitive test mass attitude sensors, relative displacement sensors that measure some degrees of freedom, detector attitude measurement sensors, and DWS (differential wavefront detection) sensors that can monitor whether the laser link is interrupted. These sensors can only measure the relative attitude of the test mass and the detector attitude angle, but cannot measure velocity and angular velocity signals. In addition, the system is subject to various noises such as sensor readout noise, actuator noise, and controller noise. Therefore, it is urgent to provide a detector scientific mode control and attitude recovery control system design that takes into account interference such as external environmental disturbances and sensor readout noise. Summary of the Invention

[0005] The purpose of the present invention is to provide a method and system for controlling the attitude recovery of a detector under a micrometeoroid impact. When a micrometeoroid impacts a space gravitational wave detector, the momentum transferred to the detector by the micrometeoroid impact is converted into a monitorable detector state, and different recovery control strategies are performed according to the detector state, thereby quickly realizing the recovery of the detector's attitude pointing.

[0006] In order to solve the above technical problems, the present invention provides a method and system for controlling the attitude recovery of a probe under a micrometeoroid impact.

[0007] In a first aspect, the present invention provides a method for controlling the attitude recovery of a probe under a micrometeoroid impact, the method comprising the following steps:

[0008] After a micrometeoroid impacts a space gravitational wave detector, the system initiates an attitude recovery control mode and detects whether the space gravitational wave detector has a system-level failure.

[0009] If the space gravitational wave detector does not have a system-level failure, the detector state parameters under the micrometeoroid impact are monitored, and a state estimation is performed based on the detector state parameters to obtain an estimated value of the detector attitude angular velocity and an estimated value of the relative velocity of the test mass, wherein the detector state parameters include the existence of the intersatellite laser link, the detector attitude angle, the relative displacement of the test mass, and the relative attitude of the test mass;

[0010] When an intersatellite laser link exists, determining whether to enter corresponding detector attitude recovery mechanisms and test mass relative position recovery mechanisms based on the detector attitude and test mass attitude under the micrometeoroid impact, respectively, wherein the detector attitude includes an estimated value of the detector attitude angle and the detector attitude angular velocity, and the test mass attitude includes an estimated value of the test mass relative displacement and the test mass relative velocity;

[0011] When it is detected that the intersatellite laser link does not exist, the recovery control is performed by the detector body recovery mechanism and the test mass attitude recovery mechanism in sequence according to the estimated value of the detector attitude angular velocity and the estimated value of the relative velocity of the test mass to re-establish the laser link. After the laser link is re-established, the recovery control is exited and the scientific mode is re-entered to perform scientific measurements.

[0012] In a further embodiment, the step of determining whether to enter the corresponding detector attitude recovery mechanism and the proof mass relative position recovery mechanism based on the detector attitude and the proof mass attitude under the micrometeoroid impact, respectively, comprises:

[0013] Detecting whether the detector posture meets a preset detector posture condition, and at the same time, detecting whether the inspection mass posture meets a preset inspection mass posture condition;

[0014] If the detector posture meets the preset detector posture condition, then exit the posture recovery control mode; if the detector posture does not meet the preset detector posture condition, then control the space gravitational wave detector to enter the detector posture recovery mechanism;

[0015] If the test mass posture meets the preset test mass posture condition, the posture recovery control mode is exited; if the test mass posture does not meet the preset test mass posture condition, the space gravitational wave detector is controlled to enter the test mass relative position recovery mechanism.

[0016] In a further embodiment, the detector posture condition is specifically:

[0017] The attitude angle of the detector is not greater than the maximum allowable attitude adjustment angle in the attitude recovery control mode and the estimated attitude angular velocity of the detector is not greater than the attitude convergence critical angular velocity in the attitude recovery control mode.

[0018] In a further embodiment, the inspection quality posture condition is specifically:

[0019] The relative displacement of the test mass is not greater than the adjustable limit spacing in the attitude recovery control mode and the estimated relative velocity of the test mass is not greater than the displacement convergence critical relative velocity in the attitude recovery control mode.

[0020] In a further embodiment, the steps for obtaining the maximum allowable attitude adjustment angle, the attitude convergence critical angular velocity, the adjustable limit spacing and the displacement convergence critical relative velocity are:

[0021] Micrometeoroid impacts of different magnitudes are successively loaded onto the scientific control system of the space gravitational wave detector, and the attitude recovery control mode is started. Under the condition that the test mass and the test mass cavity in which it is located do not collide, the maximum allowable attitude adjustment angle, attitude convergence critical angular velocity, adjustable limit spacing and displacement convergence critical relative velocity of the scientific control system are successively calculated using the dichotomy principle.

[0022] In a further embodiment, the step of sequentially entering the detector body recovery mechanism and the proof mass attitude recovery mechanism for recovery control based on the detector attitude angular velocity estimate and the proof mass relative velocity estimate comprises:

[0023] Check whether the estimated value of the detector's attitude angular velocity is not less than the critical angular velocity of the attitude divergence in the attitude recovery control mode and whether the estimated value of the inspection mass relative velocity is not less than the critical relative velocity of the inspection mass displacement divergence in the attitude recovery control mode; if so, enter the fault monitoring and diagnosis mode; if not, enter the detector body recovery mechanism and the inspection mass attitude recovery mechanism in turn for recovery control.

[0024] In a further embodiment, the detector body recovery mechanism is specifically to control the test mass to follow the space gravitational wave detector body without colliding with the test mass cavity in which it is located; the test mass is arranged in the test mass cavity inside the space gravitational wave detector;

[0025] The test mass attitude recovery mechanism is specifically to perform recovery control of the space gravitational wave detector body attitude and the test mass relative attitude respectively after the test mass follows the space gravitational wave detector body.

[0026] In a second aspect, the present invention provides an attitude recovery control system for a probe impacted by a micrometeoroid, the system comprising:

[0027] A system status monitoring module is used to activate the attitude recovery control mode after a micrometeoroid impacts the space gravitational wave detector and detect whether the space gravitational wave detector has a system-level failure;

[0028] a state estimation module for monitoring detector state parameters under micrometeoroid impact, if no system-level failure occurs in the space gravitational wave detector, and performing state estimation based on the detector state parameters to obtain an estimated value of the detector attitude angular velocity and an estimated value of the relative velocity of the proof mass, wherein the detector state parameters include the existence of an intersatellite laser link, the detector attitude angle, the relative displacement of the proof mass, and the relative attitude of the proof mass;

[0029] a first recovery control module, configured to determine, when an intersatellite laser link exists, whether to enter corresponding detector attitude recovery mechanisms and test mass relative position recovery mechanisms based on the detector attitude and test mass attitude under micrometeoroid impact, respectively, wherein the detector attitude includes an estimated detector attitude angle and an estimated detector attitude angular velocity, and the test mass attitude includes an estimated test mass relative displacement and an estimated test mass relative velocity;

[0030] The second recovery control module is used to perform recovery control by sequentially entering the detector body recovery mechanism and the proof mass attitude recovery mechanism based on the estimated value of the detector attitude angular velocity and the estimated value of the proof mass relative velocity when it detects that the intersatellite laser link does not exist, so as to re-establish the laser link. After the laser link is re-established, the recovery control is exited and the scientific mode is re-entered for scientific measurement.

[0031] At the same time, in a third aspect, the present invention also provides a computer device, comprising a processor and a memory, wherein the processor is connected to the memory, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the computer device performs the steps of implementing the above method.

[0032] In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0033] The present invention provides a method and system for controlling the attitude recovery of a detector after a micrometeoroid impact. After a micrometeoroid impacts a space gravitational wave detector, the method detects whether a system-level failure has occurred in the detector. If no system-level failure has occurred, the method monitors the detector's state parameters after the micrometeoroid impact and performs state estimation based on the detector state parameters to obtain an estimated value for the detector's attitude angular velocity and an estimated value for the relative velocity of the test mass. Based on the presence of an intersatellite laser link, different attitude recovery control methods are employed according to the detector state parameters, thereby rapidly restoring the detector's attitude pointing. Compared to existing technologies, this method achieves full detector state estimation by fusing state estimation with multi-sensor measurements. It then implements attitude recovery control of the space gravitational wave detector based on the estimated state values and measurement parameters, ensuring the detector's safety. The method is widely applicable to attitude recovery control problems for various untowed spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a flow chart of a method for controlling the attitude recovery of a probe under a micrometeoroid impact provided by an embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of a collision monitoring system provided by an embodiment of the present invention;

[0036] Figure 3 is a schematic diagram of a recovery control strategy provided by an embodiment of the present invention;

[0037] Figure 4 is a reference coordinate system diagram of the detector body provided by an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of inspection quality under ideal conditions provided by an embodiment of the present invention;

[0039] Figure 6 2. Schematic diagram of the maximum attitude deviation of the test mass under micrometeoroid impact provided by an embodiment of the present invention;

[0040] Figure 7 This is a block diagram of a control system for the attitude recovery of a detector under a micrometeoroid impact provided by an embodiment of the present invention;

[0041] Figure 8 It is a structural diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The following describes the embodiments of the present invention in detail with reference to the accompanying drawings. The embodiments are provided for illustrative purposes only and are not to be construed as limiting the present invention. The accompanying drawings are provided for reference and illustration only and do not constitute a limitation on the scope of protection of the present invention. Many changes may be made to the present invention without departing from the spirit and scope of the present invention.

[0043] refer to Figure 1 , an embodiment of the present invention provides a method for controlling the attitude recovery of a probe under a micrometeoroid impact, such as Figure 1 As shown, the method includes the following steps:

[0044] S1. After a micrometeoroid impacts a space gravitational wave detector, start the attitude recovery control mode and detect whether a system-level failure occurs in the space gravitational wave detector.

[0045] S2. If no system-level failure occurs in the space gravitational wave detector, the detector state parameters under the micrometeoroid impact are monitored, and the state is estimated based on the detector state parameters to obtain the detector attitude angular velocity estimate and the test mass relative velocity estimate, wherein the detector state parameters include the existence of the intersatellite laser link, the detector attitude angle, the test mass relative displacement and the test mass relative attitude.

[0046] Compared with traditional spacecraft, micrometeoroids will have a more serious impact on the scientific control system of space gravitational wave detectors. The scientific control system is the control system in the scientific mode. Therefore, the embodiment of the present invention studies the detector recovery control running in the scientific mode. In this mode, drag-free control is the main control method of this mode. It should be noted that the design index requirement of the control system in the scientific mode is to enable each degree of freedom of the system to suppress the influence of all disturbances and noises and achieve the total residual acceleration index required by the scientific mode of the system. In this embodiment, the sensitive axis of the gravitational wave detector in the scientific mode is in the drag-free state. In the state, the impact of a micrometeoroid may give the detector body a certain instantaneous linear acceleration and angular acceleration, causing a sudden change in the detector's attitude and the relative position of the test mass, and even leading to the interruption of the laser link. In order to enable the detector to recover under the impact of a micrometeoroid, it is necessary to analyze the state of the detector after the impact of the micrometeoroid, and perform attitude recovery control according to the state of the detector after the impact of the micrometeoroid. In the recovery control mode, it is assumed that all degrees of freedom of the test mass are controllable. After the micrometeoroid hits the detector, a certain amount of angular momentum and linear momentum will be transferred to the detector body. Among them, the transferred linear momentum and angular momentum are the main parameters affecting the dynamics of the detector system.

[0047] However, when considering recovery control strategies, the angular momentum transferred by an impact event cannot be directly monitored. Therefore, this embodiment converts the momentum transferred to the detector by the micrometeoroid impact into a monitorable detector state. However, since traditional detectors are only equipped with a gyro-sensitive proof mass position sensor ES, a partial degree of freedom relative displacement measurement sensor IFO, a detector attitude measurement sensor QPD, and a DWS sensor that can monitor whether the laser link is interrupted, these sensors can only measure the relative position of the proof mass and the detector attitude angle, but cannot measure velocity and angular velocity signals, thereby affecting the recovery control of the space gravitational wave detector after a micrometeoroid impact. In addition, the system has various noises such as sensor readout noise, actuator noise, and controller noise. Therefore, it is necessary to estimate the velocity and angular velocity signals from the displacement and attitude angle signals containing external disturbances and readout noise. This embodiment uses an impact monitoring system to monitor micrometeoroid impact events and the detector state after the impact.

[0048] like Figure 2 As shown, the impact monitoring system includes a QPD sensor, a DWS sensor, an ES sensor, a state estimator, a zero-order monitoring system, and a first-order monitoring system. The QPD sensor is used to measure the detector's attitude; the DWS sensor is used to monitor the presence of the intersatellite laser link under micrometeoroid impact; the ES sensor is used to measure the test mass's position and posture; the state estimator is used to perform state estimation based on the detector's state parameters to obtain an estimated value of the detector's attitude angular velocity and an estimated value of the test mass's relative velocity. In this embodiment, a Kalman filter is preferably used as the state estimator, utilizing the detector's control input and measurement information provided by different sensors to derive an optimal estimate of the system's state; the zero-order monitoring system is used to monitor whether the laser link is interrupted, the relative position and attitude of the test mass, and the detector's attitude; and the first-order monitoring system is used to estimate the relative (angular) velocity signal of the test mass and the detector's angular velocity signal. The first-order monitoring system is a signal derived from the state variables of the zero-order monitoring system. The estimated value and the actual state may have a certain error. Therefore, a mandatory safety attribute needs to be set in the monitoring system. When a monitoring error occurs, a state "worse" than the actual state is estimated. The zero-order monitoring and first-order monitoring signals are fused to determine whether to enter the corresponding attitude recovery control mode.

[0049] In the recovery control mode, the impact monitoring system will first determine whether a system-level fault has occurred, such as whether the monitoring sensor or actuator has failed. When a system-level fault is detected in the space gravitational wave detector, the fault will be repaired. When it is detected that no system-level fault has occurred in the space gravitational wave detector, this embodiment assumes that the control torque applied to the test mass in the scientific mode is much smaller than the disturbance torque transferred to the detector by the impact, and the crosstalk of the micrometeoroid impact on the test mass is extremely small, that is, the test mass tends to be stable relative to the ideal estimated attitude before the impact. In this case, this embodiment uses the DWS sensor to monitor the existence of the intersatellite laser link under the micrometeoroid impact, and at the same time monitors multiple states such as the detector attitude angle and the relative position of the test mass. Then, a state estimator is used to perform state estimation on the monitored multiple states such as the existence of the laser link, the detector attitude angle, the relative position of the test mass, etc., to obtain the estimated value of the detector attitude angular velocity and the estimated value of the relative velocity of the test mass.

[0050] It should be noted that since the control system in scientific mode has extremely low noise requirements and its robustness deteriorates, the relative control ability of the detector body over the test mass is far less than that in the spacecraft attitude recovery control mode. The micrometeoroid hits the detector body in an instant and is subjected to an instantaneous impact. The test mass is subject to extremely small crosstalk impact transmitted from the spacecraft body. Therefore, after the detector is hit by a micrometeoroid, the test mass can be used as a reference parameter for attitude recovery.

[0051] S3. When an intersatellite laser link exists, determining whether to enter corresponding detector attitude recovery mechanisms and test mass relative position recovery mechanisms based on the detector attitude and test mass attitude after the micrometeoroid impact, respectively, wherein the detector attitude includes an estimated detector attitude angle and an estimated detector attitude angular velocity, and the test mass attitude includes an estimated test mass relative displacement and an estimated test mass relative velocity. The specific steps include:

[0052] Detect whether the detector posture meets the preset detector posture condition. If so, exit the attitude recovery control mode; if not, control the space gravitational wave detector to enter the detector posture recovery mechanism; wherein, the detector posture condition is specifically: the detector posture angle is not greater than the maximum allowable attitude adjustment angle in the attitude recovery control mode and the detector attitude angular velocity estimate is not greater than the attitude convergence critical angular velocity in the attitude recovery control mode.

[0053] While detecting whether the detector posture meets the preset detector posture condition, the test mass posture is detected whether it meets the preset test mass posture condition. If so, the posture recovery control mode is exited; if not, the space gravitational wave detector is controlled to enter the test mass relative position recovery mechanism; wherein, the test mass posture condition is specifically: the relative displacement of the test mass is not greater than the adjustable limit spacing in the attitude recovery control mode and the estimated relative speed of the test mass is not greater than the displacement convergence critical relative speed in the attitude recovery control mode.

[0054] Specifically, if Figure 3 As shown in the figure, when the intersatellite laser link exists, the detector attitude and the relative position of the test mass are monitored respectively to determine the detector attitude angle. Is it not greater than the maximum allowable attitude adjustment angle θ in attitude recovery control mode? allow And the detector attitude angular velocity Is it not greater than the attitude convergence critical angular velocity ω in attitude recovery control mode? allow If the judgment conditions are not met, the detector attitude recovery mechanism is entered; otherwise, the detector attitude does not need to be restored; when the intersatellite laser link exists, in addition to judging whether to enter the detector attitude recovery mechanism, it is also necessary to judge the relative displacement of the inspection mass. Is it not greater than the adjustable limit distance r? [i]allow And test quality relative speed Is it not greater than the displacement convergence critical relative velocity v [i]allow If the judgment conditions are not met, the inspection quality relative position recovery mechanism is entered; otherwise, the inspection quality relative position does not need to be restored.

[0055] In one embodiment, the steps for obtaining the maximum allowable posture adjustment angle, the posture convergence critical angular velocity, the adjustable limit spacing, and the displacement convergence critical relative velocity are as follows:

[0056] Micrometeoroid impacts of different magnitudes are successively loaded onto the scientific control system of the space gravitational wave detector, and the attitude recovery control mode is started. Under the condition that the test mass and the test mass cavity in which it is located do not collide, the maximum allowable attitude adjustment angle, attitude convergence critical angular velocity, adjustable limit spacing and displacement convergence critical relative velocity of the scientific control system are successively calculated using the dichotomy principle.

[0057] Specifically, this embodiment assumes that the telescope attitude is controlled by the control system and only follows the breathing angle swing of the detector constellation, and is not used for tracking and recovery control tasks, such as Figure 4As shown, the two inertial reference systems GRS of the detector each have a test mass TM (Test Mass) as a reference. Through electrostatic suspension control and drag-free control, the test mass is suspended inside its test mass cavity without collision. For a space gravitational wave detector containing dual test masses TM1 and TM2, assuming that the test mass edge length in the current mission context is 5 cm and its cavity is a cubic cavity, the test mass is controlled in the center of the test mass cavity in the scientific mode, and the distance between each surface is 5 mm, as shown in the figure. Figure 5 As shown, the relative displacement range of the test mass is -5 to 5 mm, and the relative rotation range of the test mass is about -0.2 to 0.2 rad. Figure 6 is the maximum attitude deviation of the test mass under micrometeoroid impact.

[0058] Since loading all simulated micrometeoroid impact data into the designed scientific mode control system one by one is not only time-consuming but also wastes computing resources, this embodiment obtains the maximum impact threshold for the convergence of the control system by loading different orders of magnitude one by one and approximating them one by one using the binary method. Due to the differences in mass distribution and moment of inertia of different axes, the maximum impact that the detector body can withstand in different axial directions may be different.

[0059] This embodiment defines the critical angular velocity ω of attitude convergence in scientific mode when the detector is hit by a micrometeoroid and the proof mass does not collide with its cavity and the scientific mode control system has the maximum controllable attitude angle. allow Similarly, define the critical relative velocity v of the displacement convergence of the test mass [i]allow , loading different magnitudes of micrometeoroid impacts on the scientific model control system, we can get ω allow and v [i]allow At the convergence critical value of each degree of freedom, the critical relative velocity v of the mass displacement convergence is analyzed. [i]allow When considering the scientific mode, the control displacement and attitude overshoot must not exceed the 5mm adjustable spacing between the test mass and the cavity and the test mass limit attitude angle θ. M[i]Forbidden , similarly, at the attitude convergence critical angular velocity ω allow The maximum allowable adjustment angle θ of the current micrometeoroid impact attitude can also be derived allow .

[0060] For the attitude divergence critical angular velocity w in the detector attitude recovery control mode Forbidden and the critical relative velocity v of the test mass displacement divergence [i]Forbidden By loading micrometeoroid impacts of different magnitudes onto the attitude recovery control system, the divergence critical value of each degree of freedom can be obtained. In this embodiment, when the attitude divergence critical angular velocity is exceeded, the detector will become uncontrollable.

[0061] S4. When the intersatellite laser link is detected to be absent, the detector body recovery mechanism and the proof mass attitude recovery mechanism are sequentially entered for recovery control based on the estimated detector attitude angular velocity and the estimated proof mass relative velocity to re-establish the laser link. After the laser link is re-established, recovery control is exited and the scientific mode is re-entered for scientific measurement. The specific steps include:

[0062] Check whether the estimated value of the detector's attitude angular velocity is not less than the critical angular velocity of the attitude divergence in the attitude recovery control mode and whether the estimated value of the inspection mass relative velocity is not less than the critical relative velocity of the inspection mass displacement divergence in the attitude recovery control mode; if so, enter the fault monitoring and diagnosis mode; if not, enter the detector body recovery mechanism and the inspection mass attitude recovery mechanism in turn for recovery control.

[0063] In this embodiment, the detector body recovery mechanism is specifically as follows: when the test mass does not collide with the test mass cavity in which it is located, the test mass is controlled to follow the space gravitational wave detector body; the test mass is arranged in the test mass cavity inside the space gravitational wave detector.

[0064] The test mass attitude recovery mechanism is specifically to perform recovery control of the space gravitational wave detector body attitude and the test mass relative attitude respectively after the test mass follows the space gravitational wave detector (SC) body.

[0065] Specifically, when the laser link does not exist, the DWS sensor is unavailable and the QPD is required to measure the attitude of the detector body. At this time, it is further determined whether the attitude angular velocity of the detector body under the impact of the micrometeoroid is not less than the attitude divergence critical angular velocity w in the attitude recovery control mode. Forbidden Or check whether the relative velocity of the mass is not less than the critical relative velocity v of the displacement divergence of the mass [i]Forbidden If so, the system may be uncontrollable. For example, when the microthruster and ES actuator output maximum thrust and torque, the system still diverges. However, this situation is extremely rare. After the probe is hit by such a severe micrometeor impact, it may directly enter the fault monitoring and diagnosis mode; if not, it is necessary to first enter the probe body recovery mechanism, that is, to control the test mass to follow the probe body to prevent the test mass from colliding with the cavity. After the test mass follows the probe body, the probe attitude and the relative position of the test mass are restored respectively.

[0066] An embodiment of the present invention provides a method for controlling the attitude recovery of a spacecraft after a micrometeoroid impact. The method uses different sensors to collect the attitude of the probe body and the relative position of a proof mass, and uses state estimation to obtain the probe body angular velocity, the proof mass relative velocity, and the angular velocity state. Recovery control is then implemented using different recovery control strategies based on the probe's state. In the event of a micrometeoroid impact, the method transfers the momentum transferred to the probe by the micrometeoroid impact into a state that the probe can monitor. State estimation and multi-sensor information fusion measurement are used to achieve full state estimation of the probe. This allows for attitude recovery control of the spacecraft based on the probe's state parameters and state estimates, ensuring rapid attitude recovery and a return to the scientific mission phase after a micrometeoroid impact. This method improves the reliability of probe fault recovery, enhances safety, and reduces recovery time, ensuring timely and accurate probe attitude recovery control. The method has a wide range of applications and is easily implemented onboard high-orbit probes. It can be widely applied to attitude recovery control problems of various drag-free spacecraft. Compared to the several hours required for laser scanning recapture, the time delay can be shortened to a few minutes, further reducing the latency of attitude recovery control.

[0067] It should be noted that the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of this application.

[0068] In one embodiment, Figure 7 As shown, an embodiment of the present invention provides an attitude recovery control system for a probe impacted by a micrometeoroid, the system comprising:

[0069] The system status monitoring module 101 is used to start the attitude recovery control mode after the micrometeoroid hits the space gravitational wave detector and detect whether the space gravitational wave detector has a system-level fault;

[0070] A state estimation module 102 is configured to monitor detector state parameters under micrometeoroid impact if no system-level failure occurs in the space gravitational wave detector, and perform state estimation based on the detector state parameters to obtain an estimated value of the detector attitude angular velocity and an estimated value of the relative velocity of the proof mass, wherein the detector state parameters include the existence of the intersatellite laser link, the detector attitude angle, the relative displacement of the proof mass, and the relative attitude of the proof mass;

[0071] A first recovery control module 103 is configured to determine whether to enter a corresponding detector attitude recovery mechanism and a test mass relative position recovery mechanism based on the detector attitude and the test mass attitude under the micrometeoroid impact, respectively, when an intersatellite laser link exists, wherein the detector attitude includes an estimated value of the detector attitude angle and an estimated value of the detector attitude angular velocity, and the test mass attitude includes an estimated value of the test mass relative displacement and an estimated value of the test mass relative velocity;

[0072] The second recovery control module 104 is used to perform recovery control by sequentially entering the detector body recovery mechanism and the proof mass attitude recovery mechanism based on the estimated value of the detector attitude angular velocity and the estimated value of the proof mass relative velocity when it is detected that the intersatellite laser link does not exist, so as to re-establish the laser link. After the laser link is re-established, the recovery control is exited and the scientific mode is re-entered to perform scientific measurements.

[0073] For the specific definition of the attitude recovery control system of a detector under a micrometeoroid impact, please refer to the above-mentioned definition of the attitude recovery control method of a detector under a micrometeoroid impact, which will not be repeated here. A person of ordinary skill in the art will appreciate that the various modules and steps described in conjunction with the embodiments disclosed in this application can be implemented in hardware, software, or a combination of both. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0074] An embodiment of the present invention provides an attitude recovery control system for a spacecraft impacted by a micrometeoroid. The system monitors system-level faults through a system state monitoring module; monitors and estimates detector state parameters through a state estimation module; and implements different recovery control strategies based on the detector state through a first recovery control module and a second recovery control module. Compared to the prior art, the present invention monitors detector state parameters and estimates the detector's full state, thereby adopting different control strategies based on the detector state parameters and state estimates, achieving attitude recovery control for a space-based gravitational wave detector and further reducing the delay of attitude recovery control.

[0075] Figure 8 A computer device provided in an embodiment of the present invention includes a memory, a processor and a transceiver, which are connected via a bus; the memory is used to store a set of computer program instructions and data, and can transmit the stored data to the processor, and the processor can execute the program instructions stored in the memory to perform the steps of the above method.

[0076] The memory may include volatile memory or non-volatile memory, or may include both volatile and non-volatile memory; the processor may be a central processing unit, a microprocessor, an application-specific integrated circuit, a programmable logic device, or a combination thereof. By way of example and not limitation, the programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0077] Additionally, the memory may be a physically separate unit or integrated with the processor.

[0078] It can be understood by those skilled in the art that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have the same component arrangement.

[0079] In one embodiment, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above method are implemented.

[0080] An embodiment of the present invention provides a method and system for controlling the attitude recovery of a detector under a micrometeoroid impact. The method and system transfer the momentum transferred to the detector by the micrometeoroid impact to a state that can be monitored by the detector, and adopt different recovery control strategies according to the detector state, thereby achieving rapid attitude recovery under a micrometeoroid impact, greatly improving the attitude recovery efficiency, and reducing the attitude recovery delay.

[0081] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., an SSD).

[0082] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods.

[0083] The above-described embodiments merely represent several preferred implementations of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art could make several improvements and substitutions without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be based on the scope of protection of the claims.

Claims

1. A method for controlling the attitude recovery of a probe under micrometeoroid impact, characterized in that: The following steps are involved: After a micrometeoroid impacts a space gravitational wave detector, the system initiates an attitude recovery control mode and detects whether the space gravitational wave detector has a system-level failure. If the space gravitational wave detector does not have a system-level failure, the detector state parameters under the micrometeoroid impact are monitored, and a state estimation is performed based on the detector state parameters to obtain an estimated value of the detector attitude angular velocity and an estimated value of the relative velocity of the test mass, wherein the detector state parameters include the existence of the intersatellite laser link, the detector attitude angle, the relative displacement of the test mass, and the relative attitude of the test mass; When an intersatellite laser link exists, determining whether to enter corresponding detector attitude recovery mechanisms and test mass relative position recovery mechanisms based on the detector attitude and test mass attitude under the micrometeoroid impact, respectively, wherein the detector attitude includes an estimated value of the detector attitude angle and the detector attitude angular velocity, and the test mass attitude includes an estimated value of the test mass relative displacement and the test mass relative velocity; When the intersatellite laser link is detected to be non-existent, the probe body recovery mechanism and the proof mass attitude recovery mechanism are sequentially entered for recovery control based on the probe attitude angular velocity estimate and the proof mass relative velocity estimate to re-establish the laser link. After the laser link is re-established, the recovery control is exited and the scientific mode is re-entered for scientific measurement. The detector body recovery mechanism specifically controls the test mass to follow the space gravitational wave detector body without colliding with the test mass cavity in which it is located; the test mass is arranged in the test mass cavity inside the space gravitational wave detector; The test mass attitude recovery mechanism is specifically to perform recovery control of the space gravitational wave detector body attitude and the test mass relative attitude respectively after the test mass follows the space gravitational wave detector body.

2. The method for controlling the attitude recovery of a probe under micrometeoroid impact according to claim 1, wherein: The steps of determining whether to enter the corresponding detector attitude recovery mechanism and the test mass relative position recovery mechanism according to the detector attitude and the test mass attitude under the micrometeoroid impact respectively include: Detecting whether the detector posture meets a preset detector posture condition, and at the same time, detecting whether the inspection mass posture meets a preset inspection mass posture condition; If the detector posture meets the preset detector posture condition, then exit the posture recovery control mode; if the detector posture does not meet the preset detector posture condition, then control the space gravitational wave detector to enter the detector posture recovery mechanism; If the test mass posture meets the preset test mass posture condition, the posture recovery control mode is exited; if the test mass posture does not meet the preset test mass posture condition, the space gravitational wave detector is controlled to enter the test mass relative position recovery mechanism.

3. The method for controlling the attitude recovery of a probe under micrometeoroid impact according to claim 2, wherein: The detector posture conditions are specifically: The attitude angle of the detector is not greater than the maximum allowable attitude adjustment angle in the attitude recovery control mode and the estimated attitude angular velocity of the detector is not greater than the attitude convergence critical angular velocity in the attitude recovery control mode.

4. The method for controlling the attitude recovery of a probe under micrometeoroid impact according to claim 3, wherein: The inspection quality posture conditions are specifically: The relative displacement of the test mass is not greater than the adjustable limit spacing in the attitude recovery control mode and the estimated relative velocity of the test mass is not greater than the displacement convergence critical relative velocity in the attitude recovery control mode.

5. The method for controlling the attitude recovery of a probe under micrometeoroid impact according to claim 4, wherein: The steps for obtaining the maximum allowable attitude adjustment angle, the attitude convergence critical angular velocity, the adjustable limit spacing, and the displacement convergence critical relative velocity are as follows: Simulated micrometeoroid impacts of different magnitudes are loaded one by one onto the scientific control system of the space gravitational wave detector, and the attitude recovery control mode is started. Under the condition that there is no collision between the test mass and the test mass cavity in which it is located, the maximum allowable attitude adjustment angle, attitude convergence critical angular velocity, adjustable limit spacing and displacement convergence critical relative velocity of the scientific control system are calculated one by one using the dichotomy principle.

6. The method for controlling the attitude recovery of a probe under micrometeoroid impact according to claim 1, wherein: The steps of sequentially entering the detector body recovery mechanism and the proof mass attitude recovery mechanism to perform recovery control according to the detector attitude angular velocity estimate and the proof mass relative velocity estimate include: Check whether the estimated value of the detector's attitude angular velocity is not less than the critical angular velocity of the attitude divergence in the attitude recovery control mode and whether the estimated value of the inspection mass relative velocity is not less than the critical relative velocity of the inspection mass displacement divergence in the attitude recovery control mode; if so, enter the fault monitoring and diagnosis mode; if not, enter the detector body recovery mechanism and the inspection mass attitude recovery mechanism in turn for recovery control.

7. A control system for the attitude recovery of a probe under micrometeoroid impact, characterized in that: The system comprises: A system status monitoring module is used to activate the attitude recovery control mode after a micrometeoroid impacts the space gravitational wave detector and detect whether the space gravitational wave detector has a system-level failure; a state estimation module for monitoring detector state parameters under micrometeoroid impact, if no system-level failure occurs in the space gravitational wave detector, and performing state estimation based on the detector state parameters to obtain an estimated value of the detector attitude angular velocity and an estimated value of the relative velocity of the proof mass, wherein the detector state parameters include the existence of an intersatellite laser link, the detector attitude angle, the relative displacement of the proof mass, and the relative attitude of the proof mass; a first recovery control module, configured to determine, when an intersatellite laser link exists, whether to enter corresponding detector attitude recovery mechanisms and test mass relative position recovery mechanisms based on the detector attitude and test mass attitude under micrometeoroid impact, respectively, wherein the detector attitude includes an estimated detector attitude angle and an estimated detector attitude angular velocity, and the test mass attitude includes an estimated test mass relative displacement and an estimated test mass relative velocity; The second recovery control module is configured to, upon detecting the absence of the intersatellite laser link, sequentially enter the detector body recovery mechanism and the proof mass attitude recovery mechanism to perform recovery control based on the detector attitude angular velocity estimate and the proof mass relative velocity estimate to re-establish the laser link. After the laser link is re-established, the module exits recovery control and re-enters the scientific mode to perform scientific measurements. The detector body recovery mechanism specifically controls the test mass to follow the space gravitational wave detector body without colliding with the test mass cavity in which it is located; the test mass is arranged in the test mass cavity inside the space gravitational wave detector; The test mass attitude recovery mechanism is specifically to perform recovery control of the space gravitational wave detector body attitude and the test mass relative attitude respectively after the test mass follows the space gravitational wave detector body.

8. A computer device, characterized in that: The computer device comprises a processor and a memory, wherein the processor is connected to the memory, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the computer device performs the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 6 is implemented.

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