Desired attitude trajectory generation method for continuous multi-target tracking in space

Abstract

A method for generating desired attitude trajectories for continuous tracking of multiple space targets includes the following steps: Step S1, designing an attitude tracking strategy for multiple space targets based on payload mission requirements, the attitude tracking strategy including a planning phase, a tracking phase, and an end-adjustment phase; Step S2, calculating the desired attitude during the tracking phase under the attitude tracking strategy based on the relative relationship between the satellite and each space target; Step S3, calculating the desired attitude during the planning phase using a planning method based on the desired attitude during the tracking phase, thus obtaining the desired attitude trajectory for continuous tracking of multiple space targets. This invention provides a method for obtaining desired attitude trajectories during multi-target tracking, resulting in a continuous and smooth attitude trajectory, which can effectively shorten the stabilization time of attitude control during target switching and ensure good dynamic performance.

Description

Technical Field

[0001] This invention relates to a method for obtaining the desired attitude trajectory when tracking multiple targets in space, belonging to the field of satellite attitude control technology. Background Technology

[0002] Satellites typically carry payloads such as cameras and radar to observe targets in space or on the ground. To achieve good observation results, the satellite platform needs to provide precise and stable attitude control for the payloads. In some missions, the payload is required to track multiple different targets in space within a single mission cycle, and the target switching time is limited. In such cases, without appropriate strategies, the attitude control process during target transfer can not only generate significant overshoot and long convergence times but also excite vibrations in flexible attachments, thus affecting the tracking performance of the next target. Summary of the Invention

[0003] A method for generating a desired attitude trajectory for continuous tracking of multiple space targets includes: step S1, designing an attitude tracking strategy for multiple space targets according to payload mission requirements, wherein the attitude tracking strategy includes a planning phase, a tracking phase, and an end adjustment phase; step S2, calculating the desired attitude during the tracking phase under the attitude tracking strategy based on the relative relationship between the satellite and each space target; and step S3, calculating the desired attitude during the planning phase using a planning method based on the desired attitude during the tracking phase, thereby obtaining the desired attitude trajectory for continuous tracking of multiple space targets.

[0004] Preferably, step S1 includes: step S11, setting the number of tracking targets n according to the requirements, where n is a natural number greater than or equal to 2; step S12, setting the time parameter for a single tracking target; and step S13, designing an attitude tracking strategy.

[0005] Preferably, step S12 includes: step S121, the tracking start time of the k-th target is... Step S122, the tracking time for the k-th target is Step S123, the adjustment time before the start of tracking the kth target is... Step S124, end adjustment time is .

[0006] Preferably, step S13 includes: step S131, setting The preset duration serves as the time interval before each target tracking begins. Adjustment duration included in each target Inside; Step S132, the tracking process of each target is divided into a planning phase and a tracking phase, and the duration of the planning phase for the k-th target is... The duration of the tracking phase for the k-th target is The start time of the k-th objective programming phase after configuration is... The planning phase lasted for [duration]. The starting time of the k-th target tracking phase is The tracking phase lasted for 10 days. .

[0007] Preferably, step S2 includes: step S21, calculating the attitude angle for the k-th target tracking stage using satellite orbit information and the relative positional relationship between the satellite and each target. :

[0008] ;

[0009] in, The roll angle during the tracking phase, The pitch angle during the tracking phase, Indicates the yaw angle during the tracking phase;

[0010] Step S22: Calculate the attitude angular velocity in the k-th target tracking stage. :

[0011] ;

[0012] Step S23: Calculate the attitude angular acceleration in the k-th target tracking stage. :

[0013] .

[0014] Preferably, step S3 includes: step S31, extracting attitude information from the beginning and end of the planning phase; step S32, matching the relevant parameters from step S2 and step S3 according to the corresponding parameters from step S1; and step S33, performing final adjustment on the satellite attitude for a duration of [duration missing]. Step S34: Calculate the desired attitude trajectory in the planning stage using the planning method.

[0015] Preferably, step S31 includes: step S311, the desired attitude angle for the k-th target planning stage. Desired attitude angular velocity during the planning phase And the expected attitude angular acceleration during the planning phase :

[0016] ;

[0017] in For the rolling angle in the planning phase, For the pitch angle during the planning phase, The yaw angle during the planning phase;

[0018] Desired attitude angular velocity during the planning phase for:

[0019] ;

[0020] Desired attitude angular acceleration during the planning phase for:

[0021] ;

[0022] Step S312, initial attitude angles for the k-th target planning stage Initial attitude angular velocity during the planning phase Initial attitude angular acceleration during the planning phase :

[0023] ;

[0024] For the initial roll angle in the planning phase, The initial pitch angle during the planning phase. This is the initial yaw angle during the planning phase;

[0025] Initial attitude angular velocity during the planning phase for:

[0026] ;

[0027] Initial attitude angular acceleration during the planning phase for:

[0028] ;

[0029] Step S313, the final attitude angle of the k-th target planning stage. The final attitude angular velocity during the planning phase The final attitude angular acceleration during the planning phase :

[0030] ;

[0031] For the end of the planning phase, the rolling angle, The pitch angle at the end of the planning phase. The final yaw angle for the planning phase;

[0032] Final attitude angular velocity during the planning phase for:

[0033] ;

[0034] Final attitude angular acceleration during the planning phase for:

[0035] .

[0036] Preferably, step S32 includes: step S321, setting the initial attitude angle of the k-th target planning stage. Initial attitude angular velocity during the planning phase Initial attitude angular acceleration during the planning phase attitude angle with the (k-1)th target tracking stage Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase Matching; Step S322, set the ending attitude angle of the k-th target planning stage. The final attitude angular velocity during the planning phase The final attitude angular acceleration during the planning phase attitude angle with the k-th target tracking stage Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase Matching.

[0037] Preferably, the planning method is as follows: n planning stages are defined, with a total of n objectives; the initial time of the k-th planning stage is... The end time of the kth planning stage is Attitude angle in the k-th target tracking stage Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase The initial attitude angles for the k-th target planning stage are obtained from step S2. Initial attitude angular velocity during the planning phase Initial attitude angular acceleration during the planning phase The final attitude angle of the k-th goal planning phase. The final attitude angular velocity during the planning phase The final attitude angular acceleration during the planning phase ;

[0038] Matching the above results in the following:

[0039] , , ;

[0040] , , ;

[0041] The desired attitude angle in the k-th goal planning stage Desired attitude angular velocity during the planning phase And the expected attitude angular acceleration during the planning phase With time The relationship can be represented as:

[0042]

[0043] in, , When k=1, , ;

[0044] For the end of the adjustment, the calculation is performed according to the result at n+1. , ;

[0045] , , Let there be three unknown coefficients, and substitute them into the equation for the k-th objective. , , and We can obtain three equations, and solving them yields... , , :

[0046]

[0047] Substitute the obtained a, b, and c into the aforementioned formula:

[0048]

[0049] The desired attitude angle for the k-th goal planning stage was obtained. Desired attitude angular velocity during the planning phase And the expected attitude angular acceleration during the planning phase ;

[0050] According to the description, the expected attitude angles during the planning phase of the entire mission process from the first target to the nth target. Desired attitude angular velocity during the planning phase And the expected attitude angular acceleration during the planning phase By calculating all of them, we obtain the complete desired posture.

[0051] The advantages of this invention are:

[0052] First, the present invention can effectively improve the dynamic performance of attitude tracking control.

[0053] Secondly, the attitude trajectory obtained by this invention has the characteristics of being continuous and smooth, which can effectively shorten the stabilization time of attitude control during target switching and ensure good dynamic performance. Attached Figure Description

[0054] Figure 1 This is a flowchart of a method for generating desired attitude trajectories for continuous spatial multi-target tracking provided by the present invention.

[0055] Figure 2 This is a timing diagram of the multi-target attitude tracking process. Detailed Implementation

[0056] The technical content, structural features, objectives and effects of the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.

[0057] like Figure 1 As shown, this invention provides a method for generating a desired attitude trajectory for continuous tracking of multiple space targets, comprising the following steps:

[0058] Step S1: Design an attitude tracking strategy for multiple space targets according to the payload mission requirements. The attitude tracking strategy includes a planning phase, a tracking phase, and an end adjustment phase.

[0059] Step S2: Calculate the desired attitude during the tracking phase based on the relative relationship between the satellite and each space target under the attitude tracking strategy.

[0060] Step S3: Based on the desired attitude in the tracking phase, calculate the desired attitude in the planning phase using a planning method to obtain the desired attitude trajectory for continuous tracking of multiple targets in space.

[0061] Step S1 includes:

[0062] Step S11: Set the number of tracking targets k.

[0063] Based on actual mission requirements and the satellite platform's maneuverability, the number of targets to be tracked in a given mission is set to n, where n is a natural number greater than or equal to 2. This is a necessary prerequisite.

[0064] Step S12, set the time parameters for a single tracking target; such as Figure 2 As shown, it specifically includes:

[0065] Step S121, for each target, the tracking start time of the k-th target is... That is, the point in time when the load begins to work. This represents the start time of tracking the first target, where This represents the starting time of tracking the second target, and so on.

[0066] Step S122, the tracking time for the k-th target is That is, the load operating time. The tracking duration for the first target. The tracking time represents the duration of the second target, and so on (this is only indicated in the attached diagram). (As an example).

[0067] Step S123, the adjustment time before the start of tracking the kth target is... , This is the adjustment time before tracking the first target. This is the adjustment time before tracking the second target, and so on (this is only indicated in the attached diagram). (As an example).

[0068] The entire tracking process proceeds in a progressive manner: first, adjust the first target; then, track the first target; then, adjust the second target; then, track the second target, and so on. That is, From this moment on, adjust After the duration, the current moment is ,from Start tracking the first target immediately Duration, the current time after tracking is completed. This signals the completion of the first target tracking. The second target tracking will then commence. From this moment on, adjust After the duration, the current moment is (that is) ),from Start tracking the second target immediately. Duration, the current time after tracking is completed. This signifies the completion of tracking the second target.

[0069] Starting from the second target, the tracking start time of the kth target can be expressed as: ,at the same time .

[0070] Step S124, and so on, until the last target (the nth target) is tracked, at which point the time is... Another termination adjustment will be performed. The termination adjustment will begin after the tracking phase of the nth target has ended, and the duration of this termination adjustment will be [duration missing]. This refers to the time it takes for the satellite to return to its Earth-orbiting state after tracking the nth target. After the adjustment period ends, the satellite returns to its Earth-orbiting flight state.

[0071] Step S13, design the attitude tracking strategy.

[0072] The path planning method is used to smoothly connect the expected trajectories of each target being tracked; the purpose is to obtain good dynamic performance of attitude tracking and ensure that the attitude accuracy and stability during the target tracking process meet the requirements.

[0073] like Figure 2 As shown, step S13 includes:

[0074] Step S131, setting This serves as the preset duration before tracking of each target begins.

[0075] Specifically, to ensure that the payload has stably tracked each target during operation, the following settings are configured: This preset duration serves as the pre-set time before tracking each target. The specific data is set according to the number and status of the tracked targets. In a multi-space target attitude tracking strategy, the preset time before tracking each target is specified. All are the same, that is, the tracking start time for each target is the same. Preset a section , Adjustment duration included in each target Inside.

[0076] Step S132 divides the tracking process for each target into a "planning phase" and a "tracking phase." Specifically, a complete target tracking process begins in the planning phase and ends in the tracking phase. Therefore, a preset duration is added in step S131. In this case, the duration of the planning phase for the k-th objective is The duration of the tracking phase for the k-th target is .

[0077] The start time of the k-th objective planning stage after configuration is: The planning phase lasted for [duration]. The starting time of the k-th target tracking phase is The tracking phase lasted for 10 days. .

[0078] Specifically, the k-th objective first enters the planning stage, in Immediately begin adjusting posture, after During the planning phase, the payload is directed to the target and tracked, ensuring stable target tracking. After a certain period, the tracking phase begins, the payload starts working, and then... After a certain period of time, once the tracking of that target is complete, the planning phase for the next target begins. This process is repeated until every target has been tracked, and finally, a phase with a duration of [duration missing] is reached. After completing its adjustments, the satellite returned to its Earth-orbiting flight state.

[0079] Step S2, based on the relative relationship between the satellite and each space target, calculate the desired attitude during the tracking phase under the attitude tracking strategy, including:

[0080] Step S21: Calculate the attitude angle for the k-th target tracking phase using satellite orbit information and the relative positional relationship between the satellite and each target. :

[0081] ;

[0082] in, The roll angle during the tracking phase, The pitch angle during the tracking phase, This indicates the yaw angle during the tracking phase.

[0083] Step S22: Calculate the attitude angular velocity in the k-th target tracking stage. It is the attitude angle during the tracking phase. Taking the first derivative, we get:

[0084] ;

[0085] Step S23: Calculate the attitude angular acceleration in the k-th target tracking stage. It is the attitude angle during the tracking phase. Taking the second derivative, we get:

[0086] .

[0087] Step S3: Based on the desired pose in the tracking phase, calculate the desired pose in the planning phase using a planning method to obtain the desired pose trajectory for continuous tracking of multiple targets in space, including:

[0088] Step S31: Extract the attitude information of the beginning and end of the planning stage.

[0089] To perform path planning, it is necessary to obtain the attitude information of the first and last segments of the planning phase, specifically including:

[0090] Step S311, the desired attitude angle in the k-th goal planning stage. Desired attitude angular velocity during the planning phase And the expected attitude angular acceleration during the planning phase :

[0091] ;

[0092] in For the rolling angle in the planning phase, For the pitch angle during the planning phase, This refers to the yaw angle during the planning phase.

[0093] Desired attitude angular velocity during the planning phase Desired attitude angle during the planning phase Find the first derivative:

[0094] ;

[0095] Desired attitude angular acceleration during the planning phase Desired attitude angle during the planning phase Find the second derivative:

[0096] ;

[0097] Step S312, initial attitude angles for the k-th target planning stage Initial attitude angular velocity during the planning phase Initial attitude angular acceleration during the planning phase :

[0098] ;

[0099] For the initial roll angle in the planning phase, The initial pitch angle during the planning phase. This is the initial yaw angle during the planning phase;

[0100] Initial attitude angular velocity during the planning phase Initial attitude angles during the planning phase Find the first derivative:

[0101] ;

[0102] Initial attitude angular acceleration during the planning phase Initial attitude angles during the planning phase Find the second derivative:

[0103] ;

[0104] Step S313, the final attitude angle of the k-th target planning stage. The final attitude angular velocity during the planning phase The final attitude angular acceleration during the planning phase .

[0105] ;

[0106] For the end of the planning phase, the rolling angle, The pitch angle at the end of the planning phase. This is the end yaw angle for the planning phase.

[0107] Final attitude angular velocity during the planning phase The final attitude angle of the planning phase Find the first derivative:

[0108] ;

[0109] Final attitude angular acceleration during the planning phase The final attitude angle of the planning phase Find the second derivative:

[0110] ;

[0111] At this point, the end attitude time of the kth target planning stage is equal to the start attitude time of the kth target tracking stage.

[0112] Step S32: Match the relevant parameters in step S2 and step S3 according to the corresponding parameters in step S1.

[0113] First, the following is based on Figure 2 Provide corresponding explanations.

[0114] according to Figure 2 The sequence diagram, taking planning phase 1 as an example, shows that planning phase 1 starts from scratch, and the initial attitude of planning phase 1 is... The pose at time (zero), the ending pose of planning phase 1 is the initial pose of tracking phase 1 is... The posture at any moment.

[0115] The expression is as follows:

[0116] The duration of tracking phase 1 is (This value is 0) to .

[0117] Step 1, Initial attitude angles in the first target planning phase Initial attitude angular velocity during the planning phase Initial attitude angular acceleration during the planning phase .

[0118] Because the parameters at that moment are all zero, .

[0119] Step 2, End attitude angle of the first target planning phase The final attitude angular velocity during the planning phase The final attitude angular acceleration during the planning phase .

[0120] At this moment, the attitude angle during the first target tracking phase Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase .

[0121] Because the end attitude time of the first target planning phase is equal to the start attitude time of the first target tracking phase.

[0122] , , .

[0123] At this point, the expression for planning phase 1 ends, and the expression for planning phase 2 begins below.

[0124] The duration of planning phase 2 is to The initial attitude of planning phase 2 is the same as the ending attitude of tracking phase 1. The posture at any moment.

[0125] Step 1, Initial attitude angles in the second target planning phase Initial attitude angular velocity during the planning phase Initial attitude angular acceleration during the planning phase .

[0126] At this moment, the attitude angle during the first target tracking phase Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase .

[0127] At this point, the attitude end time of the first target tracking phase is equal to the initial attitude time of the second target planning phase.

[0128] at this time, , , .

[0129] Step 2, End attitude angle of the second target planning phase The final attitude angular velocity during the planning phase The final attitude angular acceleration during the planning phase .

[0130] At this moment, the attitude angle during the first target tracking phase Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase .

[0131] Because the end attitude time of the second target planning phase is equal to the start attitude time of the second target tracking phase.

[0132] , , .

[0133] At this point, the expression for planning phase 2 ends, and the following are the expressions for planning phase n, following the same logic.

[0134] The duration of the planning phase n is to The initial pose in the planning phase n is the same as the final pose in the tracking phase n-1. The posture at any moment.

[0135] Step 1, Initial attitude angles for the nth target planning stage Initial attitude angular velocity during the planning phase Initial attitude angular acceleration during the planning phase .

[0136] At time n-1, the attitude angle of the target tracking stage Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase .

[0137] At this point, the attitude completion time of the (n-1)th target tracking phase is equal to the initial attitude time of the nth target planning phase:

[0138] , , .

[0139] Step 2, the final attitude angle of the nth target planning stage. The final attitude angular velocity during the planning phase The final attitude angular acceleration during the planning phase .

[0140] At time n, the attitude angle of the target tracking stage Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase .

[0141] Because the end attitude time of the nth target planning phase is equal to the start attitude time of the nth target tracking phase.

[0142] , , .

[0143] Therefore, step S32 involves matching the relevant parameters from steps S2 and S3 according to the corresponding parameters from step S1, specifically including:

[0144] Step S321, set the initial attitude angle for the k-th target planning stage. Initial attitude angular velocity during the planning phase Initial attitude angular acceleration during the planning phase attitude angle with the (k-1)th target tracking stage Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase Matching.

[0145] At time k-1, the attitude angle of the target tracking stage Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase .

[0146] At this point, the attitude end time of the (k-1)th target tracking stage is equal to the initial attitude time of the kth target planning stage.

[0147] , , .

[0148] Step S322: Set the ending attitude angle of the k-th target planning stage. The final attitude angular velocity during the planning phase The final attitude angular acceleration during the planning phase attitude angle with the k-th target tracking stage Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase Matching.

[0149] At time k, the attitude angle of the target tracking stage Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase .

[0150] Because the ending attitude time of the k-th target planning phase is equal to the starting attitude time of the k-th target tracking phase:

[0151] , ,

[0152] Step S33: Perform final adjustment of the satellite attitude. The final adjustment duration is... .

[0153] After the tracking phase n ends, the adjustment phase begins, and the adjustment duration is [duration value missing]. .

[0154] The initial attitude angle in the (n+1)th goal planning stage (Initial attitude angles after adjustment), initial attitude angular velocity during the planning phase (Initial attitude angular velocity after adjustment), initial attitude angular acceleration during the planning phase (Initial attitude angular acceleration after the end of adjustment).

[0155] At time n, the attitude angle at the end of the nth target tracking phase. Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase .

[0156] Right now , , .

[0157] Since the final attitude is zero ( (Attitude at a given moment), End attitude angle of the nth goal planning phase The final attitude angular velocity during the planning phase The final attitude angular acceleration during the planning phase .Right now .

[0158] Step S34: The planning method calculates the desired attitude trajectory in the planning stage;

[0159] As can be seen from the aforementioned steps, the initial and final attitude information and total time of each planning stage are known and fixed, and a continuous and smooth trajectory can be calculated using path planning methods.

[0160] Specifically, this invention adopts the "quintic polynomial" programming method because it can obtain a unique solution under the existing conditions and the curve is smooth, so it is preferred. Of course, other solutions also exist.

[0161] This embodiment uses a fifth-degree polynomial for illustration:

[0162] The planning phases are defined with a total of n objectives. The initial time of the k-th planning phase is... The end time of the kth planning stage is .

[0163] Because in the aforementioned steps, the attitude angle of the k-th target tracking stage Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase It can be obtained from step S2.

[0164] The initial attitude angle in the k-th goal planning stage Initial attitude angular velocity during the planning phase Initial attitude angular acceleration during the planning phase .

[0165] The final attitude angle of the kth goal planning phase The final attitude angular velocity during the planning phase The final attitude angular acceleration during the planning phase .

[0166] Matching the above results in the following:

[0167] , , .

[0168] , , .

[0169] The desired attitude angle in the k-th goal planning stage Desired attitude angular velocity during the planning phase And the expected attitude angular acceleration during the planning phase With time The relationship can be represented as:

[0170]

[0171] in, , When k=1, , .

[0172] For the end of the adjustment, the calculation is performed according to the result at n+1. , .

[0173] , , These are three unknown coefficients, or transition values, substituted into the k-th target. , , , and We can obtain three equations, and solving them yields... , , :

[0174]

[0175] Substitute the obtained a, b, and c into the aforementioned formula:

[0176]

[0177] This yields the desired attitude angle for the k-th goal planning stage. Desired attitude angular velocity during the planning phase And the expected attitude angular acceleration during the planning phase .

[0178] According to the description, the expected attitude angles during the planning phase of the entire mission process from the first target to the nth target. Desired attitude angular velocity during the planning phase And the expected attitude angular acceleration during the planning phase By calculating all of them, we obtain the complete desired posture.

[0179] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A method for generating desired attitude trajectories for continuous tracking of multiple targets in space, characterized in that, include: Step S1: Design an attitude tracking strategy for multiple space targets according to the payload mission requirements. The attitude tracking strategy includes a planning phase, a tracking phase, and an end adjustment phase. Step S2: Based on the relative relationship between the satellite and each space target, calculate the desired attitude during the tracking phase under the attitude tracking strategy; the desired attitude during the tracking phase includes the attitude angle of the k-th target tracking phase. Attitude angular velocity during the k-th target tracking phase and the attitude angular acceleration in the k-th target tracking stage ; Step S3: Based on the desired attitude in the tracking phase, calculate the desired attitude in the planning phase using a planning method to obtain the desired attitude trajectory for continuous tracking of multiple targets in space. The planning method is as follows: The planning phases are defined, with a total of n objectives; the initial time of the k-th planning phase is... The end time of the kth planning stage is ; Attitude angle in the k-th target tracking stage Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase According to step S2; Then, the initial attitude angles for the k-th objective planning stage are calculated. Initial attitude angular velocity during the planning phase Initial attitude angular acceleration during the planning phase ;as well as, The final attitude angle of the kth goal planning phase The final attitude angular velocity during the planning phase The final attitude angular acceleration during the planning phase ; Based on the expected attitude angles during the planning phase of the entire mission from the first objective to the nth objective. Desired attitude angular velocity during the planning phase And the expected attitude angular acceleration during the planning phase By calculating all of them, we obtain the complete desired posture.

2. The method for generating desired attitude trajectories for continuous multi-target tracking in space according to claim 1, characterized in that, Step S1 includes: Step S11: Set the number of tracking targets n as needed, where n is a natural number greater than or equal to 2; Step S12: Set the time parameters for a single tracking target; Step S13, design the attitude tracking strategy.

3. The method for generating desired attitude trajectories for continuous multi-target tracking in space according to claim 2, characterized in that, Step S12 includes: Step S121, the tracking start time of the kth target is ; Step S122, the tracking time for the k-th target is ; Step S123, the adjustment time before the start of tracking the kth target is... ; Step S124, end adjustment time is .

4. The method for generating desired attitude trajectories for continuous tracking of multiple targets in space according to claim 3, characterized in that, Step S13 includes: Step S131, setting The preset duration serves as the time interval before each target tracking begins. Adjustment duration included in each target Inside; Step S132: Divide the tracking process of each target into a planning phase and a tracking phase. The duration of the planning phase for the k-th target is... The duration of the tracking phase for the k-th target is The start time of the k-th objective programming phase after configuration is... The planning phase lasted for [duration]. The starting time of the k-th target tracking phase is The tracking phase lasted for 10 days. .

5. The method for generating desired attitude trajectories for continuous multi-target tracking in space according to claim 4, characterized in that, Step S2 includes: Step S21: Calculate the attitude angle for the k-th target tracking phase using satellite orbit information and the relative positional relationship between the satellite and each target. : ； in, The roll angle during the tracking phase, The pitch angle during the tracking phase, Indicates the yaw angle during the tracking phase; Step S22: Calculate the attitude angular velocity in the k-th target tracking stage. : ； Step S23: Calculate the attitude angular acceleration in the k-th target tracking stage. : 。 6. The method for generating desired attitude trajectories for continuous multi-target tracking in space according to claim 5, characterized in that, Step S3 includes: Step S31: Extract the attitude information of the beginning and end of the planning phase; Step S32: Match the relevant parameters in step S2 and step S3 according to the corresponding parameters in step S1; Step S33: Perform final adjustment of the satellite attitude. The final adjustment duration is... ; Step S34: The planning method calculates the desired attitude trajectory in the planning stage.

7. The method for generating desired attitude trajectories for continuous multi-target tracking in space according to claim 6, characterized in that, Step S31 includes: Step S311, the desired attitude angle in the k-th goal planning stage. Desired attitude angular velocity during the planning phase And the expected attitude angular acceleration during the planning phase : ； in For the rolling angle in the planning phase, For the pitch angle during the planning phase, The yaw angle during the planning phase; Desired attitude angular velocity during the planning phase for: ； Desired attitude angular acceleration during the planning phase for: ； Step S312, initial attitude angles for the k-th target planning stage Initial attitude angular velocity during the planning phase Initial attitude angular acceleration during the planning phase : ； For the initial roll angle in the planning phase, The initial pitch angle during the planning phase. This is the initial yaw angle during the planning phase; Initial attitude angular velocity during the planning phase for: ； Initial attitude angular acceleration during the planning phase for: ； Step S313, the final attitude angle of the k-th target planning stage. The final attitude angular velocity during the planning phase The final attitude angular acceleration during the planning phase : ； For the end of the planning phase, the rolling angle, The pitch angle at the end of the planning phase. The final yaw angle for the planning phase; Final attitude angular velocity during the planning phase for: ； Final attitude angular acceleration during the planning phase for: 。 8. The method for generating desired attitude trajectories for continuous multi-target tracking in space according to claim 7, characterized in that, Step S32 includes: Step S321, set the initial attitude angle for the k-th target planning stage. Initial attitude angular velocity during the planning phase Initial attitude angular acceleration during the planning phase attitude angle with the (k-1)th target tracking stage Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase Matching; Step S322: Set the ending attitude angle of the k-th target planning stage. The final attitude angular velocity during the planning phase The final attitude angular acceleration during the planning phase attitude angle with the k-th target tracking stage Attitude angular velocity during the tracking phase Attitude angular acceleration during the tracking phase Matching.

9. The method for generating desired attitude trajectories for continuous tracking of multiple targets in space according to claim 8, characterized in that, Step S34 includes: The matching yielded the following result: 、 、 ； 、 、 ； The desired attitude angle in the k-th goal planning stage Desired attitude angular velocity during the planning phase And the expected attitude angular acceleration during the planning phase With time The relationship can be represented as: in, , When k=1, , ; For the end of the adjustment, the calculation is performed according to the result at n+1. , ; , , Let there be three unknown coefficients, and substitute them into the equation for the k-th objective. , , and We can obtain three equations, and solving them yields... , , : Substitute the obtained a, b, and c into the formula: The desired attitude angle for the k-th goal planning stage was obtained. Desired attitude angular velocity during the planning phase And the expected attitude angular acceleration during the planning phase .

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