Method and system for acquiring joint maneuver parameters of geosynchronous orbit transfer rendezvous

Abstract

This application relates to a method and system for obtaining joint maneuver parameters for geostationary orbit transfer and rendezvous. The method first obtains the initial parameters of the geostationary orbit transfer and rendezvous mission and determines the total number of orbital maneuvers, the total mission duration, and the rendezvous terminal aiming parameters. Then, it sequentially calls pre-constructed GTO transfer maneuver parameter acquisition problem models and GSO rendezvous maneuver parameter acquisition problem models for calculation. Next, it calls a pre-constructed joint maneuver parameter acquisition model for geostationary orbit transfer and rendezvous, considering the GTO transfer maneuver and the GSO rendezvous maneuver together. Finally, it uses a sequential quadratic programming algorithm to optimize and solve the joint maneuver parameter acquisition model for geostationary orbit transfer and rendezvous, obtaining the joint maneuver parameters. This allows for rapid rendezvous with the target spacecraft using the tracker's own thrust-limited orbital control engine, effectively shortening the orbital rendezvous mission time.

Description

Technical Field

[0001] This invention belongs to the field of aerospace technology and relates to a method and system for obtaining joint maneuver parameters of geosynchronous orbit transfer rendezvous. Background Technology

[0002] Geosynchronous orbit (GSO) is divided into geostationary orbit (GEO) and inclined geosynchronous orbit (IGSO). Its orbital period coincides with the Earth's rotation period. Due to its high altitude and wide field of view, it is widely used in communications, navigation, television broadcasting, and aircraft early warning systems. When launching a GSO satellite from the ground, the launch vehicle typically sends the satellite into a geosynchronous transfer orbit (GTO), with an apogee close to that of a geosynchronous orbit and a perigee lower. The satellite then uses its onboard orbital control engines to perform multiple orbital maneuvers during its multiple orbits to gradually enter the GSO orbit. Missions in this configuration often last several days or even more than a week.

[0003] With the development of on-orbit servicing technology, there is an increasing commercial demand for rendezvous services for high-value GSO satellites, and this has become a key focus of new technology trials near geostationary orbit both domestically and internationally in recent years. In existing GSO rendezvous missions, the tracker is often first launched into the GTO by a launch vehicle, then maneuvers multiple times to enter the GSO, and finally departs from near the GSO orbit to gradually rendezvous with another target spacecraft near the GSO orbit through multiple orbits. Minimizing the time for orbital rendezvous is of great significance for on-orbit servicing and control missions. In the field of manned spaceflight, rapid rendezvous technology has been used multiple times in rendezvous missions for cargo spacecraft, manned spacecraft, and even space station experimental modules. However, current traditional long-range orbital rendezvous maneuvering technology is still insufficient in shortening the time for orbital rendezvous. Summary of the Invention

[0004] To address the problems existing in the above-mentioned traditional methods, this invention proposes a method and a system for obtaining joint maneuver parameters for geosynchronous orbit transfer and rendezvous, which can effectively shorten the orbit rendezvous time.

[0005] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0006] On the one hand, a method for obtaining joint maneuver parameters for geosynchronous orbit transfer and rendezvous is provided, including the following steps:

[0007] The initial parameters for the geosynchronous orbit transfer and rendezvous mission are obtained, and the total number of orbital maneuvers, total mission duration, and rendezvous terminal aiming parameters are determined. The initial parameters include the initial time, initial orbital elements of the tracker and target, initial total mass of the tracker and target, number of orbital maneuvers, number of maneuvers, aiming parameters, and convergence criteria.

[0008] The problem model is obtained by calling the GTO transfer maneuver parameters based on the initial mission parameters, and the GTO transfer maneuver parameters are obtained by solving the problem model using the determined GTO maneuver aiming parameters.

[0009] The problem model for obtaining GSO rendezvous maneuver parameters is obtained by calling the GSO rendezvous maneuver parameters based on the initial parameters of the mission, and the GSO rendezvous maneuver parameters are obtained by solving the problem model based on the determined initial parameters of GSO rendezvous.

[0010] Based on the initial parameters of the mission, the problem model is obtained by calling the joint maneuver parameters of geosynchronous orbit transfer and rendezvous, and the initial values ​​of the joint maneuver parameters are constructed using the GTO transfer maneuver parameters and the GSO rendezvous maneuver parameters.

[0011] Using initial values ​​of the joint maneuver parameters, a sequential quadratic programming algorithm is employed to optimize and solve the problem model for obtaining the joint maneuver parameters for geostationary orbit transfer and rendezvous. These parameters are then used to control the tracker and target spacecraft to complete the geostationary orbit transfer and rendezvous.

[0012] The first design variables of the GTO transfer maneuver parameter acquisition problem model include the number of revolutions of N-2 maneuvers and the trajectory and normal components of the maneuver pulse in the LVLH coordinate system. The objective function of the GTO transfer maneuver parameter acquisition problem model is:

[0013]

[0014] Where N is the total number of orbital maneuvers, x1 is the design variable for GTO transfer maneuvers, j = 1, 2, ..., N-2, Δv y,j Let Δv be the velocity increment of the tracker on the y-axis during the j-th orbital maneuver. z,j The velocity increment of the tracker on the z-axis during the j-th orbital maneuver; the constraints of the GTO transfer maneuver parameter acquisition problem model include single maneuver size constraints, telemetry and control constraints, and terminal constraints;

[0015] The second design variables of the GSO rendezvous maneuver parameter acquisition problem model include the mean right ascension of the maneuver points of the last two maneuvers and the trace and normal components of the maneuver pulses in the LVLH coordinate system. The objective function of the GSO rendezvous maneuver parameter acquisition problem model is:

[0016]

[0017] The constraints of the GSO rendezvous maneuver parameter acquisition problem model include single maneuver size constraints and terminal constraints;

[0018] The design variables for the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model are x = (x1, x2). The objective function of the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model is to minimize the total velocity increment. The constraint condition of the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model is that the terminal miss distance does not exceed the convergence criterion, x′2 = (Δv y,N-3 ,Δv y,N-2 ,Δv z,N-3 ,Δv z,N-2 x2) are the design variables for the GSO rendezvous maneuver, x2=(λ N-1 ,λ N ,Δv y,N-1 ,Δv yN ,Δv z,N-1 ,Δv zN ) represents the portion of x′2 that does not overlap with x1, and λ N-1 With λ N The mean right ascensions of the N-1th and Nth maneuver points are respectively.

[0019] On the other hand, a system for obtaining joint maneuver parameters for geosynchronous orbit transfer and rendezvous is also provided, including:

[0020] The initial acquisition module is used to acquire the initial parameters of the geosynchronous orbit transfer and rendezvous mission, and to determine the total number of orbital maneuvers, the total mission duration, and the rendezvous terminal aiming parameters. The initial parameters include the initial time, the initial orbital elements of the tracker and the target, the initial total mass of the tracker and the target, the number of orbital maneuvers, the number of maneuvers, the aiming parameters, and the convergence criteria.

[0021] The GTO maneuver module is used to call the GTO transfer maneuver parameters to obtain the problem model based on the initial mission parameters, and to solve the GTO transfer maneuver parameter acquisition problem model using the determined GTO maneuver aiming parameters to obtain the GTO transfer maneuver parameters.

[0022] The GSO maneuvering module is used to call the GSO rendezvous maneuvering parameters to obtain the problem model based on the initial parameters of the mission, and to solve the GSO rendezvous maneuvering parameter acquisition problem model using the determined initial parameters of the GSO rendezvous to obtain the GSO rendezvous maneuvering parameters.

[0023] The Joint Initial Values ​​module is used to call the joint maneuver parameters of geosynchronous orbit transfer and rendezvous based on the initial parameters of the mission to obtain the problem model, and to construct the initial values ​​of the joint maneuver parameters using the GTO transfer maneuver parameters and the GSO rendezvous maneuver parameters.

[0024] The joint maneuver module is used to optimize and solve the problem model for obtaining the joint maneuver parameters of geostationary orbit transfer and rendezvous using a sequential quadratic programming algorithm with initial values ​​of the joint maneuver parameters. These parameters are then used to control the tracker and target to complete the geostationary orbit transfer and rendezvous.

[0025] The first design variables of the GTO transfer maneuver parameter acquisition problem model include the number of revolutions of N-2 maneuvers and the trajectory and normal components of the maneuver pulse in the LVLH coordinate system. The objective function of the GTO transfer maneuver parameter acquisition problem model is:

[0026]

[0027] Where N is the total number of orbital maneuvers, x1 is the design variable for GTO transfer maneuvers, j = 1, 2, ..., N-2, Δv y,j Let Δv be the velocity increment of the tracker on the y-axis during the j-th orbital maneuver. z,j The velocity increment of the tracker on the z-axis during the j-th orbital maneuver; the constraints of the GTO transfer maneuver parameter acquisition problem model include single maneuver size constraints, telemetry and control constraints, and terminal constraints;

[0028] The second design variables of the GSO rendezvous maneuver parameter acquisition problem model include the mean right ascension of the maneuver points of the last two maneuvers and the trace and normal components of the maneuver pulses in the LVLH coordinate system. The objective function of the GSO rendezvous maneuver parameter acquisition problem model is:

[0029]

[0030] The constraints of the GSO rendezvous maneuver parameter acquisition problem model include single maneuver size constraints and terminal constraints;

[0031] The design variables for the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model are x = (x1, x2). The objective function of the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model is to minimize the total velocity increment. The constraint condition of the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model is that the terminal miss distance does not exceed the convergence criterion, x′2 = (Δv y,N-3 ,Δv y,N-2 ,Δv z,N-3 ,Δv z,N-2 x2) are the design variables for the GSO rendezvous maneuver, x2=(λ N-1 ,λ N ,Δv y,N-1 ,Δv yN ,Δv z,N-1 ,Δv zN) represents the portion of x′2 that does not overlap with x1, and λ N-1 With λ N The mean right ascensions of the N-1th and Nth maneuver points are respectively.

[0032] Furthermore, a computer device is also provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the above-mentioned method for obtaining joint maneuver parameters of geosynchronous orbit transfer and rendezvous.

[0033] On the other hand, there is also a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method for obtaining joint maneuver parameters of geosynchronous orbit transfer and rendezvous.

[0034] One of the above technical solutions has the following advantages and beneficial effects:

[0035] The aforementioned method and system for obtaining joint maneuver parameters for geostationary orbit transfer and rendezvous involves first acquiring initial mission parameters such as the initial time of the geostationary orbit transfer and rendezvous mission, initial orbital elements of the tracker and target, initial total mass of the tracker and target, number of orbital maneuvers, number of maneuvers, aiming parameters, and convergence criteria. After determining the total number of orbital maneuvers, total mission duration, and rendezvous terminal aiming parameters, pre-built GTO transfer maneuver parameter acquisition problem models and GSO rendezvous maneuver parameter acquisition problem models are sequentially called to solve and calculate the corresponding GTO transfer maneuver parameters and GSO rendezvous maneuver parameters. Finally, the pre-built joint maneuver parameters for geostationary orbit transfer and rendezvous are then called. A joint maneuver parameter acquisition problem model was developed, and initial values ​​of the joint maneuver parameters were constructed using GTO transfer maneuver parameters and GSO rendezvous maneuver parameters. The GTO transfer maneuver and GSO rendezvous maneuver were considered together, and a sequential quadratic programming algorithm was used to optimize and solve the problem model for acquiring joint maneuver parameters for geostationary orbit transfer and rendezvous. The resulting joint maneuver parameters for controlling the tracker and target to complete the geostationary orbit transfer and rendezvous were obtained. This enabled the tracker to quickly complete the rendezvous with the target using its own thrust-limited orbit control engine, which significantly reduced the total mission duration and effectively shortened the time for orbit rendezvous tasks such as on-orbit servicing and control of GSO target. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart illustrating a method for obtaining joint maneuver parameters for geosynchronous orbit transfer and rendezvous in one embodiment.

[0038] Figure 2 This is an application scenario diagram of the method for obtaining joint maneuver parameters of geosynchronous orbit transfer and rendezvous in one embodiment;

[0039] Figure 3 This is a schematic diagram of a geosynchronous orbit transfer and rendezvous joint maneuver mission in one embodiment;

[0040] Figure 4 This is a diagram showing the variation of the semi-major axis of the tracker track in one embodiment;

[0041] Figure 5 This is a graph showing the change in track eccentricity in one embodiment;

[0042] Figure 6 This is a diagram showing the change in the track tilt angle in one embodiment;

[0043] Figure 7 This is a graph showing the change in the longitude of the tracker's orbit in one embodiment;

[0044] Figure 8 This is a schematic diagram of the three-dimensional trajectory of the tracker's movement in one embodiment;

[0045] Figure 9 This is a graph showing the change in the relative distance between the tracker and the target in one embodiment;

[0046] Figure 10 This is a graph showing the change in the relative velocity between the tracker and the target in one embodiment;

[0047] Figure 11 This is a diagram showing the change in phase angle between the tracker and the target in one embodiment;

[0048] Figure 12 This is a schematic diagram of the module structure of a geosynchronous orbit transfer rendezvous joint maneuver parameter acquisition system in one embodiment. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0051] It should be noted that, in this document, the reference to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The presentation of this phrase in various locations throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments.

[0052] Those skilled in the art will understand that the embodiments described herein can be combined with other embodiments. The term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items, and all possible combinations thereof.

[0053] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0054] Please see Figure 1 In one embodiment, a method for obtaining joint maneuver parameters for geosynchronous orbit transfer and rendezvous is provided, which may include the following processing steps S12 to S20:

[0055] S12: Obtain the initial parameters of the geosynchronous orbit transfer and rendezvous mission, and determine the total number of orbital maneuvers, the total mission duration, and the rendezvous terminal aiming parameters. The initial parameters include the initial time, the initial orbital elements of the tracker and the target, the initial total mass of the tracker and the target, the number of orbital maneuvers, the number of maneuvers, the aiming parameters, and the convergence criteria.

[0056] S14, based on the initial mission parameters, call the GTO transfer maneuver parameters to obtain the problem model, and use the determined GTO maneuver aiming parameters to solve the GTO transfer maneuver parameter acquisition problem model to obtain the GTO transfer maneuver parameters;

[0057] S16, based on the initial parameters of the mission, call the GSO rendezvous maneuver parameter acquisition problem model, and use the determined initial parameters of the GSO rendezvous to solve the GSO rendezvous maneuver parameter acquisition problem model to obtain the GSO rendezvous maneuver parameters;

[0058] S18, based on the initial parameters of the mission, call the joint maneuver parameters of geosynchronous orbit transfer and rendezvous to obtain the problem model, and use the GTO transfer maneuver parameters and GSO rendezvous maneuver parameters to construct the initial values ​​of the joint maneuver parameters;

[0059] S20, using the initial values ​​of the joint maneuver parameters, employs a sequential quadratic programming algorithm to optimize and solve the problem model for obtaining the joint maneuver parameters for geostationary orbit transfer and rendezvous, thus obtaining the geostationary orbit transfer and rendezvous joint maneuver parameters. These parameters are used to control the tracker and target to complete the geostationary orbit transfer and rendezvous.

[0060] The first design variables of the GTO transfer maneuver parameter acquisition problem model include the number of revolutions of N-2 maneuvers and the trajectory and normal components of the maneuver pulse in the LVLH coordinate system. The objective function of the GTO transfer maneuver parameter acquisition problem model is:

[0061]

[0062] Where N is the total number of orbital maneuvers, x1 is the design variable for GTO transfer maneuvers, j = 1, 2, ..., N-2, Δv y,j Let Δv be the velocity increment of the tracker on the y-axis during the j-th orbital maneuver. z,j The velocity increment of the tracker on the z-axis during the j-th orbital maneuver; the constraints of the GTO transfer maneuver parameter acquisition problem model include single maneuver size constraints, telemetry and control constraints, and terminal constraints;

[0063] The second design variables of the GSO rendezvous maneuver parameter acquisition problem model include the mean right ascension of the maneuver points of the last two maneuvers and the trace and normal components of the maneuver pulses in the LVLH coordinate system. The objective function of the GSO rendezvous maneuver parameter acquisition problem model is:

[0064]

[0065] The constraints of the GSO rendezvous maneuver parameter acquisition problem model include single maneuver size constraints and terminal constraints;

[0066] The design variables for the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model are x = (x1, x2). The objective function of the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model is to minimize the total velocity increment. The constraint condition of the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model is that the terminal miss distance does not exceed the convergence criterion, x′2 = (Δv y,N-3 ,Δv y,N-2 ,Δv z,N-3 ,Δv z,N-2 x2) are the design variables for the GSO rendezvous maneuver, x2=(λ N-1 ,λ N ,Δv y,N-1 ,Δv yN ,Δv z,N-1 ,Δv zN ) represents the portion of x′2 that does not overlap with x1, and λ N-1 With λ N The mean right ascensions of the N-1th and Nth maneuver points are respectively.

[0067] It is understandable that the above-mentioned method for obtaining joint maneuver parameters for geosynchronous orbit transfer and rendezvous can be applied to, for example... Figure 2In the application environment shown, tracker 102 communicates with server 104 via a network. Tracker 102 can be, but is not limited to, a propellant replenishment satellite, an on-orbit maintenance satellite, or an orbital life extension satellite. The target is the satellite that tracker 102 needs to rendezvous with. Server 104 can be, but is not limited to, a standalone server or a server cluster consisting of multiple servers.

[0068] In the initial parameters of a geostationary orbit transfer and rendezvous mission, the initial time can be denoted as t0, and the initial orbital elements of the tracker and target can include the initial time tracking satellite orbital parameter E. C0 (a C0 ,e C0 i C0 ,Ω C0 ,ω C0 M C0 Initial target satellite orbital parameters E T0 (a T0 ,e T0 i T0 ,Ω T0 ,ω T0 M T0 ), Tracker initial small tilt non-odd orbital parameters NE C0 (a C0 ,λ C0 ,e xC0 ,e yC0 i xC0 i yC0 ) and the target's initial small inclination non-singular orbital parameters NE T0 (a T0 ,λ T0 ,e xT0 ,e yT0 i xT0 i yT0 The initial total mass of the tracker can be denoted as mass. C0 The total mass of the target at its initial state can be denoted as mass. T0 The tracker engine parameters are thrust T max Specific impulse I sp Maximum single power-on duration Δt burn,max The aiming state vector is X Aim Convergence criterion ε X Where a, e, i, Ω, ω, and M represent the semi-major axis, eccentricity, inclination, right ascension of the ascending node, angular distance from the pericenter, and mean anomaly angle of the satellite orbit, respectively, and λ is the mean right ascension. The correspondence between the elements of a small-inclination non-singular orbit and the elements of a classical orbit is: λ = Ω + ω + M, e x =ecos(Ω+ω),e y =esin(Ω+ω), ix =icosΩ and i y =isinΩ; Subscript 0 represents the initial point, subscript C represents the tracking trajectory, subscript T represents the target trajectory, and subscript Aim represents the aiming parameter.

[0069] The design variables for the problem model of obtaining parameters for the joint maneuver of geostationary orbit transfer and rendezvous consist of two parts: x1 is the design variable for the GTO transfer maneuver, and x2 is a partial design variable for the GSO rendezvous maneuver. The design variable x1 for the GTO transfer maneuver includes the number of orbits C for N-2 maneuvers. j (j=1,2,..,N-2), trace and normal components of the maneuvering pulse in the LVLH coordinate system:

[0070] x1=(C1,...,C N-2, Δv y,1 ,...,Δv y,N-2 ,Δv z,1 ,..,Δv z,N-2 )

[0071] In this system, the origin of the LVLH coordinate system is at the spacecraft's center of mass, the x-axis points from the Earth's center toward the spacecraft (also known as the orbital radial direction), the z-axis is along the orbital plane normal (also known as the orbital normal direction), and the y-axis, along with the x-axis and z-axis, forms a right-handed coordinate system (also known as the orbital trajectory direction) along the direction of orbital motion.

[0072] The design variables x2 for the GSO rendezvous maneuver include the mean right ascension of the maneuver points for the last two maneuvers, and the trace and normal components of the maneuver pulses in the LVLH coordinate system:

[0073] x2=(λ N-1 ,λ N ,Δv y,N-1 ,Δv yN ,Δv z,N-1 ,Δv zN )

[0074] The objective function of the model for obtaining joint maneuver parameters during geosynchronous orbit transfer and rendezvous is to minimize the total velocity increment, i.e.:

[0075]

[0076] And consider the terminal equality constraint, that is, the terminal miss distance does not exceed the convergence criterion:

[0077] |X q (t F )-X Aim，q |≤ε X，q (q = 1, 2, ..., 6)

[0078] Among them, X q (t F) and X Aim,q Representing the terminal state vector X(t) respectively F ) and aiming state vector X aim The q-th component, with the subscript F indicating the parameter at the time of the remote rendezvous terminal, ε X,q Denotes the convergence criterion ε, respectively. X The qth component.

[0079] After calculating and obtaining the GTO transfer maneuver parameters and GSO rendezvous maneuver parameters respectively, initial values ​​of joint maneuver parameters are constructed. These initial values ​​are then used to optimize the model for obtaining the joint maneuver parameters of geostationary orbit transfer and rendezvous. Finally, the design variables that meet the requirements of the objective function and constraints are obtained, which is the optimal geostationary orbit transfer and rendezvous joint maneuver parameters.

[0080] The aforementioned method for obtaining joint maneuver parameters for geostationary orbit transfer and rendezvous involves first acquiring initial mission parameters such as the initial time of the geostationary orbit transfer and rendezvous mission, initial orbital elements of the tracker and target, initial total mass of the tracker and target, number of orbital maneuvers, number of maneuvers, aiming parameters, and convergence criteria. After determining the total number of orbital maneuvers, total mission duration, and rendezvous terminal aiming parameters, pre-built GTO transfer maneuver parameter acquisition problem models and GSO rendezvous maneuver parameter acquisition problem models are sequentially called to solve and calculate the corresponding GTO transfer maneuver parameters and GSO rendezvous maneuver parameters. Finally, the pre-built joint maneuver mechanism is invoked. A model for obtaining geostationary orbit transfer and rendezvous joint maneuver parameters was developed, and initial values ​​of joint maneuver parameters were constructed using GTO transfer maneuver parameters and GSO rendezvous maneuver parameters. The GTO transfer maneuver and GSO rendezvous maneuver were considered together, and a sequential quadratic programming algorithm was used to optimize and solve the model for obtaining the joint maneuver parameters for geostationary orbit transfer and rendezvous. The resulting geostationary orbit transfer and rendezvous joint maneuver parameters were used to control the tracker and the target to complete the geostationary orbit transfer and rendezvous. This enabled the tracker to quickly complete the rendezvous with the target using its own thrust-limited orbit control engine, which greatly reduced the total mission duration and effectively shortened the time for orbit rendezvous tasks such as on-orbit servicing and control of the GSO target.

[0081] In one embodiment, the process of determining the total number of orbital maneuvers may specifically include the following processing steps:

[0082] Calculate the total running time of the ideal engine based on the thrust of the tracker engine;

[0083] The total number of track maneuvers is determined based on the total ideal engine start-up time and the tracker's maximum single start-up time.

[0084] It is understandable that the tracker's initial orbital apogee velocity is approximately The tracker's initial orbital velocity is approximately Where μ is the Earth's gravitational constant. The total amount of semi-major axis and orbital inclination that the tracker needs to adjust is approximately Δa. total =a T0 -a C0 , Δi total =i T0 -i C0 The ideal minimum speed increment is approximately:

[0085]

[0086] Based on the tracker engine thrust T max Calculate the total running time of the ideal engine:

[0087]

[0088] Considering the maximum single power-on time Δt burn,max After the restrictions are applied, the total number of orbital maneuvers is taken as:

[0089]

[0090] in, This is the floor function.

[0091] Furthermore, the process of determining the total task duration may specifically include the following steps:

[0092] The total mission duration is determined based on the total number of orbital maneuvers. "day" indicates that the unit is days.

[0093] It should be noted that the constraints of the GTO transfer maneuver parameter acquisition problem model can include single maneuver size constraints, telemetry and control constraints, and terminal constraints. Among them, the single maneuver size constraint means that the speed increment of a single maneuver does not exceed the speed increment that can be provided by the maximum startup duration of a single operation.

[0094]

[0095] Among them, mass j0 Let be the mass of the tracker before the j-th maneuver, which is also the mass of the tracker after the (j-1)-th maneuver. The measurement and control constraint refers to the longitude of the maneuver point meeting the measurement and control range. Here, for the purpose of rapid rendezvous, the measurement and control range constraint of the longitude of the maneuver point is relaxed, that is, it can be set to [0, 360°].

[0096] Terminal constraints refer to the target's semi-major axis approaching the GSO orbit's semi-major axis after the final GTO maneuver, with an eccentricity close to 0, an inclination angle consistent with the desired inclination angle, and a longitude consistent with the target's longitude. In other words, the GTO maneuver aiming parameters are determined as follows:

[0097]

[0098] Where L represents longitude, the subscript "N-2" indicates the parameter at the end of the (N-2)th maneuver, and Δa GTO With ΔL GTO These are the offset aiming values ​​used in GTO transfer calculations, where the subscript C indicates the tracking trajectory, and a C,N-2 e represents the semi-major axis of the tracking trajectory at the end of the (N-2)th maneuver. C,N-2 i represents the eccentricity at the end of the (N-2)th maneuver. C,N-2 Indicates the tilt angle at the end of the (N-2)th maneuver; the subscript T indicates the tracking trajectory, a T0 The semi-major axis of the target orbit from the initial point, i T0 Indicates the target orbit inclination angle at the initial point.

[0099] In some implementations, those skilled in the art can use existing methods for calculating geosynchronous transfer orbit maneuver parameters to solve the above-mentioned problem model for obtaining GTO transfer maneuver parameters, and obtain the GTO transfer maneuver parameters, which can be denoted as:

[0100]

[0101] The design variables for the GSO rendezvous maneuver parameter acquisition problem model can also be written as:

[0102] x′2=(Δv y,N-3 ,Δv y,N-2 ,Δv z,N-3 ,Δv z,N-2 (x2)

[0103] =(Δv) y,N-3 Δv y,N-2 ,,Δv z,N-3 ,Δv z,N-2 ,λ N-1 ,λ N ,Δv y,N-1 ,Δv yN ,Δv z,N-1 ,Δv zN )

[0104] Among the constraints of the GSO rendezvous maneuver parameter acquisition problem model, the single maneuver size constraint means that the speed increment of a single maneuver cannot exceed the speed increment that can be provided by the maximum single startup duration:

[0105]

[0106] The specific method for determining the initial parameters of the GSO rendezvous can be as follows: Based on the initial parameters of the GTO mission and the GTO transfer maneuver parameters, the parameters are predicted using high-precision perturbation orbit prediction (common knowledge in the aerospace field, and will not be elaborated here) up to the end time t of the N-4th maneuver.burn,N-4 Record tracker quality mass N-3,0 (i.e., the initial mass before the N-3rd maneuver), tracker orbit E C,N-4 and target orbit E T,N-4 Those skilled in the art can also use existing methods for obtaining maneuver parameters in long-range rendezvous on low-inclination orbits to solve the above-mentioned GSO rendezvous maneuver parameter acquisition problem model, and obtain the GSO rendezvous maneuver parameters, which can be denoted as:

[0107]

[0108] In the process of constructing the initial values ​​of the joint maneuver parameters by combining the GTO transfer maneuver parameters and the GSO rendezvous maneuver parameters:

[0109]

[0110] Among them, the parameters with only "*" and no "′" superscript come from GTO transfer maneuver parameters. Parameters with superscripts containing both "*" and "′" are derived from GSO rendezvous maneuver parameters. In the process of optimizing the model for obtaining joint maneuver parameters for geosynchronous orbit transfer and rendezvous using a sequential quadratic programming algorithm, the sequential quadratic programming algorithm used is a commonly used algorithm in the fields of numerical optimization and aerospace technology, and will not be elaborated further here. The number of maneuver cycles... Since the integer parameter remains unchanged, the optimal value of x obtained from the final calculation can be denoted as:

[0111]

[0112] In other implementations, such as Figure 3 As shown, a computational example in one specific application scenario is also given:

[0113] The initial time t0 corresponds to 2023-12-31 00:00:00.0000 (UTC). The initial orbital elements of the tracker and target are the initial orbital parameters E of the tracking satellite. C0 (a C0 ,e C0 i C0 ,Ω C0 ,ω C0 M C0 ) = (26000km, 0.6186, 23°, 51°, 179.9°, 10.7541°), initial target satellite orbital parameters E T0 (a T0 ,e T0 i T0,Ω T0 ,ω T0 M T0 ) = (42165.7575km, 0.000104, 0.052761°, 356.235115°, 1.822397°, 219.280077°), the initial total mass of the tracker and the target are respectively mass C0 =2000kg and mass T0 =2000kg, tracker engine parameters are thrust T max =490N, specific impulse I sp =3000m / s, maximum single start-up time Δt burn,max =2200s, aiming state vector is X Aim = (-1.0km, -30km, 0km, 0m / s, 1m / s, 0m / s), convergence criterion ε X =(0.1km,1km,0.1km,0.1m / s,0.1m / s,0.1m / s).

[0114] The tracker's initial orbital apogee velocity is approximately The tracker's initial orbital velocity is approximately Where μ = 3.986004418 × 10 5 km 3 / s 2 Let be the Earth's gravitational constant. The total amount of semi-major axis and orbital inclination that the tracker needs to adjust is approximately Δa. total =a T0 -a C0 =16165.758km, Δi total =i T0 -i C0 = 22.947239°. The ideal minimum velocity increment is approximately:

[0115]

[0116] Based on the tracker engine thrust T max Calculate the total running time of the ideal engine:

[0117]

[0118] Considering the maximum single power-on time Δt burnmax After the restrictions are applied, the total number of orbital maneuvers is taken as follows:

[0119]

[0120] in, This is the floor function. The total task duration is:

[0121]

[0122] For the first maneuver:

[0123]

[0124] Subsequent maneuvers are related to the mass of the preceding maneuvers, and similar calculations are performed. Terminal constraints refer to the situation where, after the final maneuver of the GTO transfer, the semi-major axis approaches the target's semi-major axis on the GSO orbit, the eccentricity is close to 0, the inclination angle matches the desired inclination angle, and the longitude matches the target's longitude. In other words, the GTO maneuver aiming parameters are determined as follows:

[0125]

[0126] Where L represents longitude, the subscript "5" indicates the parameter at the end of the 5th maneuver, and Δa GTO = -65.757km and ΔL GTO =1.4° is the offset aiming amount during GTO transfer calculation. Solve the above problem model for obtaining GTO transfer maneuver parameters to obtain the GTO transfer maneuver parameters, i.e.:

[0127]

[0128] in,

[0129] The total speed increment of the GTO transfer maneuver was 1527.628 m / s, and the propellant consumption was 797.996 kg; of which the total speed increment of the first three GTO maneuvers was 1461.917 m / s, and the propellant consumption was 771.435 kg.

[0130] In the model for acquiring GSO rendezvous maneuver parameters, the single maneuver size constraint means that the speed increment of a single maneuver cannot exceed the speed increment that can be provided by the maximum startup duration of a single maneuver.

[0131]

[0132] In this example, the initial parameters for the GSO rendezvous are determined as follows: based on the initial parameters of the GTO mission and the GTO transfer maneuver parameters, a high-precision perturbation trajectory prediction (using the JGM3 non-spherical gravitational field model and considering the gravitational perturbation of the Sun and Moon as third bodies, which is well-known in the aerospace field and will not be elaborated here) is performed up to the end time t of the third maneuver. burn,3 =137643s, record tracker quality mass 4,0 = 813.260 kg (i.e., the initial mass before the 4th maneuver), tracker track E C,3= (35962.221km, 0.16855331, 2.502690°, 48.838546°, 180.952436°, 181.802457°), target orbit E T,3 = (42166.296km, 0.00010040, 0.049999°, 359.995641°, 359.873257°, ​​72.532362°). Solve the above model for obtaining GSO rendezvous maneuver parameters to obtain GEO rendezvous maneuver parameters, i.e.:

[0133]

[0134] in, The total speed increment of the GSO rendezvous maneuver was 86.413 m / s, and the propellant consumption was 37.619 kg.

[0135] In constructing the initial values ​​of the joint maneuver parameters by combining the GTO transfer maneuver parameters and the GSO rendezvous maneuver parameters, initial value The corresponding total velocity increment is 1548.330 m / s, and the propellant consumption is 809.054 kg.

[0136] The geostationary orbit transfer and rendezvous joint maneuver parameters are obtained by optimizing the model of the problem using a sequential quadratic programming algorithm to solve for the geostationary orbit transfer and rendezvous joint maneuver parameters.

[0137]

[0138] in,

[0139] Optimal value x ** The corresponding total velocity increment is 1546.505 m / s, and the propellant consumption is 805.598 kg.

[0140] like Figures 4 to 7 The figures shown are graphs illustrating the changes in the track's semi-major axis, eccentricity, track inclination, and longitude. Figure 8 The image shows the three-dimensional trajectory of the tracker's movement; as shown... Figures 9 to 11 The figures shown are the results of the changes in the relative distance, relative velocity, and phase angle between the tracker and the target. The example results demonstrate that the application of the above-mentioned method for obtaining joint maneuver parameters of geosynchronous orbit transfer rendezvous reduces the orbit rendezvous time to at least half of that of the original technology.

[0141] It should be understood that, although the above process Figure 1 The steps in the diagram are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order in which these steps are executed; they can be performed in other orders. Furthermore, the above process... Figure 1 At least some of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0142] In one embodiment, such as Figure 12 As shown, a geostationary orbit transfer rendezvous joint maneuver parameter acquisition system 100 is provided, including an initial acquisition module 11, a GTO maneuver module 13, a GSO maneuver module 15, a joint initial value module 17, and a joint maneuver module 19. The initial acquisition module 11 is used to acquire the initial parameters of the geostationary orbit transfer rendezvous mission, determining the total number of orbital maneuvers, the total mission duration, and the rendezvous terminal aiming parameters. The initial parameters include the initial time, initial orbital elements of the tracker and target, the initial total mass of the tracker and target, the number of orbital maneuvers, the number of maneuver cycles, the aiming parameters, and the convergence criteria. The GTO maneuver module 13 is used to invoke the GTO transfer maneuver parameter acquisition problem model based on the initial mission parameters, and solve the GTO transfer maneuver parameter acquisition problem model using the determined GTO maneuver aiming parameters to obtain the GTO transfer maneuver parameters. The GSO maneuver module 15 is used to invoke the GSO rendezvous maneuver parameter acquisition problem model based on the initial mission parameters, and solve the GSO rendezvous maneuver parameter acquisition problem model using the determined GSO rendezvous initial parameters to obtain the GSO rendezvous maneuver parameters.

[0143] The joint initial value module 17 is used to invoke the geostationary orbit transfer and rendezvous joint maneuver parameter acquisition problem model based on the mission's initial parameters, and constructs initial values ​​for the joint maneuver parameters using GTO transfer maneuver parameters and GSO rendezvous maneuver parameters. The joint maneuver module 19 is used to optimize and solve the geostationary orbit transfer and rendezvous joint maneuver parameter acquisition problem model using a sequential quadratic programming algorithm based on the initial values ​​of the joint maneuver parameters, obtaining the geostationary orbit transfer and rendezvous joint maneuver parameters; these parameters are used to control the tracker and target to complete the geostationary orbit transfer and rendezvous.

[0144] The first design variables of the GTO transfer maneuver parameter acquisition problem model include the number of revolutions of N-2 maneuvers and the trajectory and normal components of the maneuver pulse in the LVLH coordinate system. The objective function of the GTO transfer maneuver parameter acquisition problem model is:

[0145]

[0146] Where N is the total number of orbital maneuvers, x1 is the design variable for GTO transfer maneuvers, j = 1, 2, ..., N-2, Δv y,j Let Δv be the velocity increment of the tracker on the y-axis during the j-th orbital maneuver. z,j Let be the velocity increment of the tracker on the z-axis during the j-th orbital maneuver; the constraints of the GTO transfer maneuver parameter acquisition problem model include single maneuver size constraints, telemetry and control constraints, and terminal constraints. The second design variables of the GSO rendezvous maneuver parameter acquisition problem model include the mean right ascension of the maneuver points of the last two maneuvers and the trajectory and normal components of the maneuver pulses in the LVLH coordinate system. The objective function of the GSO rendezvous maneuver parameter acquisition problem model is:

[0147]

[0148] The constraints of the GSO rendezvous maneuver parameter acquisition problem model include single maneuver size constraints and terminal constraints.

[0149] The design variables for the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model are x = (x1, x2). The objective function of the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model is to minimize the total velocity increment. The constraint condition of the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model is that the terminal miss distance does not exceed the convergence criterion, x′2 = (Δv y,N-3 ,Δv y,N-2 ,Δv z,N-3 ,Δv z,N-2 x2) are the design variables for the GSO rendezvous maneuver, x2=(λ N-1 ,λ N ,Δv y,N-1 ,Δv yN ,Δv z,N-1 ,Δv zN ) represents the portion of x′2 that does not overlap with x1, and λ N-1 With λ N The mean right ascensions of the N-1th and Nth maneuver points are respectively.

[0150] It is understood that for specific limitations of each component in the geosynchronous orbit transfer rendezvous joint maneuver parameter acquisition system 100 of this embodiment, please refer to the corresponding limitations of the geosynchronous orbit transfer rendezvous joint maneuver parameter acquisition method above, and will not be repeated here.

[0151] The aforementioned geostationary orbit transfer and rendezvous joint maneuver parameter acquisition system 100 first acquires the initial mission parameters, including the initial time, initial orbital elements of the tracker and target, initial total mass of the tracker and target, number of orbital maneuvers, number of maneuvers, aiming parameters, and convergence criteria. After determining the total number of orbital maneuvers, total mission duration, and rendezvous terminal aiming parameters, it sequentially calls pre-built GTO transfer maneuver parameter acquisition problem models and GSO rendezvous maneuver parameter acquisition problem models to solve and calculate the corresponding GTO transfer maneuver parameters and GSO rendezvous maneuver parameters. Then, it calls the pre-built geostationary orbit transfer and rendezvous joint maneuver parameter acquisition system 100. A joint maneuver parameter acquisition problem model was developed, and initial values ​​of the joint maneuver parameters were constructed using GTO transfer maneuver parameters and GSO rendezvous maneuver parameters. The GTO transfer maneuver and GSO rendezvous maneuver were considered together, and a sequential quadratic programming algorithm was used to optimize and solve the problem model for acquiring joint maneuver parameters for geostationary orbit transfer and rendezvous. The resulting joint maneuver parameters for controlling the tracker and target to complete the geostationary orbit transfer and rendezvous were obtained. This enabled the tracker to quickly complete the rendezvous with the target using its own thrust-limited orbit control engine, which significantly reduced the total mission duration and effectively shortened the time for orbit rendezvous tasks such as on-orbit servicing and control of GSO target.

[0152] In one embodiment, the process of determining the total number of orbital maneuvers includes calculating the total operating time of the ideal engine based on the magnitude of the tracker engine thrust; and determining the total number of orbital maneuvers based on the total operating time of the ideal engine and the maximum single operating time of the tracker.

[0153] In one embodiment, the process of determining the total mission duration includes: determining the total mission duration based on the total number of orbital maneuvers. "day" indicates that the unit is days.

[0154] In one embodiment, the GTO maneuver aiming parameters are determined as follows:

[0155]

[0156] Where L represents longitude, the subscript "N-2" indicates the parameter at the end of the (N-2)th maneuver, and Δa GTO With ΔL GTO These are the offset aiming values ​​used in GTO transfer calculations, where the subscript C indicates the tracking trajectory, and a C,N-2 e represents the semi-major axis of the tracking trajectory at the end of the (N-2)th maneuver. C,N-2 i represents the eccentricity at the end of the (N-2)th maneuver. C,N-2 Indicates the tilt angle at the end of the (N-2)th maneuver; the subscript T indicates the tracking trajectory, a T0 The semi-major axis of the target orbit from the initial point, i T0Indicates the target orbit inclination angle at the initial point.

[0157] In one embodiment, a computer device is also provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following processing steps: acquiring the initial parameters of the geostationary orbit transfer rendezvous mission, determining the total number of orbital maneuvers, the total mission duration, and the rendezvous terminal aiming parameters; the initial parameters include the initial time, initial orbital elements of the tracker and target, the initial total mass of the tracker and target, the number of orbital maneuvers, the number of maneuvers, the aiming parameters, and the convergence criterion; calling the GTO transfer maneuver parameter acquisition problem model based on the initial parameters, and solving the GTO transfer maneuver parameter acquisition problem model using the determined GTO maneuver aiming parameters to obtain the GTO transfer maneuver parameters; The GSO rendezvous maneuver parameter acquisition problem model is invoked based on the initial mission parameters, and the GSO rendezvous maneuver parameter acquisition problem model is solved using the determined initial GSO rendezvous parameters to obtain the GSO rendezvous maneuver parameters. The geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model is then invoked based on the initial mission parameters, and initial values ​​of the joint maneuver parameters are constructed using the GTO transfer maneuver parameters and the GSO rendezvous maneuver parameters. Using these initial values, a sequential quadratic programming algorithm is employed to optimize and solve the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model, obtaining the geostationary orbit transfer rendezvous joint maneuver parameters. These geostationary orbit transfer rendezvous joint maneuver parameters are used to control the tracker and target spacecraft to complete the geostationary orbit transfer rendezvous.

[0158] The first design variables of the GTO transfer maneuver parameter acquisition problem model include the number of revolutions of N-2 maneuvers and the trajectory and normal components of the maneuver pulse in the LVLH coordinate system. The objective function of the GTO transfer maneuver parameter acquisition problem model is:

[0159]

[0160] Where N is the total number of orbital maneuvers, x1 is the design variable for GTO transfer maneuvers, j = 1, 2, ..., N-2, Δv y,j Let Δv be the velocity increment of the tracker on the y-axis during the j-th orbital maneuver. z,j The velocity increment of the tracker on the z-axis during the j-th orbital maneuver; the constraints of the GTO transfer maneuver parameter acquisition problem model include single maneuver size constraints, telemetry and control constraints, and terminal constraints.

[0161] The second design variables of the GSO rendezvous maneuver parameter acquisition problem model include the mean right ascension of the maneuver points of the last two maneuvers and the trace and normal components of the maneuver pulses in the LVLH coordinate system. The objective function of the GSO rendezvous maneuver parameter acquisition problem model is:

[0162]

[0163] The constraints of the GSO rendezvous maneuver parameter acquisition problem model include single maneuver size constraints and terminal constraints.

[0164] The design variables for the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model are x = (x1, x2). The objective function of the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model is to minimize the total velocity increment. The constraint condition of the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model is that the terminal miss distance does not exceed the convergence criterion, x′2 = (Δv y,N-3 ,Δv y,N-2 ,Δv z,N-3 ,Δv z,N-2 x2) are the design variables for the GSO rendezvous maneuver, x2=(λ N-1 ,λ N ,Δv y,N-1 ,Δv yN ,Δv z,N-1 ,Δv zN ) represents the portion of x′2 that does not overlap with x1, and λ N-1 With λ N The mean right ascensions of the N-1th and Nth maneuver points are respectively.

[0165] It is understood that, in addition to the memory and processor mentioned above, the computer equipment described above also includes other hardware and software components not listed in this specification. The specific components can be determined according to the model of the computer equipment in different application scenarios, and will not be listed and described in detail in this specification.

[0166] In one embodiment, when the processor executes the computer program, it can also implement the steps or sub-steps added to the various embodiments of the above-described method for obtaining joint maneuver parameters of geosynchronous orbit transfer and rendezvous.

[0167] In one embodiment, a computer-readable storage medium is also provided, on which a computer program is stored. When executed by a processor, the computer program performs the following processing steps: acquiring the initial parameters of a geostationary orbit transfer rendezvous mission, determining the total number of orbital maneuvers, the total mission duration, and the rendezvous terminal aiming parameters; the initial parameters include the initial time, initial orbital elements of the tracker and target, the initial total mass of the tracker and target, the number of orbital maneuvers, the number of maneuvers, the aiming parameters, and the convergence criterion; calling the GTO transfer maneuver parameter acquisition problem model based on the initial parameters, and solving the GTO transfer maneuver parameter acquisition problem model using the determined GTO maneuver aiming parameters to obtain the GTO transfer maneuver parameters; according to the mission... The initial parameters of the mission are used to call the GSO rendezvous maneuver parameter acquisition problem model, and the GSO rendezvous maneuver parameter acquisition problem model is solved using the determined initial GSO rendezvous parameters to obtain the GSO rendezvous maneuver parameters. Based on the initial mission parameters, the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model is called, and initial values ​​of the joint maneuver parameters are constructed using the GTO transfer maneuver parameters and GSO rendezvous maneuver parameters. Using the initial values ​​of the joint maneuver parameters, a sequential quadratic programming algorithm is used to optimize and solve the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model to obtain the geostationary orbit transfer rendezvous joint maneuver parameters. The geostationary orbit transfer rendezvous joint maneuver parameters are used to control the tracker and the target to complete the geostationary orbit transfer rendezvous. Among them,

[0168] The first design variables of the GTO transfer maneuver parameter acquisition problem model include the number of revolutions of N-2 maneuvers and the trajectory and normal components of the maneuver pulse in the LVLH coordinate system. The objective function of the GTO transfer maneuver parameter acquisition problem model is:

[0169]

[0170] Where N is the total number of orbital maneuvers, x1 is the design variable for GTO transfer maneuvers, j = 1, 2, ..., N-2, Δv y,j Let Δv be the velocity increment of the tracker on the y-axis during the j-th orbital maneuver. z,j The velocity increment of the tracker on the z-axis during the j-th orbital maneuver; the constraints of the GTO transfer maneuver parameter acquisition problem model include single maneuver size constraints, telemetry and control constraints, and terminal constraints.

[0171] The second design variables of the GSO rendezvous maneuver parameter acquisition problem model include the mean right ascension of the maneuver points of the last two maneuvers and the trace and normal components of the maneuver pulses in the LVLH coordinate system. The objective function of the GSO rendezvous maneuver parameter acquisition problem model is:

[0172]

[0173] The constraints of the GSO rendezvous maneuver parameter acquisition problem model include single maneuver size constraints and terminal constraints.

[0174] The design variables for the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model are x = (x1, x2). The objective function of the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model is to minimize the total velocity increment. The constraint condition of the geostationary orbit transfer rendezvous joint maneuver parameter acquisition problem model is that the terminal miss distance does not exceed the convergence criterion, x′2 = (Δv y,N-3 ,Δv y,N-2 ,Δv z,N-3 ,Δv z,N-2 x2) are the design variables for the GSO rendezvous maneuver, x2=(λ N-1 ,λ N ,Δv y,N-1 ,Δv yN ,Δv z,N-1 ,Δv zN ) represents the portion of x′2 that does not overlap with x1, and λ N-1 With λ N The mean right ascensions of the N-1th and Nth maneuver points are respectively.

[0175] In one embodiment, when the computer program is executed by the processor, it can also implement the steps or sub-steps added to the various embodiments of the above-described method for obtaining joint maneuver parameters of geosynchronous orbit transfer and rendezvous.

[0176] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), memory bus DRAM (RDRAM), and interface DRAM (DRDRAM), etc.

[0177] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. The above embodiments only illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of this application, and all of these fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for acquiring joint maneuver parameters of geosynchronous orbit transfer rendezvous, characterized in that, The method comprises the steps of: acquiring initial parameters of a geosynchronous orbit transfer rendezvous mission, determining total number of orbit maneuvers, total duration of the mission and terminal aiming parameters of the rendezvous; the initial parameters of the mission include initial time, initial orbit elements of a chaser and a target, initial total mass of the chaser and the target, number of orbit maneuvers, number of maneuvering turns, aiming parameters and convergence criteria; calling a GTO transfer maneuver parameter acquisition problem model according to the initial parameters of the mission, and solving the GTO transfer maneuver parameter acquisition problem model by using the determined GTO maneuver aiming parameters to obtain GTO transfer maneuver parameters; calling a GSO rendezvous maneuver parameter acquisition problem model according to the initial parameters of the mission, and solving the GSO rendezvous maneuver parameter acquisition problem model by using the determined GSO rendezvous initial parameters to obtain GSO rendezvous maneuver parameters; calling a geosynchronous orbit transfer rendezvous combined maneuver parameter acquisition problem model according to the initial parameters of the mission, and constructing combined maneuver parameter initial values by using the GTO transfer maneuver parameters and the GSO rendezvous maneuver parameters; using the combined maneuver parameter initial values, a sequential quadratic programming algorithm is used to optimize and solve the geosynchronous orbit transfer rendezvous combined maneuver parameter acquisition problem model to obtain geosynchronous orbit transfer rendezvous combined maneuver parameters; the geosynchronous orbit transfer rendezvous combined maneuver parameters are used to control the chaser and the target to complete geosynchronous orbit transfer rendezvous; wherein, the first design variable of the GTO transfer maneuver parameter acquisition problem model includes the number of turns of N-2 times of maneuvering and the trace and normal components of the maneuvering impulse in the LVLH coordinate system, and the objective function of the GTO transfer maneuver parameter acquisition problem model is: where N is the total number of orbital maneuvers, x1 is the design variable of GTO transfer maneuver, j = 1, 2,.., N-2, Δv y,j is the velocity increment of the tracker in the y-axis at the jth orbital maneuver, Δv z,j is the velocity increment of the tracker in the z-axis at the jth orbital maneuver; the constraint conditions of the GTO transfer maneuver parameter acquisition problem model include single maneuver size constraint, TT&C constraint and terminal constraint; the second design variable of the GSO rendezvous maneuver parameter acquisition problem model includes the maneuvering point plane longitude of the last two times of maneuvering and the trace and normal components of the maneuvering impulse in the LVLH coordinate system, and the objective function of the GSO rendezvous maneuver parameter acquisition problem model is: the constraint condition of the GSO rendezvous maneuver parameter acquisition problem model includes single maneuver size constraint and terminal constraint; The design variable of the model of the geosynchronous orbit transfer rendezvous combined maneuver parameter acquisition problem is x=(x1, x2), the objective function of the model of the geosynchronous orbit transfer rendezvous combined maneuver parameter acquisition problem is the minimum total velocity increment, and the constraint condition of the model of the geosynchronous orbit transfer rendezvous combined maneuver parameter acquisition problem is that the terminal miss distance does not exceed the convergence standard, x'2=(Δv y,N-3 , Δv y,N-2 , Δv z,N-3 , Δv z,N-2 , x2) is a design variable of the GSO rendezvous maneuver, x2=(λ N-1 , λ N , Δv y,N-1 , Δv yN , Δv z,N-1 , Δv zN ) is a part of x'2 which does not overlap with x1, λ N-1 and λ N are the plane equatorial longitude of the (N-1)th and Nth maneuver points respectively.

2. The method according to claim 1, c h a r a c t e r i z e d b y, the process of determining the total number of orbit maneuvers comprises: calculating the ideal total engine-on duration according to the size of the engine thrust of the chaser; determining the total number of orbit maneuvers according to the ideal total engine-on duration and the maximum single engine-on duration of the chaser.

3. The method according to claim 2, c h a r a c t e r i z e d b y, the process of determining the total duration of the mission comprises: According to the total number of orbital maneuvers, the total mission duration is determined as day represents a unit of day.

4. The method of claim 1, wherein, the GTO maneuver aiming parameters are determined as: where L represents the longitude, the subscript "N-2" represents the parameters at the end of the N-2th maneuver, Δa GTO and ΔL GTO are the bias pointing amounts at the time of GTO transfer calculation, the subscript C represents the tracking orbit, a C,N-2 represents the semi-major axis of the tracking orbit at the end of the N-2th maneuver, e C,N-2 represents the eccentricity at the end of the N-2th maneuver, i C,N-2 represents the inclination at the end of the N-2th maneuver; the subscript T represents the target orbit, a T0 represents the semi-major axis of the target orbit at the initial point, i T0 represents the inclination of the target orbit at the initial point.

5. A geosynchronous orbit transfer rendezvous joint maneuver parameter acquisition system, characterized by, It comprises: an initial acquisition module, configured to acquire initial parameters of a geosynchronous orbit transfer rendezvous mission, determine total number of orbit maneuvers, total duration of the mission and terminal aiming parameters of the rendezvous; the initial parameters of the mission include initial time, initial orbit elements of a chaser and a target, initial total mass of the chaser and the target, number of orbit maneuvers, number of maneuvering turns, aiming parameters and convergence criteria; a GTO maneuver module, configured to call a GTO transfer maneuver parameter acquisition problem model according to the initial parameters of the mission, and solve the GTO transfer maneuver parameter acquisition problem model by using the determined GTO maneuver aiming parameters to obtain GTO transfer maneuver parameters; The GSO maneuver module is configured to call a GSO rendezvous maneuver parameter acquisition problem model according to the mission initial parameters, and solve the GSO rendezvous maneuver parameter acquisition problem model by using the determined GSO rendezvous initial parameters to obtain GSO rendezvous maneuver parameters; The joint initial value module is configured to call a GTO transfer rendezvous joint maneuver parameter acquisition problem model according to the mission initial parameters, and construct joint maneuver parameter initial values by using the GTO transfer maneuver parameters and the GSO rendezvous maneuver parameters; The joint maneuver module is configured to solve the GTO transfer rendezvous joint maneuver parameter acquisition problem model by using the sequential quadratic programming algorithm to optimize the joint maneuver parameter initial values, and obtain GTO transfer rendezvous joint maneuver parameters; the GTO transfer rendezvous joint maneuver parameters are used to control the chaser and the target to complete the GTO transfer rendezvous; wherein The first design variable of the GTO transfer maneuver parameter acquisition problem model includes N-2 times of maneuvering circle times and trace and normal components of the maneuvering impulse in the LVLH coordinate system, and the objective function of the GTO transfer maneuver parameter acquisition problem model is: where N is the total number of orbit maneuvers, x1 is the design variable of GTO transfer maneuver, j = 1, 2,.., N-2, Δv y,j is the velocity increment of the tracker in the y-axis at the jth orbit maneuver, Δv z,j is the velocity increment of the tracker in the z-axis at the jth orbit maneuver; the constraint conditions of the GTO transfer maneuver parameter acquisition problem model include single maneuver size constraint, TT&C constraint and terminal constraint; The second design variable of the GSO rendezvous maneuver parameter acquisition problem model includes maneuvering point plane equator longitude of the last two times of maneuvering and trace and normal components of the maneuvering impulse in the LVLH coordinate system, and the objective function of the GSO rendezvous maneuver parameter acquisition problem model is: The constraint condition of the GSO rendezvous maneuver parameter acquisition problem model includes single maneuvering size constraint and terminal constraint; The design variable of the model of the GSO transfer and rendezvous combined maneuver parameter acquisition problem is x=(x1, x2), the objective function of the model of the GSO transfer and rendezvous combined maneuver parameter acquisition problem is the minimum total velocity increment, and the constraint condition of the model of the GSO transfer and rendezvous combined maneuver parameter acquisition problem is that the terminal miss distance does not exceed the convergence standard, x′2=(Δv y,N-3 ,Δv y,N-2 ,Δv z,N-3 ,Δv z,N-2 , x2) is a design variable of the GSO rendezvous maneuver, x2=(λ N-1 ,λ N ,Δv y,N-1 ,Δv yN ,Δv z,N-1 ,Δv zN ) is a part of x′2 that does not overlap with x1, λ N-1 , and λ N are the Greenwich longitude of the (N-1)th and the Nth maneuver points respectively.

6. The geosynchronous orbit transfer rendezvous co-manipulation parameter acquisition system according to claim 5, characterized by, The process of determining the total number of orbit maneuvers includes calculating the ideal total engine on time according to the size of the chaser engine thrust, and determining the total number of orbit maneuvers according to the ideal total engine on time and the maximum single on time of the chaser.

7. The geosynchronous orbit transfer rendezvous co-manipulation parameter acquisition system according to claim 6, characterized by, The process of determining the total mission duration comprises: determining the total mission duration as day represents a unit of day.

8. The geosynchronous orbit transfer rendezvous co-manipulation parameter acquisition system according to claim 5, characterized by, The GTO maneuver aiming parameters are determined as: where L represents the longitude, the subscript "N-2" represents the parameter at the end of the N-2th maneuver, Δa GTO and ΔL GTO respectively represent the bias aiming amount at the time of GTO transfer calculation, the subscript "C" represents the tracking orbit, a C,N-2 represents the semi-major axis of the tracking orbit at the end of the N-2th maneuver, e C,N-2 represents the eccentricity at the end of the N-2th maneuver, i C,N-2 represents the inclination at the end of the N-2th maneuver; the subscript "T" represents the target orbit, a T0 represents the semi-major axis of the target orbit at the initial point, i T0 represents the inclination of the target orbit at the initial point. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. The processor executes the computer program to realize the steps of the GTO transfer rendezvous joint maneuver parameter acquisition method in any one of claims 1 to 4.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the GTO transfer rendezvous joint maneuver parameter acquisition method in any one of claims 1 to 4.

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