Control Method and Device for Autonomous Entry into a Pipe on a Strictly Regressive Orbit

Abstract

The present invention provides a control method and device for a satellite to autonomously enter a pipeline in a strict regression orbit, including: fitting the target strict regression orbit to obtain a fitting formula; acquiring GNSS data, and calculating the reference characteristic parameters of the first target reference point based on the GNSS data and the fitting formula; calculating the semi-major axis deviation and the pipeline deviation based on the current characteristic parameters of the satellite's current point and the reference characteristic parameters of the first target reference point; determining the quadrant of the satellite's current point in the earth-fixed coordinate system and the out-of-plane component of the predicted inflection point based on the normal components of the semi-major axis deviation and the pipeline deviation; calculating the eccentricity deviation based on the current characteristic parameters of the satellite's current point and the reference characteristic parameters of the first target reference point, and determining the control strategy based on the quadrant of the satellite's current point, the out-of-plane component of the predicted inflection point of the satellite, and the eccentricity deviation. The present invention can get rid of the dependence on the ground, formulate the control strategy in real time on orbit, and improve the autonomy of satellite orbit control.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and particularly to a control method and device for autonomously entering a pipeline of a strict return orbit. Background Art

[0002] For satellites with strict return orbit constraints, after being launched into orbit, due to the existence of orbit injection deviations, it is necessary to correct the orbit injection deviations so that they satisfy certain constraint conditions with the target strict return orbit, thereby meeting the on-orbit application of the satellite.

[0003] Currently, the traditional approach is to perform high-precision orbit recursion on the ground, compare the recursively obtained orbit information with the designed strict return orbit, design the pipeline entry control strategy based on the error between the two, and then upload the control strategy to the satellite. This approach has a mature operation method, but the control strategy design is completed on the ground, highly dependent on the accuracy of orbit recursion. When the Earth's environment changes violently, the accuracy of ground recursion is poor, making it difficult to meet the high-precision orbit injection control requirements. Moreover, the control depends on the ground and does not have the autonomy of orbit control. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a control method and device for autonomously entering a pipeline of a strict return orbit, which can get rid of the dependence on the ground, formulate control strategies in real time on orbit, and improve the autonomy of satellite orbit control.

[0005] To achieve the above purpose, the technical solutions adopted in the embodiments of the present invention are as follows:

[0006] In a first aspect, an embodiment of the present invention provides a control method for autonomously entering a pipeline of a strict return orbit, including: fitting the target strict return orbit to obtain a fitting formula; acquiring GNSS data, and determining the current characteristic parameters of the current point of the satellite based on the GNSS data, and calculating the reference characteristic parameters of the first target reference point based on the GNSS data and the fitting formula; calculating the semi-major axis deviation and the pipeline deviation based on the current characteristic parameters of the current point of the satellite and the reference characteristic parameters of the first target reference point; determining the quadrant of the current point of the satellite in the Earth-fixed coordinate system and the out-of-plane component of the predicted inflection point of the satellite based on the normal component of the semi-major axis deviation and the pipeline deviation; calculating the eccentricity deviation based on the current characteristic parameters of the current point of the satellite and the reference characteristic parameters of the first target reference point, and determining the control strategy based on the quadrant of the current point of the satellite in the Earth-fixed coordinate system, the out-of-plane component of the predicted inflection point of the satellite, and the eccentricity deviation.

[0007] In one embodiment, fitting a fitting formula to the target strict regression orbit includes: segmenting the target strict regression orbit according to the pipeline laps, and performing polynomial fitting on the target orbit of each lap to obtain the fitting formula of each lap; wherein, the fitting formula is a function with the latitude argument as the independent variable.

[0008] In one embodiment, calculating the reference characteristic parameters of the first target reference point based on the GNSS data and the fitting formula includes: calculating the current latitude argument of the satellite at the current point based on the GNSS data; substituting the current latitude argument into the fitting formula corresponding to the lap where the satellite is currently located to calculate the reference characteristic parameters of the first target reference point; wherein, the reference characteristic parameters at least include: reference position information, reference orbit semi-major axis, reference argument of perigee, and reference eccentricity.

[0009] In one embodiment, the current characteristic parameters of the satellite at the current point at least include: current position information, current orbit semi-major axis, current argument of perigee, and current eccentricity; calculating the semi-major axis deviation and the pipeline deviation based on the current characteristic parameters of the satellite at the current point and the reference characteristic parameters of the first target reference point includes: calculating the semi-major axis deviation based on the current orbit semi-major axis of the satellite at the current point and the reference orbit semi-major axis of the first target reference point; determining the predicted latitude argument based on the current latitude argument and the preset latitude argument deviation, and substituting the predicted latitude argument into the fitting formula corresponding to the lap where the satellite is currently located to calculate the reference position information of the second target reference point; determining the reference vector based on the reference position information of the first target reference point, the reference position information of the second target reference point, and the current position information of the satellite at the current point; calculating the position deviation based on the current position information of the satellite at the current point and the reference position information of the first target reference point; calculating the pipeline deviation based on the position deviation and the reference vector.

[0010] In one embodiment, determining the quadrant of the satellite at the current point in the Earth-fixed coordinate system based on the normal component of the semi-major axis deviation and the pipeline deviation includes: if the semi-major axis deviation is greater than zero and the normal component of the pipeline deviation is greater than zero, the satellite at the current point is located in the first quadrant; if the semi-major axis deviation is greater than zero and the normal component of the pipeline deviation is less than zero, the satellite at the current point is located in the second quadrant; if the semi-major axis deviation is less than zero and the normal component of the pipeline deviation is less than zero, the satellite at the current point is located in the third quadrant; if the semi-major axis deviation is less than zero and the normal component of the pipeline deviation is greater than zero, the satellite at the current point is located in the fourth quadrant.

[0011] In one embodiment, determining the out-of-plane component of the predicted inflection point of the satellite based on the normal component of the semi-major axis deviation and the pipeline deviation includes: calculating the out-of-plane component of the predicted inflection point of the satellite according to the following formula:

[0012]

[0013] Among them, EN pred represents the out-of-plane component of the predicted inflection point, EN represents the normal component of the pipeline deviation, R represents the distance from the geocenter to the satellite, a represents the semi-major axis of the orbit, Δa represents the semi-major axis deviation, represents the semi-major axis decay rate.

[0014] In one implementation, a control strategy is determined based on the quadrant of the current satellite point in the Earth-fixed coordinate system, the out-of-plane component of the predicted inflection point of the satellite, and the eccentricity deviation, including:

[0015] When the current satellite point is in the first quadrant, and the magnitude of the out-of-plane component of the predicted inflection point is greater than the out-of-plane control threshold or the eccentricity deviation is greater than the eccentricity threshold, if the semi-major axis deviation is less than the semi-major axis deviation threshold and the eccentricity deviation is greater than the eccentricity threshold, then eccentricity correction is performed; otherwise, combined semi-major axis and eccentricity correction is performed;

[0016] When the current satellite point is in the second quadrant, if the magnitude of the out-of-plane component of the predicted inflection point is less than the out-of-plane control threshold and the semi-major axis deviation is equal to the first target semi-major axis deviation, then semi-major axis control is performed; if the magnitude of the out-of-plane component of the predicted inflection point is greater than or equal to the out-of-plane control threshold and the eccentricity deviation is greater than the eccentricity threshold, then eccentricity correction is performed;

[0017] When the current satellite point is in the third quadrant, if the semi-major axis deviation is greater than the semi-major axis deviation threshold and the semi-major axis deviation is equal to the second target semi-major axis deviation, then semi-major axis control is performed; if the semi-major axis deviation is less than or equal to the semi-major axis deviation threshold and the eccentricity deviation is greater than the eccentricity threshold, then eccentricity correction is performed;

[0018] When the current satellite point is in the fourth quadrant, if the semi-major axis deviation is equal to the third target semi-major axis deviation, then semi-major axis control is performed; otherwise, control is stopped.

[0019] In a second aspect, an embodiment of the present invention provides a control device for a strict regression orbit entry pipeline, including: a fitting module configured to fit a target strict regression orbit to obtain a fitting formula; a target reference point determination module configured to acquire GNSS data, determine current characteristic parameters of the current point of the satellite based on the GNSS data, and calculate reference characteristic parameters of a first target reference point based on the GNSS data and the fitting formula; a pipeline deviation calculation module configured to calculate a semi-major axis deviation and a pipeline deviation based on the current characteristic parameters of the current point of the satellite and the reference characteristic parameters of the first target reference point; a predicted inflection point determination module configured to determine the quadrant of the current point of the satellite in the Earth-fixed coordinate system and the out-of-plane component of the predicted inflection point of the satellite based on the normal component of the semi-major axis deviation and the pipeline deviation; a control strategy determination module configured to calculate an eccentricity deviation based on the current characteristic parameters of the current point of the satellite and the reference characteristic parameters of the first target reference point, and determine a control strategy based on the quadrant of the current point of the satellite in the Earth-fixed coordinate system, the out-of-plane component of the predicted inflection point of the satellite, and the eccentricity deviation.

[0020] In a third aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory, where the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the steps of the method according to any one of the above first aspects.

[0021] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, it executes the steps of the method according to any one of the above first aspects.

[0022] The embodiments of the present invention bring the following beneficial effects:

[0023] The control method and device for the autonomous entry of a satellite into a pipe on a strict regression orbit provided by the embodiments of the present invention first fit the target strict regression orbit to obtain a fitting formula; secondly, obtain GNSS data, and determine the current characteristic parameters of the current point of the satellite based on the GNSS data, and calculate the reference characteristic parameters of the first target reference point based on the GNSS data and the fitting formula; then calculate the semi-major axis deviation and the pipe deviation based on the current characteristic parameters of the current point of the satellite and the reference characteristic parameters of the first target reference point; then determine the quadrant of the current point of the satellite in the Earth-fixed coordinate system and the out-of-plane component of the predicted inflection point of the satellite based on the normal components of the semi-major axis deviation and the pipe deviation; finally, calculate the eccentricity deviation based on the current characteristic parameters of the current point of the satellite and the reference characteristic parameters of the first target reference point, and determine the control strategy based on the quadrant of the current point of the satellite in the Earth-fixed coordinate system, the out-of-plane component of the predicted inflection point of the satellite, and the eccentricity deviation. The above method can get rid of the dependence on the ground, formulate the control strategy in real time based on the GNSS data and the target strict regression orbit, and improve the autonomy of satellite orbit control; at the same time, when formulating the control strategy, first determine the quadrant where the current point of the satellite is located according to the semi-major axis deviation and the pipe deviation, and then formulate specific control strategies according to different quadrants and the deviation of the target strict regression orbit, thereby improving the control accuracy.

[0024] Other features and advantages of the present invention will be described in the following specification, and in part will be obvious from the specification, or can be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the specification, claims and drawings.

[0025] To make the above objectives, features and advantages of the present invention more obvious and understandable, the following specific preferred embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1 It is a flowchart of a control method for the autonomous entry of a satellite into a pipe on a strict regression orbit provided by the embodiments of the present invention;

[0028] Figure 2 It is a schematic diagram for calculating pipe errors provided by the embodiments of the present invention;

[0029] Figure 3 It is a schematic diagram for predicting inflection points provided by the embodiments of the present invention;

[0030] Figure 4 A pipeline entry control method judgment flow chart provided by an embodiment of the present invention;

[0031] Figure 5 A control flow chart of a strict regression track entering a pipeline provided by an embodiment of the present invention;

[0032] Figure 6 A schematic diagram of the structure of a control device for entering a pipeline on a strict regression track provided by an embodiment of the present invention;

[0033] Figure 7 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] At present, the traditional orbit control method is to design the control strategy on the ground, which is highly dependent on the accuracy of orbit recursion. When the earth's environment changes drastically, the accuracy of ground recursion is poor, and it is difficult to meet the high-precision orbit control requirements. In addition, the control is dependent on the ground and does not have the autonomy of orbit control.

[0036] Based on this, the control method and device for autonomously entering a strict regression orbit pipeline provided by the embodiment of the present invention can get rid of dependence on the ground, formulate control strategies in real time on orbit, and improve the autonomy of satellite orbit control.

[0037] To facilitate understanding of this embodiment, a control method for autonomously entering a pipeline into a strict regression orbit disclosed in an embodiment of the present invention is first introduced in detail. This method can be executed by a satellite control system. Figure 1 The flowchart of a control method for autonomously entering a pipeline on a strict regression track is shown, indicating that the method mainly includes the following steps S101 to S104:

[0038] Step S101: Fitting the target strict regression orbit to obtain a fitting formula.

[0039] In one embodiment, the target strict regression orbit can be segmented according to the pipeline loop number, and the target orbit of each loop is polynomially fitted to obtain the fitting formula of each loop; wherein, the fitting formula is a function with the latitude argument as the independent variable, as specifically shown below:

[0040] x Nfixed =C Nnx ·u n +C Nn-1x ·u n-1 +…+C N2x u 2 +C N1x u+C N0x

[0041] y Nfixed =C Nny ·u n +C Nn-1y ·u n-1 +…+C N2y u 2 +C N1y u+C N0y

[0042] z Nfixed =C Nnz ·u n +C Nn-1z ·u n-1 +…+C N2z u 2 +C N1z u+C N0z

[0043] a Nfixed =C Nna ·u n +C Nn-1a ·u n-1 +…+C N2a u 2 +C N1a u+C N0a

[0044] e Nfixed =C nne ·u n +C Nn-1e ·u n-1 +…+C N2e u 2 +C N1a u+C N0e

[0045] ω Nfixed =C Nnω ·u n +C Nn-1ω ·u n-1 +…+CN2ω u 2 + C N1ω u + C N0ω

[0046] where x Nfixed , y Nfixed , z Nfixed , a Nfixed are respectively the position information and semi-major axis in the geocentric coordinate system of the Nth orbit of the target strict regression orbit. C is the polynomial coefficient, u is the latitude argument, n is the fitting order, and N is the orbit number. Specifically, in this embodiment, the fitting order can be determined according to the orbit number of the target orbit and the accuracy requirement of fitting.

[0047] In the embodiment of the present invention, the target strict regression orbit is polynomially fitted and uploaded to the satellite. Different from the discrete point upload method, this fitting method can immediately find the target orbit point corresponding to the current point according to the latitude argument of the current point, reducing the search amount on the satellite. At the same time, this method can design the target orbit afterwards according to the mission constraints or the in-orbit situation after launch. On the premise of ensuring accuracy, the data volume of the fitting coefficients is much smaller than that of the discrete points.

[0048] Step S102: Obtain GNSS data, determine the current characteristic parameters of the satellite at the current point based on the GNSS data, and calculate the reference characteristic parameters of the first target reference point based on the GNSS data and the fitting formula.

[0049] In one implementation, after the satellite is on orbit, it can obtain the GNSS data of the satellite at the current point in real time according to the Global Navigation Satellite System (GNSS), including the current characteristic parameters of the satellite at the current point: the current position information x cur , y cur , z cur , the current orbit semi-major axis a cur , the current argument of perigee ω cur and the current eccentricity e cur .

[0050] Furthermore, first calculate the current latitude argument of the satellite at the current point based on the GNSS data; then substitute the current latitude argument into the fitting formula corresponding to the orbit number where the satellite is currently located to calculate the reference characteristic parameters of the first target reference point.

[0051] In specific implementation, the GNSS data also includes the running speed of the satellite, etc. Furthermore, the latitude argument of the current point of the satellite can be calculated based on the running speed of the satellite. Substituting the latitude argument of the current point of the satellite and the current revolution number where the satellite is located into the corresponding fitting formula, the reference characteristic parameters of the first target reference point in the current Earth-fixed coordinate system can be calculated. Among them, the reference characteristic parameters at least include: reference position information x ref , y ref , z ref , reference orbital semi-major axis a ref , reference argument of perigee ω ref and reference eccentricity e ref .

[0052] Step S103: Calculate the semi-major axis deviation and the pipeline deviation based on the current characteristic parameters of the current point of the satellite and the reference characteristic parameters of the first target reference point.

[0053] In one implementation manner, the semi-major axis error can be calculated based on the current orbital semi-major axis of the current point of the satellite and the reference orbital semi-major axis of the first target reference point, and the pipeline deviation can be calculated based on the current position information of the current point of the satellite and the reference position information of the first target reference point.

[0054] Step S104: Determine the quadrant of the current point of the satellite in the Earth-fixed coordinate system and the out-of-plane component of the predicted inflection point of the satellite based on the normal components of the semi-major axis deviation and the pipeline deviation.

[0055] Step S105: Calculate the eccentricity deviation based on the current characteristic parameters of the current point of the satellite and the reference characteristic parameters of the first target reference point, and determine the control strategy based on the quadrant of the current point of the satellite in the Earth-fixed coordinate system, the out-of-plane component of the predicted inflection point of the satellite, and the eccentricity deviation.

[0056] In one implementation manner, the eccentricity error is:[[]]

[0057]

[0058] Furthermore, different control strategies are determined according to the quadrant where the current point of the satellite is located and the deviation of the target orbit (the out-of-plane component of the predicted inflection point and the eccentricity deviation), etc.

[0059] The above control method for the autonomous entry of a satellite into a pipeline along a strict regression orbit provided by the embodiments of the present invention can get rid of the dependence on the ground, formulate control strategies in real time based on GNSS data and the target strict regression orbit, and improve the autonomy and redundancy of satellite orbit control; at the same time, when formulating control strategies, first determine the quadrant where the current point of the satellite is located according to the semi-major axis deviation and the pipeline deviation, and then formulate specific control strategies according to different quadrants and the deviation of the target strict regression orbit, thereby improving the control accuracy.

[0060] In one implementation, for the aforementioned step S103, that is, when calculating the semi-major axis deviation and the pipeline deviation based on the current characteristic parameters of the satellite's current point and the reference characteristic parameters of the first target reference point, the following methods can be adopted, including but not limited to:

[0061] First, calculate the semi-major axis deviation based on the current orbital semi-major axis of the satellite's current point and the reference orbital semi-major axis of the first target reference point.

[0062] In specific implementation, the semi-major axis deviation Δa = a cur - a ref . Where a cur is the current orbital semi-major axis of the current point, and a ref is the reference orbital semi-major axis of the first target reference point.

[0063] Secondly, determine the predicted latitude argument based on the current latitude argument and the preset latitude argument deviation, and substitute the predicted latitude argument into the fitting formula corresponding to the current circle of the satellite's current point to calculate the reference position information of the second target reference point.

[0064] In specific implementation, the predicted latitude argument is u cur + Δu, and substituting it into the fitting formula corresponding to the current circle of the satellite's current point, the reference position information of the second target reference point is obtained. Where Δu is the preset latitude argument deviation, and u cur is the current latitude argument.

[0065] Then, determine the reference vector based on the reference position information of the first target reference point, the reference position information of the second target reference point, and the current position information of the satellite's current point.

[0066] In specific implementation, as shown in Figure 2 , the reference position information x ref , y ref , z ref of the first target reference point can be denoted as Denote the reference position information of the second target reference point as Denote the current position information x cur , y cur , z cur of the satellite's current point as Then calculate the reference vector according to the following formula:

[0067] Normal vector:

[0068] Tangent vector:

[0069] Radial vector:

[0070] Next, calculate the position deviation based on the current position information of the current point of the satellite and the reference position information of the first target reference point.

[0071] In a specific implementation, the position deviation:

[0072] Finally, calculate the pipeline deviation based on the position deviation and the reference vector.

[0073] In a specific implementation, where ER is the pipeline deviation, ET is the tangential component of the pipeline deviation, and EN is the normal component of the pipeline deviation.

[0074] In one implementation manner, for the foregoing step S104, that is, when determining the quadrant of the current point of the satellite in the earth-fixed coordinate system based on the semi-major axis deviation and the normal component of the pipeline deviation, the following manners may be included but are not limited to:

[0075] If the semi-major axis deviation is greater than zero and the normal component of the pipeline deviation is greater than zero, the current point of the satellite is located in the first quadrant, that is, Δa>0, E N >0, located in the first quadrant;

[0076] If the semi-major axis deviation is greater than zero and the normal component of the pipeline deviation is less than zero, the current point of the satellite is located in the second quadrant, that is, Δa>0, E N <0, located in the second quadrant;

[0077] If the semi-major axis deviation is less than zero and the normal component of the pipeline deviation is less than zero, the current point of the satellite is located in the third quadrant, that is, Δa<0, E N <0, located in the third quadrant;

[0078] If the semi-major axis deviation is less than zero and the normal component of the pipeline deviation is greater than zero, the current point of the satellite is located in the fourth quadrant, that is, Δa<0, E N >0, located in the fourth quadrant;

[0079] In other cases, the current point falls on the coordinate axis.

[0080] In the embodiment of the present invention, the quadrant where the current position is located is determined by the semi-major axis deviation and the normal component of the pipeline deviation. Different from judging by the value of the pipeline deviation ER, the orbit control is to control the orbital elements, and there is no linear relationship between the ER value and the semi-major axis deviation. Replacing the in-plane pipeline deviation with the semi-major axis deviation improves the control accuracy.

[0081] In one implementation manner, for the foregoing step S104, that is, when determining the out-of-plane component of the predicted inflection point of the satellite based on the semi-major axis deviation and the normal component of the pipeline deviation, the following manners may be included but are not limited to:

[0082] Calculate the out-of-plane component of the predicted inflection point of the satellite according to the following formula:

[0083]

[0084] where, EN pred represents the out-of-plane component of the predicted inflection point, EN represents the normal component of the pipeline deviation, R represents the distance from the geocenter to the satellite, a represents the current orbital semi-major axis, Δa represents the semi-major axis deviation, represents the semi-major axis decay rate.

[0085] In specific implementation, refer to Figure 3 As shown, the lateral distance from the point at the westernmost end of the trajectory to the current point is where the time unit is days, then the out-of-plane component of the predicted inflection point is:

[0086] In one implementation manner, for the aforementioned step S105, that is, when determining the control strategy based on the quadrant of the satellite's current point in the Earth-fixed coordinate system, the out-of-plane component of the satellite's predicted inflection point, and the eccentricity deviation, the following manners including but not limited to can be adopted:

[0087] (1) When the satellite's current point is in the first quadrant, and the modulus of the out-of-plane component of the predicted inflection point is greater than the out-of-plane control threshold or the eccentricity deviation is greater than the eccentricity threshold, if the semi-major axis deviation is less than the semi-major axis deviation threshold and the eccentricity deviation is greater than the eccentricity threshold, then perform eccentricity correction; otherwise, perform combined semi-major axis and eccentricity correction;

[0088] (2) When the satellite's current point is in the second quadrant, if the modulus of the out-of-plane component of the predicted inflection point is less than the out-of-plane control threshold, and the semi-major axis deviation is equal to the first target semi-major axis deviation, then perform semi-major axis control; if the modulus of the out-of-plane component of the predicted inflection point is greater than or equal to the out-of-plane control threshold, and the eccentricity deviation is greater than the eccentricity threshold, then perform eccentricity correction;

[0089] (3) When the satellite's current point is in the third quadrant, if the semi-major axis deviation is greater than the semi-major axis deviation threshold, and the semi-major axis deviation is equal to the second target semi-major axis deviation, then perform semi-major axis control; if the semi-major axis deviation is less than or equal to the semi-major axis deviation threshold, and the eccentricity deviation is greater than the eccentricity threshold, then perform eccentricity correction;

[0090] (4) When the satellite's current point is in the fourth quadrant, if the semi-major axis deviation is equal to the third target semi-major axis deviation, then perform semi-major axis control; otherwise, stop control.

[0091] Refer to Figure 4The flow chart for judging the pipeline entry control method. After the pipeline entry control, it first judges the quadrant where the current point is located. When the current point of the satellite is in the first quadrant, it first judges the relationship between the modulus of the out-of-plane component of the predicted inflection point and the out-of-plane control threshold, and the relationship between the eccentricity deviation and the eccentricity threshold. If the modulus of the out-of-plane component of the predicted inflection point is greater than the out-of-plane control threshold or the eccentricity deviation is greater than the eccentricity threshold (i.e., EN pred >EN limt or Δe > e limt ), then it further judges the relationship between the semi-major axis deviation and the semi-major axis deviation threshold, and the relationship between the eccentricity deviation and the eccentricity threshold. Otherwise, the control is stopped; if the semi-major axis deviation is less than the semi-major axis deviation threshold and the eccentricity deviation is greater than the eccentricity threshold (i.e., Δa < a ctl and Δe > e limt ), then the eccentricity correction is carried out. Otherwise, the combined correction of the semi-major axis and eccentricity is carried out.

[0092] When the current point of the satellite is in the second quadrant, it first judges the relationship between the modulus of the out-of-plane component of the predicted inflection point and the out-of-plane control threshold. If the modulus of the out-of-plane component of the predicted inflection point is less than the out-of-plane control threshold (i.e., EN pred < EN limt ), then it further judges the relationship between the semi-major axis deviation and the first target semi-major axis deviation. If the semi-major axis deviation is equal to the first target semi-major axis deviation (i.e., Δa = Δa 1 ), then the semi-major axis control is carried out; if the modulus of the out-of-plane component of the predicted inflection point is greater than or equal to the out-of-plane control threshold, then it further judges the relationship between the eccentricity deviation and the eccentricity threshold. If the eccentricity deviation is greater than the eccentricity threshold (i.e., Δe > e limt ), then the eccentricity correction is carried out. Otherwise, the control is stopped.

[0093] When the current point of the satellite is in the third quadrant, it first judges the relationship between the semi-major axis deviation and the semi-major axis deviation threshold. If the semi-major axis deviation is greater than the semi-major axis deviation threshold (i.e., Δa > a ctl ), then it further judges the relationship between the semi-major axis deviation and the second target semi-major axis deviation. If the semi-major axis deviation is equal to the second target semi-major axis deviation (i.e., Δa = Δa 2 ), then the semi-major axis control is carried out; if the semi-major axis deviation is less than or equal to the semi-major axis deviation threshold, then it further judges the relationship between the eccentricity deviation and the eccentricity threshold. If the eccentricity deviation is greater than the eccentricity threshold (Δe > e limt ), then the eccentricity correction is carried out. Otherwise, the control is stopped.

[0094] When the current point of the satellite is in the fourth quadrant, it judges the relationship between the semi-major axis deviation and the third target semi-major axis deviation. If the semi-major axis deviation is equal to the third target semi-major axis deviation (i.e., Δa = Δa 3) If so, perform semi-major axis control; otherwise, stop the control.

[0095] It should be noted that EN limt is the out-of-plane control threshold, e limt is the eccentricity threshold, a ctl is the semi-major axis deviation threshold, Δa 1 is the first target semi-major axis deviation, Δa 2 is the second target semi-major axis deviation, Δa 3 is the third target semi-major axis deviation. The above parameters are all parameter thresholds set during design and can be specifically set according to actual situations and accuracy, and are not limited here.

[0096] The above method provided by the embodiments of the present invention improves the traditional ground-dependent method for pipeline entry control, ensures on-orbit real-time performance, and enhances the autonomy and redundancy of the satellite; at the same time, it also avoids poor control effects caused by inaccurate ground recursion accuracy, which is beneficial to improving the accuracy of pipeline entry.

[0097] For ease of understanding, the embodiments of the present invention also provide a control flowchart for entering a pipeline in a strict regression orbit, as shown in Figure 5 shown, mainly including the following steps S501 to step S506:

[0098] Step S501: Fit the target orbit and upload the fitting coefficients to the satellite.

[0099] Specifically, fit the target strict regression orbit according to the orbit cycle, and fit the position information and orbit semi-major axis in the earth-fixed system of each cycle as a function of the latitude argument.

[0100] Step S502: Determine the current cycle and the target reference point.

[0101] Specifically, obtain the current latitude argument from the GNSS data, and calculate the target reference point from the latitude argument and the current cycle.

[0102] Step S503: Calculate the pipeline error.

[0103] Specifically, calculate the pipeline error of the real orbit relative to the target orbit. Define a reference coordinate system (i.e., reference vector) based on the target reference point, and project the vector deviation of the current position relative to the reference point in the reference coordinate system to calculate the pipeline error.

[0104] Step S504: Determine the quadrant where the current satellite point is located.

[0105] Specifically, calculate the semi-major axis deviation between the current orbit semi-major axis and the reference orbit semi-major axis, and combine the semi-major axis deviation and the normal component of the pipeline error to determine the quadrant where the current position is located.

[0106] Step S505: Predict the inflection point position.

[0107] Specifically, calculate the inflection point position by combining the normal component of the pipeline error and the semi-major axis deviation.

[0108] Step S506: Determine the control method.

[0109] Specifically, formulate a control strategy by combining the pipeline error, the semi-major axis error, and the quadrant where it is located.

[0110] It should be noted that for the method provided in the embodiment of the present invention, its implementation principle and the technical effects produced are the same as those of the foregoing method embodiment, and will not be elaborated herein.

[0111] For the control method for a strict regression orbit to enter a pipeline provided in the foregoing embodiment, the embodiment of the present invention also provides a control device for a strict regression orbit to enter a pipeline. Refer to Figure 6 the structural schematic diagram of a control device for a strict regression orbit to enter a pipeline shown in

[0112] The fitting module 601 is used to fit the target strict regression orbit to obtain a fitting formula;

[0113] The target reference point determination module 602 is used to obtain GNSS data, determine the current characteristic parameters of the satellite's current point based on the GNSS data, and calculate the reference characteristic parameters of the first target reference point based on the GNSS data and the fitting formula;

[0114] The pipeline deviation calculation module 603 is used to calculate the semi-major axis deviation and the pipeline deviation based on the current characteristic parameters of the satellite's current point and the reference characteristic parameters of the first target reference point;

[0115] The predicted inflection point determination module 604 is used to determine the quadrant of the satellite's current point in the earth-fixed coordinate system and the out-of-plane component of the satellite's predicted inflection point based on the normal component of the semi-major axis deviation and the pipeline deviation;

[0116] The control strategy determination module 605 is used to calculate the eccentricity deviation based on the current characteristic parameters of the satellite's current point and the reference characteristic parameters of the first target reference point, and determine the control strategy based on the quadrant of the satellite's current point in the earth-fixed coordinate system, the out-of-plane component of the satellite's predicted inflection point, and the eccentricity deviation.

[0117] The above control device for the autonomous entry of a satellite into a pipe in the embodiments of the present invention can get rid of the dependence on the ground, formulate control strategies in real time based on GNSS data and the target strict regression orbit, improving the autonomy and redundancy of satellite orbit control; at the same time, when formulating control strategies, first determine the quadrant where the current satellite point is located according to the semi-major axis deviation and the pipe deviation, and then formulate specific control strategies according to different quadrants and the deviation of the target strict regression orbit, improving the control accuracy.

[0118] In one embodiment, the above fitting module 601 is further configured to: divide the target strict regression orbit according to the number of pipe turns, and perform polynomial fitting on the target orbit of each turn to obtain the fitting formula of each turn; wherein, the fitting formula is a function with the latitude argument as the independent variable.

[0119] In one embodiment, the above target reference point determination module 602 is further configured to: calculate the current latitude argument of the current satellite point based on the GNSS data; substitute the current latitude argument into the fitting formula corresponding to the turn where the current satellite point is located, and calculate the reference characteristic parameters of the first target reference point; wherein, the reference characteristic parameters at least include: reference position information, reference orbit semi-major axis, reference argument of perigee, and reference eccentricity.

[0120] In one embodiment, the above pipe deviation calculation module 603 is further configured to: calculate the semi-major axis deviation based on the current orbit semi-major axis of the current satellite point and the reference orbit semi-major axis of the first target reference point; determine the predicted latitude argument based on the current latitude argument and the preset latitude argument deviation, and substitute the predicted latitude argument into the fitting formula corresponding to the turn where the current satellite point is located to calculate the reference position information of the second target reference point; determine the reference vector based on the reference position information of the first target reference point, the reference position information of the second target reference point, and the current position information of the current satellite point; calculate the position deviation based on the current position information of the current satellite point and the reference position information of the first target reference point; calculate the pipe deviation based on the position deviation and the reference vector.

[0121] In one embodiment, the above predicted inflection point determination module 604 is further configured to: if the semi-major axis deviation is greater than zero and the normal component of the pipe deviation is greater than zero, the current satellite point is located in the first quadrant; if the semi-major axis deviation is greater than zero and the normal component of the pipe deviation is less than zero, the current satellite point is located in the second quadrant; if the semi-major axis deviation is less than zero and the normal component of the pipe deviation is less than zero, the current satellite point is located in the third quadrant; if the semi-major axis deviation is less than zero and the normal component of the pipe deviation is greater than zero, the current satellite point is located in the fourth quadrant.

[0122] In one embodiment, the above predicted inflection point determination module 604 is further configured to: calculate the out-of-plane component of the predicted inflection point of the satellite according to the following formula:

[0123]

[0124] Among them, EN pred represents the out-of-plane component of the predicted inflection point, EN represents the normal component of the pipeline deviation, R represents the distance from the geocenter to the satellite, a represents the semi-major axis of the orbit, Δa represents the semi-major axis deviation, represents the semi-major axis decay rate.

[0125] In one embodiment, the above control strategy determination module 605 is further configured to: when the current point of the satellite is in the first quadrant, if the magnitude of the out-of-plane component of the predicted inflection point is greater than the out-of-plane control threshold or the eccentricity deviation is greater than the eccentricity threshold, and if the semi-major axis deviation is less than the semi-major axis deviation threshold and the eccentricity deviation is greater than the eccentricity threshold, then perform eccentricity correction; otherwise, perform combined semi-major axis and eccentricity correction; when the current point of the satellite is in the second quadrant, if the magnitude of the out-of-plane component of the predicted inflection point is less than the out-of-plane control threshold and the semi-major axis deviation is equal to the first target semi-major axis deviation, then perform semi-major axis control; if the magnitude of the out-of-plane component of the predicted inflection point is greater than or equal to the out-of-plane control threshold and the eccentricity deviation is greater than the eccentricity threshold, then perform eccentricity correction; when the current point of the satellite is in the third quadrant, if the semi-major axis deviation is greater than the semi-major axis deviation threshold and the semi-major axis deviation is equal to the second target semi-major axis deviation, then perform semi-major axis control; if the semi-major axis deviation is less than or equal to the semi-major axis deviation threshold and the eccentricity deviation is greater than the eccentricity threshold, then perform eccentricity correction; when the current point of the satellite is in the fourth quadrant, if the semi-major axis deviation is equal to the third target semi-major axis deviation, then perform semi-major axis control; otherwise, stop control.

[0126] It should be noted that the device provided in the embodiments of the present invention has the same implementation principle and the same technical effects as those in the foregoing method embodiments. For the sake of brief description, for the parts not mentioned in the device embodiments, reference may be made to the corresponding content in the foregoing method embodiments.

[0127] The embodiments of the present invention further provide an electronic device. Specifically, the electronic device includes a processor and a storage device; a computer program is stored on the storage device, and the computer program, when run by the processor, executes the method according to any one of the above embodiments.

[0128] Figure 7 FIG. is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. The electronic device 100 includes: a processor 70, a memory 71, a bus 72, and a communication interface 73. The processor 70, the communication interface 73, and the memory 71 are connected through the bus 72; the processor 70 is configured to execute an executable module stored in the memory 71, such as a computer program.

[0129] Among them, the memory 71 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 73 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used.

[0130] The bus 72 can be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 7 only a bidirectional arrow is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0131] Among them, the memory 71 is used to store a program. After receiving an execution instruction, the processor 70 executes the program. The method executed by the device defined by the flow process disclosed in any one of the foregoing embodiments of the present invention can be applied to the processor 70 or implemented by the processor 70.

[0132] The processor 70 may be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 70 or the instructions in the form of software. The above-mentioned processor 70 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 71, and the processor 70 reads the information in the memory 71 and combines its hardware to complete the steps of the above method.

[0133] The computer program product of the readable storage medium provided by the embodiments of the present invention includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the method described in the foregoing method embodiments. For the specific implementation, reference can be made to the foregoing method embodiments, which will not be elaborated herein.

[0134] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0135] Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A control method for autonomously entering a pipeline on a strict regression track, characterized in that: include: Fitting the target strict regression orbit to obtain the fitting formula; Acquire GNSS data, determine current characteristic parameters of a current satellite point based on the GNSS data, and calculate reference characteristic parameters of a first target reference point based on the GNSS data and the fitting formula; Calculate the semi-major axis deviation and the pipeline deviation based on the current characteristic parameters of the current point of the satellite and the reference characteristic parameters of the first target reference point; Determine the quadrant of the current point of the satellite in the earth-fixed coordinate system and the out-of-plane component of the predicted inflection point of the satellite based on the semi-major axis deviation and the normal component of the pipeline deviation; The eccentricity deviation is calculated based on the current characteristic parameters of the current point of the satellite and the reference characteristic parameters of the first target reference point, and the control strategy is determined based on the quadrant of the current point of the satellite in the earth-fixed coordinate system, the out-of-plane component of the predicted inflection point of the satellite, and the eccentricity deviation.

2. The method according to claim 1, characterized in that The fitting formula is obtained by fitting the target strict regression orbit, including: The target strict regression orbit is segmented according to the pipeline circle number, and a polynomial fitting is performed on the target orbit of each circle to obtain a fitting formula for each circle; wherein the fitting formula is a function with the latitude argument as the independent variable.

3. The method according to claim 1, characterized in that Calculating reference characteristic parameters of a first target reference point based on the GNSS data and the fitting formula includes: Calculate the current latitude argument of the satellite current point based on the GNSS data; Substitute the current latitude argument into the fitting formula corresponding to the circle of the current satellite point to calculate the reference characteristic parameters of the first target reference point; wherein the reference characteristic parameters include at least: reference position information, reference orbit semi-major axis, reference perigee argument and reference eccentricity.

4. The method according to claim 3, characterized in that The current characteristic parameters of the current point of the satellite include at least: current position information, current orbit semi-major axis, current perigee argument and current eccentricity; Calculating the semi-major axis deviation and the pipeline deviation based on the current characteristic parameters of the current point of the satellite and the reference characteristic parameters of the first target reference point includes: Calculate the semi-major axis deviation based on the current orbit semi-major axis of the current point of the satellite and the reference orbit semi-major axis of the first target reference point; Determine a predicted latitude argument based on the current latitude argument and a preset latitude argument deviation, and substitute the predicted latitude argument into a fitting formula corresponding to the orbit of the current satellite point to calculate reference position information of a second target reference point; Determine a reference vector based on the reference position information of the first target reference point, the reference position information of the second target reference point, and the current position information of the current point of the satellite; Calculate the position deviation based on the current position information of the current point of the satellite and the reference position information of the first target reference point; A pipeline deviation is calculated based on the position deviation and the reference vector.

5. The method according to claim 1, characterized in that: Determining the quadrant of the current point of the satellite in the earth-fixed coordinate system based on the semi-major axis deviation and the normal component of the pipeline deviation includes: If the semi-major axis deviation is greater than zero and the normal component of the pipeline deviation is greater than zero, the current point of the satellite is located in the first quadrant; If the semi-major axis deviation is greater than zero and the normal component of the pipeline deviation is less than zero, the current point of the satellite is located in the second quadrant; If the semi-major axis deviation is less than zero and the normal component of the pipeline deviation is less than zero, the current point of the satellite is located in the third quadrant; If the semi-major axis deviation is less than zero and the normal component of the pipeline deviation is greater than zero, the current point of the satellite is located in the fourth quadrant.

6. The method according to claim 1, characterized in that Determining an out-of-plane component of a predicted inflection point of the satellite based on the semi-major axis deviation and a normal component of the pipeline deviation includes: The out-of-plane component of the predicted inflection point of the satellite is calculated according to the following formula: Among them, EN pred represents the out-of-plane component of the predicted inflection point, EN represents the normal component of the pipeline deviation, R represents the distance from the center of the earth to the satellite, a represents the semi-major axis of the orbit, Δa represents the semi-major axis deviation, represents the semi-major axis decay rate.

7. The method according to claim 1, characterized in that The control strategy is determined based on the quadrant of the current point of the satellite in the earth-fixed coordinate system, the out-of-plane component of the predicted inflection point of the satellite, and the eccentricity deviation, including: When the current point of the satellite is located in the first quadrant, the modulus of the out-of-plane component of the predicted inflection point is greater than the out-of-plane control threshold or the eccentricity deviation is greater than the eccentricity threshold, if the semi-major axis deviation is less than the semi-major axis deviation threshold and the eccentricity deviation is greater than the eccentricity threshold, eccentricity correction is performed, otherwise, a semi-major axis eccentricity joint correction is performed; When the current point of the satellite is located in the second quadrant, if the modulus of the out-of-plane component of the predicted inflection point is less than the out-of-plane control threshold, and the semi-major axis deviation is equal to the first target semi-major axis deviation, semi-major axis control is performed; if the modulus of the out-of-plane component of the predicted inflection point is greater than or equal to the out-of-plane control threshold, and the eccentricity deviation is greater than the eccentricity threshold, eccentricity correction is performed; When the current point of the satellite is located in the third quadrant, if the semi-major axis deviation is greater than the semi-major axis deviation threshold, and the semi-major axis deviation is equal to the second target semi-major axis deviation, semi-major axis control is performed; if the semi-major axis deviation is less than or equal to the semi-major axis deviation threshold, and the eccentricity deviation is greater than the eccentricity threshold, eccentricity correction is performed; When the current point of the satellite is located in the fourth quadrant, if the semi-major axis deviation is equal to the third target semi-major axis deviation, semi-major axis control is performed, otherwise the control is stopped.

8. A control device for entering a pipeline on a strict regression track, characterized in that: include: A fitting module is used to fit the target strict regression orbit to obtain a fitting formula; a target reference point determination module, configured to obtain GNSS data, determine current characteristic parameters of a current satellite point based on the GNSS data, and calculate reference characteristic parameters of a first target reference point based on the GNSS data and the fitting formula; A pipeline deviation calculation module, used for calculating the semi-major axis deviation and the pipeline deviation based on the current characteristic parameters of the current point of the satellite and the reference characteristic parameters of the first target reference point; A predicted inflection point determination module, used to determine the quadrant of the current point of the satellite in the earth-fixed coordinate system and the out-of-plane component of the predicted inflection point of the satellite based on the semi-major axis deviation and the normal component of the pipeline deviation; A control strategy determination module is used to calculate the eccentricity deviation based on the current characteristic parameters of the current point of the satellite and the reference characteristic parameters of the first target reference point, and to determine the control strategy based on the quadrant of the current point of the satellite in the earth-fixed coordinate system, the out-of-plane component of the predicted inflection point of the satellite and the eccentricity deviation.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are performed.

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