A space target staring tracking multi-stage compound control method

Abstract

The application provides a space target gazing tracking multi-stage compound control method. A satellite platform first-stage control system and an active pointing super static platform second-stage control system are jointly controlled; the method comprises the following steps: based on the attitude angle of the satellite gazing space target, the first inertial quaternion and the first inertial angular velocity of the satellite gazing space target in the first control period are calculated, so that the attitude control torque of the first-stage control system is obtained; the first inertial quaternion and the first inertial angular velocity are calculated based on an interpolation method, so that the second inertial quaternion and the second inertial angular velocity of the satellite gazing space target in the active pointing second-stage control period are obtained, and the attitude control torque of the active super static platform second-stage control system is further obtained; and the space target is gazed and tracked based on the attitude control torque of the satellite platform first-stage control system and the attitude control torque of the active super static platform second-stage control system. According to the scheme, the precise and stable gazing tracking of the space target can be realized.

Description

Technical Field

[0001] This invention relates to the field of spacecraft attitude control technology, and in particular to a multi-level composite control method for staring tracking of space targets. Background Technology

[0002] Tasks such as staring tracking of faint targets in space have created a demand for high-precision pointing and high-stability control of targets.

[0003] Currently, remote sensing satellite attitude control systems equipped with area array cameras only include a first-level model of the satellite and do not include a second-level attitude control system for the payload. Due to limitations such as sensor measurement bandwidth and actuator response bandwidth, it is difficult to concentrate the energy of space targets when imaging them using area array cameras, thus making it difficult to meet the high-performance tracking and control requirements for moving space targets.

[0004] Therefore, there is an urgent need to provide a multi-level composite control method for staring tracking of space targets. Summary of the Invention

[0005] To address the challenge that traditional control methods for remote sensing satellites equipped with area array cameras cannot achieve high-performance tracking of moving targets in space, this invention provides a multi-level composite control method for staring tracking of space targets.

[0006] In a first aspect, embodiments of the present invention provide a multi-level composite control method for staring tracking of space targets, which employs joint control of a satellite platform primary control system and an active pointing ultra-quiet platform secondary control system.

[0007] The methods include:

[0008] Based on the obtained position and velocity vectors of the satellite and the space target in the inertial frame, respectively, the attitude angle of the satellite staring at the space target is calculated;

[0009] Based on the attitude angle of the satellite staring at the space target, calculate the first inertial quaternion and the first inertial angular velocity of the satellite staring at the space target during the first-level control cycle of the satellite platform.

[0010] Based on the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the satellite platform's primary control system, calculate the attitude control torque of the satellite platform's primary control system;

[0011] The inertial quaternion and inertial angular velocity of the satellite staring at the space target are calculated based on the interpolation method, and the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target are obtained during the second-level control cycle of the active pointing ultra-quiet platform.

[0012] Based on the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the active ultra-quiet platform secondary control system, calculate the attitude control torque of the active ultra-quiet platform secondary control system;

[0013] The attitude control torque of the primary control system of the satellite platform and the attitude control torque of the secondary control system of the active ultra-quiet platform are used to perform staring tracking of the space target.

[0014] Secondly, embodiments of the present invention also provide a multi-level composite control device for staring and tracking space targets, which employs a satellite platform primary control system and an active pointing ultra-quiet platform secondary control system for joint control.

[0015] The device includes:

[0016] The attitude angle calculation unit is used to calculate the attitude angle of the satellite staring at the space target based on the position vector and velocity vector of the satellite and the space target in the inertial frame, respectively.

[0017] The first inertial parameter calculation unit is used to calculate the first inertial quaternion and the first inertial angular velocity of the satellite staring at the space target within the first-level control cycle of the satellite platform, based on the attitude angle of the satellite staring at the space target.

[0018] The first-level control torque calculation unit is used to calculate the attitude control torque of the satellite platform's first-level control system based on the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the satellite platform's first-level control system.

[0019] The second inertial parameter calculation unit is used to calculate the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target during the second-level control cycle of the active pointing ultra-quiet platform, based on the inertial quaternion and inertial angular velocity of the satellite staring at the space target.

[0020] The secondary control torque calculation unit is used to calculate the attitude control torque of the secondary control system of the active ultra-quiet platform based on the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the secondary control system of the active ultra-quiet platform.

[0021] The staring tracking unit is used to stare and track the space target based on the attitude control torque of the primary control system of the satellite platform and the attitude control torque of the secondary control system of the active ultra-quiet platform.

[0022] Thirdly, embodiments of the present invention also provide a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method described in any embodiment of this specification.

[0023] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the methods described in any embodiment of this specification.

[0024] On the other hand, embodiments of this application also provide a computer program product, which includes a computer program, wherein a processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, causing the computer device to perform any of the methods described in the above embodiments.

[0025] On the other hand, embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described above.

[0026] This invention provides a multi-level composite control method for staring tracking of space targets. By equipping a satellite with an area array camera to image space targets, detailed characteristics of the space targets can be obtained. The method employs a combined control approach of a satellite platform primary control system and an active ultra-quiet platform secondary control system to perform imaging tracking of space targets. This enables target attitude calculation for staring tracking of space targets, ensuring that the energy of the space targets is concentrated and image rotation does not occur during the process of the satellite pointing at the space targets in the inertial frame, thereby achieving accurate and stable staring tracking of space targets. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a flowchart of a multi-level composite control method for staring tracking of a space target provided in an embodiment of the present invention;

[0029] Figure 2 This is a three-axis attitude angle of a satellite when staring at a space target, provided by an embodiment of the present invention; in the figure, θ is the roll angle of the satellite pointing towards the space target. r ψ is the elevation angle of the satellite pointing towards the space target. r Yaw angle of satellite pushbroom in J2000 inertial frame;

[0030] Figure 3 This is a hardware architecture diagram of a computing device provided in an embodiment of the present invention;

[0031] Figure 4 This is a structural diagram of a multi-level composite control device for staring tracking of a space target provided in an embodiment of the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0033] Please refer to Figure 1 This invention provides a multi-level composite control method for staring tracking of space targets, which employs a combined control system of a satellite platform primary control system and an active pointing ultra-quiet platform secondary control system.

[0034] The method includes:

[0035] Step 100: Based on the obtained position vectors and velocity vectors of the satellite and the space target in the inertial frame, calculate the attitude angle of the satellite staring at the space target;

[0036] Step 102: Based on the attitude angle of the satellite staring at the space target, calculate the first inertial quaternion and the first inertial angular velocity of the satellite staring at the space target within the first-level control cycle of the satellite platform.

[0037] Step 104: Calculate the attitude control torque of the satellite platform's primary control system based on the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the satellite platform's primary control system.

[0038] Step 106: Calculate the inertial quaternion and inertial angular velocity of the satellite staring at the space target based on the interpolation method to obtain the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target during the second-level control cycle of the active pointing ultra-quiet platform.

[0039] Step 108: Calculate the attitude control torque of the active ultra-quiet platform secondary control system based on the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the active ultra-quiet platform secondary control system.

[0040] Step 110: Based on the attitude control torque of the primary control system of the satellite platform and the attitude control torque of the secondary control system of the active ultra-quiet platform, staring tracking is performed on the space target.

[0041] In this embodiment of the invention, by mounting an area array camera on a satellite to image space targets, detailed characteristics of the space targets can be obtained. A joint control method combining the satellite platform's primary control system and the active ultra-quiet platform's secondary control system is employed to image and track the space targets. Specifically, the satellite platform's primary control system uses a stellar gyroscope to measure the satellite's angular velocity and a control moment gyroscope as the actuator. Based on the first inertial quaternion and the first inertial angular velocity of the satellite staring at the space target during the satellite platform's primary control cycle, the attitude control torque of the primary control system is calculated, achieving closed-loop stable control at the satellite platform level. The active pointing ultra-quiet platform's secondary control system uses a micrometer sensor to measure the payload's angular velocity and a star sensor to measure the payload's attitude. Control is achieved using the active actuators of the active pointing ultra-quiet platform itself. Interpolation is used to calculate the first inertial quaternion and the first inertial angular velocity, thereby obtaining the real-time attitude control torque of the active pointing ultra-quiet platform's secondary control system.

[0042] In this embodiment of the invention, the attitude control torques of the primary control system of the satellite platform and the secondary control system of the active pointing ultra-quiet platform are coordinated to realize the target attitude calculation for staring tracking of space targets. This ensures that the energy of the space target is concentrated and image rotation does not occur during the process of the satellite pointing to the space target in the inertial frame, thereby achieving accurate and stable staring tracking of space targets.

[0043] For step 100:

[0044] In some implementations, the attitude angles include the roll angle, pitch angle, and yaw angle of the satellite gel space target;

[0045] Step 100 includes:

[0046] Based on the obtained position and velocity vectors of the satellite and the space target in the inertial frame, the position vectors of the satellite staring at the space target in the inertial frame and the orbital frame are calculated respectively.

[0047] Based on the position vector of the satellite staring at the space target in the inertial frame, calculate the roll angle and pitch angle of the satellite staring at the space target;

[0048] Based on the pitch angle and roll angle, the yaw angle of the satellite staring at the space target is obtained.

[0049] In some specific implementations, the position vector of the satellite staring at the space target in the inertial frame (J2000 inertial frame) It is calculated using the following formula:

[0050]

[0051] In the formula, Let the position vector of the space target in the J2000 inertial frame be denoted as . This represents the position vector of the J2000 satellite's inertial frame.

[0052] Position vector of a satellite staring at a space target in an orbital system It is calculated using the following formula:

[0053]

[0054] In the formula, C oi This represents the transformation coefficient matrix of the satellite from the J2000 inertial frame to the orbital frame. Where, r st (1),r st (2),r st (3) is a vector The corresponding element;

[0055] In some specific implementations, the roll angle of the satellite staring at the space target and pitch angle θ r It is calculated using the following formula:

[0056]

[0057] Yaw angle ψ of a satellite staring at a space target r It is calculated using the following formula:

[0058]

[0059] In the formula, ω0 is the satellite orbital angular velocity, and ΔΤ is the first-level control cycle of the satellite platform.

[0060] In this embodiment of the invention, the position vector of the satellite staring at the space target in the inertial frame is first calculated. Then, based on the position vector of the satellite staring at the space target, the attitude angles of the satellite during the staring process are further calculated. The attitude angles include roll angle, pitch angle, and yaw angle. Among them, the roll angle and pitch angle determine the position orientation of the satellite, enabling the satellite to stare at the space target in real time. The yaw angle determines the velocity orientation of the satellite. Since the space target and the satellite are in motion in real time, the yaw angle can be controlled to enable the satellite to stare at the space target in real time. The target attitude (e.g., ...) is calculated by the satellite staring at and tracking the target based on the real-time orbital characteristics of the space target. Figure 2 As shown in the figure, this helps to ensure that the speed and direction of the satellite body and the space target are similar in real time, which in turn helps to achieve real-time tracking and high-resolution imaging of the space target.

[0061] Regarding step 102:

[0062] In some implementations, step 102 includes:

[0063] Based on the attitude angle of the satellite staring at the space target, the target attitude direction cosine matrix of the satellite staring at the space target in the orbital system is obtained;

[0064] The target attitude direction cosine matrix of the satellite staring at the space target in the orbital frame is transformed to obtain the target attitude direction cosine matrix of the satellite staring at the space target in the inertial frame.

[0065] The direction cosine matrix of the target attitude direction cosine matrix of the satellite staring at the space target in the inertial frame is solved by using the attitude quaternion function of the direction cosine matrix to obtain the first inertial quaternion of the satellite staring at the space target in the first control cycle of the satellite platform.

[0066] Based on the attitude angle of the satellite staring at the space target, the cosine matrix of the target attitude direction in the inertial frame, and the satellite orbital angular velocity, the first inertial angular velocity of the satellite staring at the space target during the first-level control cycle of the satellite platform is obtained.

[0067] In some specific implementations, the target attitude direction cosine array C of the satellite staring at the space target in the orbital system ro It is calculated using the following formula:

[0068]

[0069] In the formula, Angle2DCM() is the attitude angle rotation direction cosine matrix function;

[0070] The target attitude orientation cosine array C of a satellite staring at a space target in an inertial frame. ri It is calculated using the following formula:

[0071] C ri =C ro *C oi

[0072] In the formula, C oi This is the conversion coefficient matrix from the inertial frame to the orbital frame for satellite J2000.

[0073] The first inertial quaternion q of the satellite staring at the space target during the first-level control cycle of the satellite platform. ri It is calculated using the following formula:

[0074] q ri =DCM2Quat(C ri )

[0075] In the formula, DCM2Quat() is the orientation quaternion function of the direction cosine matrix;

[0076] The first inertial angular velocity ω of the satellite staring at the space target during the first control cycle of the satellite platform. riIt is calculated using the following formula:

[0077]

[0078] In the formula, The target angular velocity of the rolling shaft, The target angular velocity is the pitch axis. The target angular velocity is the yaw axis.

[0079] In this embodiment of the invention, in order to achieve real-time staring tracking of space targets, based on the attitude angle of the satellite staring at the space target, the quaternion and inertial angular velocity of the satellite staring at the space target at each moment in the first-level control cycle of the satellite platform are calculated. In the inertial frame, the satellite platform first-level control system is used to control the target by using the quaternion to achieve staring tracking imaging of the space target.

[0080] Regarding step 104:

[0081] In some implementations, step 104 includes:

[0082] Based on the first inertial quaternion and the attitude measurement quaternion of the satellite platform's primary control system, the attitude control quantity of the satellite platform's primary control system is obtained.

[0083] The difference between the first inertial angular velocity and the measured angular velocity of the primary control system of the satellite platform is used to obtain the angular velocity control quantity of the primary control system of the satellite platform.

[0084] The attitude control torque of the satellite platform's primary control system is calculated based on the attitude control and angular velocity control quantities of the primary control system.

[0085] In some specific implementations, the attitude control quantity Δθ ​​of the satellite platform's primary control system is calculated using the following formula:

[0086]

[0087] In the formula, q bi q is the attitude measurement quaternion for the primary control system of the satellite platform. ri Let Δq be the first inertial quaternion. b (1:3) represents the error quaternion Δq. b The first 3 elements;

[0088] Angular velocity control quantity Δω of the primary control system of the satellite platform b It is calculated using the following formula:

[0089] Δω b =ω ri -ω bi

[0090] In the formula, ω bi This refers to the angular velocity measurement value of the primary control system of the satellite platform.

[0091] Furthermore, the attitude control torque of the satellite platform's primary control system is calculated using the following formula:

[0092]

[0093] In the formula, I sat For the inertia of the entire star, For the satellite's three-axis target inertial angular acceleration, for The reverse stacking array, ω bi Here, Δθ represents the angular velocity measurement value of the satellite platform's primary control system, Δω represents the satellite's three-axis attitude control variable, and k represents the satellite's three-axis angular velocity control variable. satp k sati and k satd These are all parameters of the attitude controller in the primary control system of the satellite platform, τ b This refers to the attitude control torque of the primary control system of the satellite platform.

[0094] In this embodiment of the invention, the attitude control quantity and angular velocity control quantity of the satellite platform primary control system are obtained by calculating the attitude difference and angular velocity difference between the satellite and the space target. The above control quantities are used as input parameters of the attitude controller of the satellite platform primary control system to obtain the attitude control torque of the control torque gyroscope to drive the satellite as a whole to achieve staring tracking of the space target.

[0095] It should be noted that, in this embodiment of the invention, the controller parameters can be adjusted according to actual needs. For example, the controller parameters can be: I sat =[900,850,600], k satp =[355,335,236]、k satd =[799,755,533].

[0096] Regarding step 106:

[0097] In some implementations, step 106 includes:

[0098] Take m first inertial quaternions and m first inertial angular velocities within the first-level control cycle of the satellite platform, and respectively assemble them into a first inertial quaternion sequence and a first inertial angular velocity sequence with time order; wherein, the first inertial quaternion sequence is as follows: [q ri (ΔΤ) q ri (2*ΔΤ) … q ri (m*ΔΤ)], the first inertial angular velocity sequence is as follows: [ω ri(ΔΤ)ω ri (2*ΔΤ)…ω ri (m*ΔΤ);

[0099] Substituting the first inertial quaternion sequence and the first inertial angular velocity sequence into the m-order Newton interpolation formula respectively, the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target during the second-level control cycle of the active pointing ultra-quiet platform are obtained.

[0100] In some specific implementations, the formula for calculating the m-th order Newton interpolation is as follows:

[0101] f(x)=f(x0)+(x-x0)f(x,x0)+(x-x0)(x-x1)f(x0,x1,x2)+...

[0102] +(x-x0)(x-x1)...(xx m f(x0,x1,...x) m ).

[0103] Considering that the primary control system of a satellite platform can only achieve attitude control within a relatively coarse time period and cannot achieve attitude control at more precise moments, in this embodiment of the invention, based on the first inertial quaternion and inertial angular velocity calculated within the cycle of the primary control system of the satellite platform, Newton interpolation method (for example, the 6th order Newton interpolation method can be used) is used to interpolate the first inertial quaternion and inertial angular velocity obtained within the primary control cycle, thereby achieving millisecond-level control of the attitude of the satellite staring tracking space target, meeting the high stability control requirements of the satellite, and thus achieving high-precision and high-stability staring tracking of space targets.

[0104] For steps 108 to 110:

[0105] In some implementations, step 108 includes:

[0106] Based on the second inertial quaternion and the attitude measurement quaternion of the active ultra-quiet platform secondary control system, the attitude control quantity of the active ultra-quiet platform secondary control system is obtained.

[0107] The difference between the second inertial angular velocity and the measured angular velocity of the active ultra-quiet platform secondary control system is used to obtain the angular velocity control quantity of the active ultra-quiet platform secondary control system.

[0108] Based on the attitude control quantity and angular velocity control quantity of the active ultra-quiet platform secondary control system, calculate the attitude control torque of the active ultra-quiet platform secondary control system.

[0109] In some specific implementations, the attitude control parameters of the active ultra-quiet platform secondary control system are calculated using the following formula:

[0110]

[0111] In the formula, q pbi q is the attitude measurement quaternion for the secondary control system of the active ultra-quiet platform. pri Let Δq be the second inertial quaternion. p (1:3) represents the error quaternion Δq. p The first 3 elements;

[0112] Angular velocity control quantity Δω of the secondary control system of the active ultra-quiet platform p It is calculated using the following formula:

[0113] Δω p =ω pri -ω pbi

[0114] In the formula, ω pbi For the measurement of angular velocity in the secondary control system of the active ultra-static platform, ω pri This is the second inertial angular velocity.

[0115] In some specific implementations, the attitude control torque of the active ultra-quiet platform secondary control system is calculated using the following formula:

[0116]

[0117] In the formula, I p To actively direct the load inertia driven by the secondary control system of the ultra-quiet platform, for example, it can be [150, 150, 80], k pp k pd k pi These are all parameters of the attitude controller in the secondary control system of the active pointing ultra-quiet platform, for example, k pp =[23687,23687,12633]、k pd =[2665,2665,1421]、k pi =[12000,12000,10000],τ p The control torque for the secondary control system of the active ultra-quiet platform, For the secondary control of the active ultra-static platform, the target angular acceleration is... for antisymmetric matrix, Δθ p Δω is the attitude control variable of the secondary control system of the active ultra-quiet platform. p This refers to the angular velocity control quantity of the secondary control system for the active ultra-quiet platform.

[0118] In summary, in this embodiment of the invention, the staring tracking of the space target by the satellite's array camera is calculated based on the real-time target orbit characteristics, and the target attitude of the active pointing ultra-quiet platform's secondary control system is calculated in an extremely short period. By combining the satellite platform's primary control and the active pointing ultra-quiet platform's secondary control, a multi-level composite control system is established to achieve high-precision and high-stability staring tracking of the space target.

[0119] like Figure 3 , Figure 4 As shown, this embodiment of the invention provides a multi-level composite control device for staring tracking of space targets. The device embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, as... Figure 3 The diagram shown is a hardware architecture diagram of a computing device housing a multi-level composite control device for staring tracking of a space target, as provided in an embodiment of the present invention. (Except for...) Figure 3 In addition to the processor, memory, network interface, and non-volatile memory shown, the computing device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing packets. Taking software implementation as an example, such as... Figure 4 As shown, a device in a logical sense is formed by the CPU of its computing device reading the corresponding computer program from the non-volatile memory into memory and running it. This embodiment provides a multi-level composite control device for staring and tracking space targets, which employs a combined control system of a satellite platform primary control system and an active pointing ultra-quiet platform secondary control system.

[0120] The device includes:

[0121] The attitude angle calculation unit 401 is used to calculate the attitude angle of the satellite staring at the space target based on the position vector and velocity vector of the satellite and the space target in the inertial frame, respectively.

[0122] The first inertial parameter calculation unit 402 is used to calculate the first inertial quaternion and the first inertial angular velocity of the satellite staring at the space target within the first-level control cycle of the satellite platform, based on the attitude angle of the satellite staring at the space target.

[0123] The primary control torque calculation unit 403 is used to calculate the attitude control torque of the primary control system of the satellite platform based on the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the primary control system of the satellite platform.

[0124] The second inertial parameter calculation unit 404 is used to calculate the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target during the second-level control cycle of the active pointing ultra-quiet platform, based on the inertial quaternion and inertial angular velocity of the satellite staring at the space target.

[0125] The secondary control torque calculation unit 405 is used to calculate the attitude control torque of the secondary control system of the active ultra-quiet platform based on the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the secondary control system of the active ultra-quiet platform.

[0126] The staring tracking unit 406 is used to stare and track the space target based on the attitude control torque of the primary control system of the satellite platform and the attitude control torque of the secondary control system of the active ultra-quiet platform.

[0127] In this embodiment of the invention, the attitude angle calculation unit 401 can be used to execute step 100 in the above method embodiment, the first inertial parameter calculation unit 402 can be used to execute step 102 in the above method embodiment, the first-level control torque calculation unit 403 can be used to execute step 104 in the above method embodiment, the second inertial parameter calculation unit 404 can be used to execute step 106 in the above method embodiment, the second-level control torque calculation unit 405 can be used to execute step 108 in the above method embodiment, and the gaze tracking unit 406 can be used to execute step 110 in the above method embodiment.

[0128] In one embodiment of the present invention, the attitude angle calculation unit 401 includes the roll angle, pitch angle and yaw angle of the satellite gel space target;

[0129] When calculating the attitude angle of the satellite staring at the space target based on the obtained position and velocity vectors of the satellite and the space target in the inertial frame, the attitude angle calculation unit 401 performs the following operations:

[0130] Based on the obtained position and velocity vectors of the satellite and the space target in the inertial frame, the position vectors of the satellite staring at the space target in the inertial frame and the orbital frame are calculated respectively.

[0131] Based on the position vector of the satellite staring at the space target in the inertial frame, calculate the roll angle and pitch angle of the satellite staring at the space target;

[0132] Based on the pitch angle and roll angle, the yaw angle of the satellite staring at the space target is obtained.

[0133] In one embodiment of the present invention, when the first inertial parameter calculation unit 402 calculates the first inertial quaternion and the first inertial angular velocity of the satellite staring at the space target within the first-level control cycle of the satellite platform based on the attitude angle of the satellite staring at the space target, it performs the following operations:

[0134] Based on the attitude angle of the satellite staring at the space target, the target attitude direction cosine matrix of the satellite staring at the space target in the orbital system is obtained;

[0135] The target attitude direction cosine matrix of the satellite staring at the space target in the orbital frame is transformed to obtain the target attitude direction cosine matrix of the satellite staring at the space target in the inertial frame.

[0136] The direction cosine matrix of the target attitude direction cosine matrix of the satellite staring at the space target in the inertial frame is solved by using the attitude quaternion function of the direction cosine matrix to obtain the first inertial quaternion of the satellite staring at the space target in the first control cycle of the satellite platform.

[0137] Based on the attitude angle of the satellite staring at the space target, the cosine matrix of the target attitude direction in the inertial frame, and the satellite orbital angular velocity, the first inertial angular velocity of the satellite staring at the space target during the first-level control cycle of the satellite platform is obtained.

[0138] In one embodiment of the present invention, when the primary control torque calculation unit 403 calculates the attitude control torque of the satellite platform primary control system based on the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the satellite platform primary control system, it performs the following operations:

[0139] Based on the first inertial quaternion and the attitude measurement quaternion of the satellite platform's primary control system, the attitude control quantity of the satellite platform's primary control system is obtained.

[0140] The difference between the first inertial angular velocity and the measured angular velocity of the primary control system of the satellite platform is used to obtain the angular velocity control quantity of the primary control system of the satellite platform.

[0141] The attitude control torque of the satellite platform's primary control system is calculated based on the attitude control and angular velocity control quantities of the primary control system.

[0142] In one embodiment of the present invention, the second inertial parameter calculation unit 404, when calculating the inertial quaternion and inertial angular velocity of the satellite staring at the space target based on the interpolation method to obtain the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target during the second-level control cycle of the actively pointing ultra-quiet platform, is used to perform the following operations:

[0143] Take m first inertial quaternions and m first inertial angular velocities within the first-level control cycle of the satellite platform, and combine them into a first inertial quaternion sequence and a first inertial angular velocity sequence with time order, respectively.

[0144] Substituting the first inertial quaternion sequence and the first inertial angular velocity sequence into the m-order Newton interpolation formula respectively, the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target during the second-level control cycle of the active pointing ultra-quiet platform are obtained.

[0145] In one embodiment of the present invention, the secondary control torque calculation unit 405, when calculating the attitude control torque of the secondary control system of the active ultra-quiet platform based on the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the secondary control system of the active ultra-quiet platform, performs the following operation:

[0146] Based on the second inertial quaternion and the attitude measurement quaternion of the active ultra-quiet platform secondary control system, the attitude control quantity of the active ultra-quiet platform secondary control system is obtained.

[0147] The difference between the second inertial angular velocity and the measured angular velocity of the active ultra-quiet platform secondary control system is used to obtain the angular velocity control quantity of the active ultra-quiet platform secondary control system.

[0148] Based on the attitude control quantity and angular velocity control quantity of the active ultra-quiet platform secondary control system, calculate the attitude control torque of the active ultra-quiet platform secondary control system.

[0149] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on a multi-level composite control device for staring tracking of space targets. In other embodiments of the present invention, a multi-level composite control device for staring tracking of space targets may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0150] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.

[0151] This invention also provides a computing device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a multi-level composite control method for staring tracking of a space target according to any embodiment of this invention.

[0152] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform a multi-level composite control method for staring tracking of a space target according to any embodiment of this invention.

[0153] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0154] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0155] Storage media embodiments for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0156] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0157] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0158] The embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement a multi-level composite control method for staring tracking of a space target provided in the above-described method embodiments.

[0159] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0160] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0161] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-level composite control method for staring tracking of space targets, characterized in that, The system employs a combined control system of a satellite platform primary control system and an active pointing ultra-quiet platform secondary control system. The methods include: Based on the obtained position and velocity vectors of the satellite and the space target in the inertial frame, respectively, the attitude angle of the satellite staring at the space target is calculated; Based on the attitude angle of the satellite staring at the space target, calculate the first inertial quaternion and the first inertial angular velocity of the satellite staring at the space target during the first-level control cycle of the satellite platform. Based on the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the satellite platform's primary control system, calculate the attitude control torque of the satellite platform's primary control system; The inertial quaternion and inertial angular velocity of the satellite staring at the space target are calculated based on the interpolation method, and the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target are obtained during the second-level control cycle of the active pointing ultra-quiet platform. Based on the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the active pointing ultra-quiet platform secondary control system, calculate the attitude control torque of the active pointing ultra-quiet platform secondary control system; The attitude control torque of the primary control system of the satellite platform and the attitude control torque of the secondary control system of the active pointing ultra-quiet platform are used to perform staring tracking of the space target.

2. The method according to claim 1, characterized in that, The attitude angles include the roll angle, pitch angle, and yaw angle of the satellite gel space target; The calculation of the attitude angle of the satellite staring at the space target based on the obtained position and velocity vectors of the satellite and the space target in the inertial frame includes: Based on the obtained position and velocity vectors of the satellite and the space target in the inertial frame, the position vectors of the satellite staring at the space target in the inertial frame and the orbital frame are calculated respectively. Based on the position vector of the satellite staring at the space target in the inertial frame, calculate the roll angle and pitch angle of the satellite staring at the space target; Based on the pitch angle and roll angle, the yaw angle of the satellite staring at the space target is obtained.

3. The method according to claim 1, characterized in that, The step of calculating the first inertial quaternion and the first inertial angular velocity of the satellite-staring space target within the first-level control cycle of the satellite platform, based on the attitude angle of the satellite-staring space target, includes: Based on the attitude angle of the satellite staring at the space target, the target attitude direction cosine matrix of the satellite staring at the space target in the orbital system is obtained; The target attitude direction cosine matrix of the satellite staring at the space target in the orbital frame is transformed to obtain the target attitude direction cosine matrix of the satellite staring at the space target in the inertial frame. The direction cosine matrix of the target attitude direction cosine matrix of the satellite staring at the space target in the inertial frame is solved by using the attitude quaternion function of the direction cosine matrix to obtain the first inertial quaternion of the satellite staring at the space target in the first control cycle of the satellite platform. Based on the attitude angle of the satellite staring at the space target, the cosine matrix of the target attitude direction in the inertial frame, and the satellite orbital angular velocity, the first inertial angular velocity of the satellite staring at the space target during the first-level control cycle of the satellite platform is obtained.

4. The method according to claim 1, characterized in that, The step of calculating the attitude control torque of the satellite platform's primary control system based on the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion of the satellite platform's primary control system, and the measured angular velocity includes: Based on the first inertial quaternion and the attitude measurement quaternion of the satellite platform primary control system, the attitude control quantity of the satellite platform primary control system is obtained. The difference between the first inertial angular velocity and the measured angular velocity of the satellite platform's primary control system is used to obtain the angular velocity control quantity of the satellite platform's primary control system. The attitude control torque of the satellite platform's primary control system is calculated based on the attitude control and angular velocity control quantities of the primary control system.

5. The method according to claim 1, characterized in that, The calculation of the inertial quaternion and inertial angular velocity of the satellite staring at the space target based on the interpolation method yields the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target during the second-level control cycle of the active pointing ultra-quiet platform, including: Take m first inertial quaternions and m first inertial angular velocities within the first-level control cycle of the satellite platform, and combine them into a first inertial quaternion sequence and a first inertial angular velocity sequence with time order, respectively. Substituting the first inertial quaternion sequence and the first inertial angular velocity sequence into the m-order Newton interpolation formula respectively, the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target during the second-level control cycle of the active pointing ultra-quiet platform are obtained.

6. The method according to any one of claims 1 to 5, characterized in that, The calculation of the attitude control torque of the active pointing ultra-quiet platform secondary control system based on the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measured angular velocity of the active pointing ultra-quiet platform secondary control system includes: Based on the second inertial quaternion and the attitude measurement quaternion of the active pointing ultra-quiet platform secondary control system, the attitude control quantity of the active pointing ultra-quiet platform secondary control system is obtained. The difference between the second inertial angular velocity and the measured angular velocity of the active pointing ultra-quiet platform secondary control system is used to obtain the angular velocity control quantity of the active pointing ultra-quiet platform secondary control system. Based on the attitude control quantity and angular velocity control quantity of the active pointing ultra-quiet platform secondary control system, calculate the attitude control torque of the active pointing ultra-quiet platform secondary control system.

7. A multi-level composite control device for staring tracking of space targets, characterized in that, The system employs a combined control system of a satellite platform primary control system and an active pointing ultra-quiet platform secondary control system. The device includes: The attitude angle calculation unit is used to calculate the attitude angle of the satellite staring at the space target based on the position vector and velocity vector of the satellite and the space target in the inertial frame, respectively. The first inertial parameter calculation unit is used to calculate the first inertial quaternion and the first inertial angular velocity of the satellite staring at the space target within the first-level control cycle of the satellite platform, based on the attitude angle of the satellite staring at the space target. The first-level control torque calculation unit is used to calculate the attitude control torque of the satellite platform's first-level control system based on the first inertial quaternion, the first inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the satellite platform's first-level control system. The second inertial parameter calculation unit is used to calculate the second inertial quaternion and the second inertial angular velocity of the satellite staring at the space target during the second-level control cycle of the active pointing ultra-quiet platform, based on the inertial quaternion and inertial angular velocity of the satellite staring at the space target. The secondary control torque calculation unit is used to calculate the attitude control torque of the active pointing ultra-quiet platform secondary control system based on the second inertial quaternion, the second inertial angular velocity, the attitude measurement quaternion and the measurement angular velocity of the active pointing ultra-quiet platform secondary control system. The staring tracking unit is used to stare and track the space target based on the attitude control torque of the primary control system of the satellite platform and the attitude control torque of the secondary control system of the active pointing ultra-quiet platform.

8. A computing device comprising a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program, implements the method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method of any one of claims 1-6.

10. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1-6.

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