Solid carrier rocket atmosphere external guidance control method and system

Abstract

The invention belongs to the technical field of guidance control, and discloses a solid carrier rocket atmosphere external guidance control method and system, and the method comprises the steps: designing a dual-redundancy navigation system; a new attitude control algorithm; optimizing a track correction module; the performance of the thrust vector control system is further improved through optimization of the thrust vector control TVC system, stable control over the complex attitude outside the atmospheric layer is achieved through the hybrid control technology of the liquid micro-thruster and the solid rocket engine, the attitude regulation and control capacity of the rocket is enhanced through configuration of the multi-redundancy thruster, and the performance of the rocket is improved. And it is ensured that enough control torque and correction capacity are provided in the track transfer process. According to the invention, the navigation precision is improved: through the design of the dual-redundancy navigation system, the precision drift of inertial navigation is greatly reduced, especially in a long-time flight process, high-precision orbit control can be maintained, and the hit rate of a target orbit is improved.

Description

Technical Field

[0001] The present invention belongs to but is not limited to the field of guidance and control technology, and in particular relates to a solid launch vehicle exoatmospheric guidance and control method and system. Background Art

[0002] In the field of guidance and control of solid-propellant launch vehicles, the current mainstream methods are mainly focused on flight control within the atmosphere. When the rocket enters the outer atmosphere, affected by factors such as thin air, weakened gravity, and changes in the external environment, the existing guidance and control systems usually rely on inertial navigation systems to maintain orbital accuracy. However, the existing inertial guidance systems have the problem of accuracy drift when facing long-term flights, especially in high-precision orbit transfer and positioning missions. Traditional inertial navigation equipment and algorithms are difficult to meet the needs of precise control. In addition, due to the lack of aerodynamic control surfaces after the rocket enters the outer atmosphere, the existing technology has limited responsiveness in controlling attitude and orbit correction, resulting in mission failure or target deviation.

[0003] The existing solid launch vehicle exoatmospheric guidance and control methods have the following technical problems:

[0004] 1. Inertial navigation system accuracy drift: Long-term flight processes can easily lead to the accumulation of inertial navigation system errors, resulting in orbit deviations.

[0005] 2. Insufficient attitude control: The lack of aerodynamic control surfaces outside the atmosphere makes traditional aerodynamic control surfaces ineffective, and attitude adjustment and trajectory correction are difficult to achieve.

[0006] 3. Weak orbit correction capability: After entering the atmosphere, the existing guidance system is difficult to accurately adjust the orbit in real time, especially when performing complex orbit transfers, the error is large. Summary of the invention

[0007] In view of the problems existing in the prior art, the present invention provides a solid launch vehicle exoatmospheric guidance control method and system.

[0008] The present invention is achieved by a solid launch vehicle exoatmospheric guidance control method, the method comprising:

[0009] S1: Dual redundant navigation system design: Based on the inertial navigation system, starlight navigation is introduced to correct the rocket position by observing the position of stars, and a dual redundant system is combined with the GPS navigation system;

[0010] S2: New attitude control algorithm: Based on the traditional control moment gyro and micro-thruster, a set of adaptive attitude control algorithms is added. It can adjust the thrust distribution in real time according to external disturbances during flight, such as gravity gradient, solar radiation pressure, etc., to optimize the response time and accuracy of attitude control.

[0011] S3: Orbit correction module optimization: A control model based on optimal trajectory planning is introduced, and predictive control and model reference adaptive control (MRAC) technology are used to calculate the best correction strategy based on real-time orbit deviation. When performing orbit transfer, the module can automatically adjust the correction strategy based on the current orbit parameters and the target orbit parameters, thereby reducing fuel consumption and improving the success rate of orbit transfer.

[0012] S4: The thrust vector control TVC system has been optimized to further improve the performance of the thrust vector control system. The hybrid control technology of liquid microthrusters and solid rocket engines is used to achieve stable control of complex attitudes outside the atmosphere. The attitude control capability of the rocket is enhanced through the configuration of multiple redundant thrusters, ensuring sufficient control torque and correction capability during orbit transfer.

[0013] Furthermore, the S1 utilizes a starlight navigation system to compensate for the precision drift of inertial navigation, and when entering the geosynchronous orbit, uses a GPS system to perform precise orbit correction and positioning.

[0014] Further, the S1 specifically includes:

[0015] S11: Starlight navigation assistance: By observing the positions of specific stars, the starlight navigation system can provide the rocket with high-precision position information, thereby correcting the errors of the inertial navigation system and ensuring that the rocket flies along the predetermined orbit; this assistance method is particularly important during long-term flights and can significantly reduce the orbit deviation caused by the accumulated errors of inertial navigation;

[0016] S12: GPS navigation system supplement: When entering the geosynchronous orbit or other specific orbits, the GPS navigation system can provide more accurate positioning information; through data fusion with the inertial navigation system, the GPS navigation system can correct the orbit deviation in real time to ensure that the rocket reaches the target orbit accurately; this dual-redundancy design not only improves the navigation accuracy, but also enhances the reliability of the navigation system;

[0017] S13: Data fusion and algorithm optimization: The dual-redundant navigation system also uses advanced data fusion algorithms to conduct comprehensive analysis of starlight navigation, GPS navigation and inertial navigation data to obtain more accurate navigation results. At the same time, through the continuous optimization of the navigation algorithm, the new solution can further improve navigation accuracy, reduce error accumulation, and ensure that the rocket always flies along the predetermined orbit during long-term flight.

[0018] S14: Real-time monitoring and correction: During the flight, the system can monitor the accuracy of navigation data in real time. Once deviations are found, corrections will be made immediately to ensure that the rocket always flies along the correct trajectory.

[0019] Furthermore, the new attitude control algorithm improves the anti-interference ability of the system through multi-sensor fusion technology to ensure rapid recovery in the event of attitude loss of control. The specific algorithm formula is as follows:

[0020] τ=F(q,ω,α,d,Sensors)

[0021] Where: τ represents the control torque, that is, the thrust or torque calculated by the algorithm to be applied to adjust the rocket's attitude; q represents the current attitude of the rocket, which can usually be expressed in the form of quaternions, rotation matrices, or Euler angles; ω represents the angular velocity of the rocket, which is a measure of the rate of change of attitude; α represents the internal state variables of the algorithm, which include previous control inputs, error accumulation, adaptive parameters, etc.; d represents external disturbances, such as gravity gradient, solar radiation pressure, magnetic field changes, etc., which affect the attitude of the rocket; Sensors represents data from multiple sensors, which are fused to provide accurate information about the current state of the rocket; Function F is a nonlinear function that calculates the control torque based on the current attitude, angular velocity, internal state, external disturbances, and sensor data.

[0022] Furthermore, in S3, the control model of the optimal trajectory planning is as follows:

[0023] u(t)=u ref (t)+K(t).(ΔP(t)-Δp pred (t+1))

[0024] u(t) represents the control input at time tt, that is, the thrust or torque that needs to be applied to adjust the trajectory of the rocket; u ref (t) is the ideal control input at time t provided by the reference model R, which is derived based on the optimal trajectory planning; K(t) is the control gain matrix, which varies with time and is used to adjust the amplitude of the correction strategy; ΔP(t) represents the orbit deviation at time t, that is, the difference between the current orbit parameters and the target orbit parameters; Δp pred (t+1) is the predicted value of the orbit deviation at time t+1 in the future based on the predictive control algorithm at time t.

[0025] Furthermore, the hybrid control technology of the liquid micro-thruster and the solid rocket engine specifically includes:

[0026] It combines the advantages of liquid micro-thrusters and solid rocket engines to achieve stable control in complex attitudes outside the atmosphere; liquid micro-thrusters have the characteristics of fast response speed and high control accuracy, which are suitable for fine attitude adjustment; solid rocket engines provide powerful thrust for rapid change of rocket attitude or orbit transfer;

[0027] The multi-redundant thruster configuration specifically includes: achieving the diversification and redundancy of thrust vector control by increasing the number and types of thrusters; this configuration not only enhances the attitude control capability of the rocket, but also improves the reliability and safety of the system; when a thruster fails, other thrusters can quickly take over to ensure that the attitude control of the rocket is not affected.

[0028] Another object of the present invention is to provide a solid launch vehicle exoatmospheric guidance control system based on the solid launch vehicle exoatmospheric guidance control method, the system specifically comprising:

[0029] The dual redundant navigation system design module introduces starlight navigation on the basis of the inertial navigation system, corrects the rocket position by observing the position of stars, and forms a dual redundant system combined with the GPS navigation system;

[0030] The attitude control module is connected to the dual-redundant navigation system design module. Based on the traditional control moment gyro and micro-thruster, a set of adaptive attitude control algorithms is added. It can adjust the thrust distribution in real time according to external disturbances during flight, such as gravity gradient, solar radiation pressure, etc., to optimize the response time and accuracy of attitude control.

[0031] The orbit correction module optimization module is connected to the attitude control module. It introduces a control model based on optimal trajectory planning and adopts predictive control and model reference adaptive control MRAC technology. It can calculate the best correction strategy according to the real-time orbit deviation. When performing orbit transfer, the module can automatically adjust the correction strategy according to the current orbit parameters and the target orbit parameters, reduce fuel consumption and improve the success rate of orbit transfer.

[0032] The thrust vector control TVC system optimization module is connected to the orbit correction module optimization module, which further improves the performance of the thrust vector control system. It uses the hybrid control technology of liquid microthrusters and solid rocket engines to achieve stable control of complex attitudes outside the atmosphere. Through the configuration of multiple redundant thrusters, the rocket's attitude control capability is enhanced to ensure sufficient control torque and correction capability during orbit transfer.

[0033] Another object of the present invention is to provide a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the solid carrier rocket exoatmospheric guidance control method.

[0034] Another object of the present invention is to provide a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to execute the steps of the solid launch vehicle exoatmospheric guidance control method.

[0035] Another object of the present invention is to provide an information data processing terminal, which is used to implement the solid carrier rocket exoatmospheric guidance and control system.

[0036] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0037] First, the present invention greatly reduces the precision drift of inertial navigation through the design of a dual redundant navigation system, especially during long-term flight, and can maintain high-precision orbit control, thereby improving the hit rate of the target orbit. The combination of the adaptive attitude control algorithm and the thrust vector control system enables the rocket to quickly respond to attitude adjustment requirements outside the atmosphere, ensuring attitude stability, and significantly reducing attitude control errors, especially in complex orbit transfer missions.

[0038] Through optimal trajectory planning and MRAC technology, the orbit correction capability is significantly improved, fuel utilization efficiency is improved, and the impact on the stability of the rocket attitude during the correction process is reduced, ensuring more accurate orbit transfer. The new guidance and control method makes the control of solid carrier rockets outside the atmosphere more stable and accurate, significantly improving the success rate of complex missions (such as high-precision satellite launches, deep space exploration, etc.).

[0039] Second, the present invention solves the key problem of solid-propellant rocket exoatmospheric guidance control in the prior art. In the prior art, a single inertial navigation system is prone to cumulative errors, resulting in reduced accuracy of the rocket's position and attitude during long-term flight, which in turn affects the accuracy of orbit correction and attitude adjustment. In addition, traditional attitude control methods are difficult to cope with complex external disturbances, such as gravity gradient and solar radiation pressure, resulting in unstable rocket attitude control and affecting the success rate of flight missions.

[0040] The present invention combines inertial navigation with starlight navigation by introducing a dual redundant navigation system, compensating for the drift error of inertial navigation, and further improving the navigation accuracy by using GPS signals, ensuring that the rocket can maintain high-precision attitude and position control during long-term flight. The system not only improves the navigation accuracy of the rocket, but also enhances the ability to cope with complex flight environments, reduces the risk of navigation failure, and greatly improves the mission success rate.

[0041] In terms of attitude control, the present invention has developed an adaptive attitude control algorithm, which combines the control moment gyro (CMG) and microthruster to adjust the thrust distribution in real time according to the external disturbance signal, and optimize the response time and accuracy of attitude adjustment. Compared with the traditional method, this scheme can more effectively deal with the interference in the complex environment outside the atmosphere, significantly improve the stability of the rocket attitude control, and ensure the safety and accuracy during the orbit transfer process.

[0042] By introducing the optimization of the thrust vector control system and the improvement of the orbit correction module, the present invention also solves the problems of insufficient orbit correction accuracy and high fuel consumption in traditional technologies. By using predictive control and model reference adaptive control technology, the present invention can reduce fuel consumption and extend the rocket flight time while ensuring the correction accuracy. Overall, the present invention significantly improves the navigation accuracy, attitude control stability and fuel utilization efficiency of solid carrier rockets in industrial applications, achieves important technical progress, and has broad application prospects.

[0043] The following is a comparison table of the effects of the present invention and the prior art in the guidance and control of solid launch vehicles outside the atmosphere:

[0044]

[0045] The table compares the specific effects of the present invention and the prior art in terms of navigation accuracy, attitude control response time, attitude stability, orbit correction accuracy, orbit transfer success rate, system redundancy and fault tolerance. The data shows that the present invention has significantly improved key performance, especially in the accuracy and response time of navigation and attitude control, which improves the control ability of the rocket in the complex environment outside the atmosphere. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a flow chart of the solid launch vehicle exoatmospheric guidance control method provided by an embodiment of the present invention;

[0047] Figure 2 is a flow chart of a dual redundant navigation system design method provided by an embodiment of the present invention;

[0048] Figure 3 It is a structural diagram of a solid launch vehicle exoatmospheric guidance control system provided by an embodiment of the present invention;

[0049] In the figure: 1. Dual redundant navigation system design module; 2. Attitude control module; 3. Orbit correction module optimization module; 4. Thrust vector control TVC system optimization module. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0051] like Figure 1 As shown, an embodiment of the present invention provides a solid carrier rocket exoatmospheric guidance control method, the method comprising:

[0052] S1: Dual redundant navigation system design: Based on the inertial navigation system, starlight navigation is introduced to correct the rocket position by observing the position of stars, and a dual redundant system is combined with the GPS navigation system;

[0053] S2: New attitude control algorithm: Based on the traditional control moment gyro and micro-thruster, a set of adaptive attitude control algorithms is added. It can adjust the thrust distribution in real time according to external disturbances during flight, such as gravity gradient, solar radiation pressure, etc., to optimize the response time and accuracy of attitude control.

[0054] S3: Orbit correction module optimization: A control model based on optimal trajectory planning is introduced, and predictive control and model reference adaptive control (MRAC) technology are used to calculate the best correction strategy based on real-time orbit deviation. When performing orbit transfer, the module can automatically adjust the correction strategy based on the current orbit parameters and the target orbit parameters, thereby reducing fuel consumption and improving the success rate of orbit transfer.

[0055] S4: The thrust vector control TVC system has been optimized to further improve the performance of the thrust vector control system. The hybrid control technology of liquid microthrusters and solid rocket engines is used to achieve stable control of complex attitudes outside the atmosphere. The attitude control capability of the rocket is enhanced through the configuration of multiple redundant thrusters, ensuring sufficient control torque and correction capability during orbit transfer.

[0056] The S1 utilizes a starlight navigation system to compensate for the precision drift of inertial navigation, and uses a GPS system to perform precise orbit correction and positioning when entering geosynchronous orbit.

[0057] ###Implementation example: Exoatmospheric guidance control of a solid launch vehicle

[0058] In this case, we are assuming that we are designing and implementing an exoatmospheric guidance and control system for a solid-fuel launch vehicle to ensure that the rocket can accurately and reliably complete its mission and deliver the payload into the intended orbit. The launch vehicle is designed to deliver satellites into geosynchronous orbit (GEO) and faces complex external environmental disturbances and orbit correction challenges. The following will explain how to apply the above method steps in combination with actual scenarios.

[0059] S1: Dual redundant navigation system design

[0060] Before the rocket is launched, the inertial navigation system (INS) has been designed as the main navigation system, which provides the rocket's instant attitude, speed and position based on the data of the gyroscope and accelerometer. However, the inertial navigation system has the problem of long-term accuracy drift. Therefore, during the launch process, the system also introduced a starlight navigation module to correct the rocket's flight trajectory by observing the position of celestial bodies. When the rocket flies outside the atmosphere and loses the interference of the earth's atmosphere on the light, starlight navigation begins to play a role, accurately correcting the inertial navigation error.

[0061] To increase redundancy, the system is also integrated with the GPS navigation system. When the rocket approaches the target orbit (geosynchronous orbit), the GPS system can further correct the errors of starlight navigation and inertial navigation through precise signal positioning to ensure that it enters the predetermined orbit.

[0062] S2: New algorithm for attitude control

[0063] After the rocket enters the atmosphere, disturbances in the external environment such as gravity gradient and solar radiation pressure gradually appear. To this end, the rocket is equipped with a control moment gyro and microthruster system, and a set of adaptive attitude control algorithms are added.

[0064] In actual applications, when the rocket is disturbed by external disturbances, the adaptive algorithm will adjust the control torque and the thrust distribution of the microthrusters in real time according to the different types, directions and sizes of disturbances. For example, if the solar radiation pressure causes the rocket's attitude to deviate, the algorithm can adjust the thruster output within milliseconds, perform attitude correction with minimal fuel consumption and the fastest response time, and ensure that the rocket always maintains the predetermined attitude.

[0065] S3: Track correction module optimization

[0066] When the rocket enters the transfer orbit, there will be a certain deviation between the actual orbit and the planned orbit. At this time, the orbit correction module will calculate the best correction strategy through optimal trajectory planning. This module uses predictive control and model reference adaptive control (MRAC) technology to calculate the optimal use strategy of the thrusters based on the real-time deviation between the actual orbit data of the rocket and the target orbit.

[0067] For example, when the rocket approaches GEO in GTO (Earth Transfer Orbit), the system automatically identifies orbital deviations and uses the optimal fine-tuning strategy to reduce the fuel consumption required for orbital correction. Since the predictive control model can predict the future trajectory changes of the rocket, the system can make orbital corrections in advance, avoid drastic adjustments, and improve the success rate of orbital transfer.

[0068] S4: Thrust Vector Control TVC System Optimization

[0069] The thrust vector control system (TVC) plays a key role outside the atmosphere, especially in the complex attitude control of orbit transfer. The system uses a hybrid control technology of liquid microthrusters and solid rocket engines. During the rocket flight, the system uses liquid microthrusters to make subtle attitude adjustments based on the current orbit and attitude requirements, and combines the thrust changes of the solid rocket engine to ensure that the rocket's attitude remains stable at all times.

[0070] For example, during the orbit transfer phase, the rocket needs to change its attitude frequently to adjust the thrust direction. At this time, the TVC system can provide sufficient attitude control capabilities through multiple thruster redundant configurations to ensure that the rocket can accurately point to the target orbit direction. In this process, the liquid microthruster is mainly responsible for small-scale attitude corrections, while the solid rocket engine provides stable thrust output to ensure the rocket's flight accuracy during the orbit transfer process.

[0071] During the entire rocket flight, the exoatmospheric guidance and control system ensures the precise positioning of the rocket at different flight stages through the cooperation of dual redundant navigation systems (inertial navigation, starlight navigation, and GPS navigation). The new attitude control algorithm can respond to external interference in real time and keep the rocket's attitude stable, while the orbit correction module and thrust vector control system further improve the efficiency and accuracy of orbit correction and attitude control through optimized algorithms. This control method based on multi-level and dynamic adjustment effectively reduces fuel consumption and improves the success rate of orbit transfer, providing a solid guarantee for the successful launch of the rocket.

[0072] like Figure 2 As shown, the S1 specifically includes:

[0073] S11: Starlight navigation assistance: By observing the positions of specific stars, the starlight navigation system can provide the rocket with high-precision position information, thereby correcting the errors of the inertial navigation system and ensuring that the rocket flies along the predetermined orbit; this assistance method is particularly important during long-term flights and can significantly reduce the orbit deviation caused by the accumulated errors of inertial navigation;

[0074] S12: GPS navigation system supplement: When entering the geosynchronous orbit or other specific orbits, the GPS navigation system can provide more accurate positioning information; through data fusion with the inertial navigation system, the GPS navigation system can correct the orbit deviation in real time to ensure that the rocket reaches the target orbit accurately; this dual-redundancy design not only improves the navigation accuracy, but also enhances the reliability of the navigation system;

[0075] S13: Data fusion and algorithm optimization: The dual-redundant navigation system also uses advanced data fusion algorithms to conduct comprehensive analysis of starlight navigation, GPS navigation and inertial navigation data to obtain more accurate navigation results. At the same time, through the continuous optimization of the navigation algorithm, the new solution can further improve navigation accuracy, reduce error accumulation, and ensure that the rocket always flies along the predetermined orbit during long-term flight.

[0076] S14: Real-time monitoring and correction: During the flight, the system can monitor the accuracy of navigation data in real time. Once deviations are found, corrections will be made immediately to ensure that the rocket always flies along the correct trajectory.

[0077] The new attitude control algorithm uses multi-sensor fusion technology to improve the system's anti-interference ability and ensure rapid recovery in the event of attitude loss of control. The algorithm formula is as follows:

[0078] τ=F(q,ω,α,d,Sensors)

[0079] Where: τ represents the control torque, that is, the thrust or torque calculated by the algorithm to be applied to adjust the rocket's attitude; q represents the current attitude of the rocket, which can usually be expressed in the form of quaternions, rotation matrices, or Euler angles; ω represents the angular velocity of the rocket, which is a measure of the rate of change of attitude; α represents the internal state variables of the algorithm, which include previous control inputs, error accumulation, adaptive parameters, etc.; d represents external disturbances, such as gravity gradient, solar radiation pressure, magnetic field changes, etc., which affect the attitude of the rocket; Sensors represents data from multiple sensors, which are fused to provide accurate information about the current state of the rocket; Function F is a nonlinear function that calculates the control torque based on the current attitude, angular velocity, internal state, external disturbances, and sensor data.

[0080] In S3, the control model of the optimal trajectory planning is as follows:

[0081] u(t)=u ref (t)+K(t).(ΔP(t)-Δp pred (t+1))

[0082] u(t) represents the control input at time tt, that is, the thrust or torque that needs to be applied to adjust the trajectory of the rocket; u ref (t) is the ideal control input at time t provided by the reference model R, which is derived based on the optimal trajectory planning; K(t) is the control gain matrix, which varies with time and is used to adjust the amplitude of the correction strategy; ΔP(t) represents the orbit deviation at time t, that is, the difference between the current orbit parameters and the target orbit parameters; Δp pred(t+1) is the predicted value of the orbit deviation at time t+1 in the future based on the predictive control algorithm at time t.

[0083] The hybrid control technology of the liquid micro-thruster and the solid rocket engine specifically includes:

[0084] It combines the advantages of liquid micro-thrusters and solid rocket engines to achieve stable control in complex attitudes outside the atmosphere; liquid micro-thrusters have the characteristics of fast response speed and high control accuracy, which are suitable for fine attitude adjustment; solid rocket engines provide powerful thrust for rapid change of rocket attitude or orbit transfer;

[0085] The multi-redundant thruster configuration specifically includes: achieving the diversification and redundancy of thrust vector control by increasing the number and types of thrusters; this configuration not only enhances the attitude control capability of the rocket, but also improves the reliability and safety of the system; when a thruster fails, other thrusters can quickly take over to ensure that the attitude control of the rocket is not affected.

[0086] like Figure 3 As shown, an embodiment of the present invention provides a solid launch vehicle exoatmospheric guidance control system based on the solid launch vehicle exoatmospheric guidance control method, and the system specifically includes:

[0087] Dual redundant navigation system design module 1, based on the inertial navigation system, introduces starlight navigation, corrects the rocket position by observing the position of stars, and combines it with the GPS navigation system to form a dual redundant system;

[0088] The attitude control module 2 is connected to the dual redundant navigation system design module 1. On the basis of the traditional control moment gyro and micro-thruster, a set of adaptive attitude control algorithms is added. It can adjust the thrust distribution in real time according to the external disturbances during the flight, such as gravity gradient, solar radiation pressure, etc., to optimize the response time and accuracy of attitude control;

[0089] The orbit correction module optimization module 3 is connected to the attitude control module 2, and introduces a control model based on optimal trajectory planning. It adopts predictive control and model reference adaptive control MRAC technology, and can calculate the best correction strategy according to the real-time orbit deviation. When performing orbit transfer, the module can automatically adjust the correction strategy according to the current orbit parameters and the target orbit parameters, reduce fuel consumption and improve the success rate of orbit transfer;

[0090] The thrust vector control TVC system optimization module 4 is connected to the orbit correction module optimization module 3, which further improves the performance of the thrust vector control system. It uses the hybrid control technology of liquid microthrusters and solid rocket engines to achieve stable control of complex attitudes outside the atmosphere. Through the configuration of multiple redundant thrusters, the attitude control capability of the rocket is enhanced to ensure sufficient control torque and correction capability during the orbit transfer process.

[0091] An embodiment of the present invention provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the solid carrier rocket exoatmospheric guidance control method.

[0092] An embodiment of the present invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes the steps of the solid carrier rocket exoatmospheric guidance control method.

[0093] An embodiment of the present invention provides an information data processing terminal, which is used to implement the solid carrier rocket exoatmospheric guidance and control system.

[0094] In the exoatmospheric guidance and control of solid-propellant launch vehicles, the signal data processing process is the key to achieving precise navigation, attitude control, and orbit correction. First, the signal processing of the dual-redundant navigation system (S1) mainly relies on the fusion of the inertial navigation system and the starlight navigation system. The inertial navigation system obtains the acceleration and angular velocity of the rocket through accelerometers and gyroscopes, and obtains the position and attitude data through integral calculations. However, the inertial navigation system is prone to drift errors. Therefore, the position of celestial bodies is observed through starlight navigation, the actual position data of the rocket is corrected, and it works together with the GPS signal to form a dual-redundant correction signal to ensure the accuracy of the navigation system.

[0095] During the attitude control process (S2), signal processing needs to combine the feedback data of the gyroscope, control moment gyro (CMG) and microthruster. When the rocket is flying, the gyroscope monitors the attitude changes in real time and outputs the angular velocity signal, which is transmitted to the control system. The adaptive attitude control algorithm adjusts the thrust distribution of the control moment gyro and microthruster according to the received angular velocity signal and external disturbance signals, such as gravity gradient, solar radiation pressure, etc. These signals are processed by digital filters to reduce noise and improve the accuracy and speed of response.

[0096] For the orbit correction module (S3), its signal data processing mainly involves the prediction and correction of orbit deviation. The orbit correction module obtains the real-time orbit parameters of the rocket and analyzes the deviation between the current orbit and the target orbit through the predictive control algorithm. The system generates a correction signal based on the deviation, which is passed to the model reference adaptive control (MRAC) module to generate the optimal control output command for adjusting thrust and attitude. Signal processing includes trajectory planning and dynamic adjustment of orbit deviation, and finally outputs the corrected thrust command.

[0097] During the orbit transfer process, signal processing must also take into account the parameter adjustments before and after the orbit transfer. By real-time monitoring of the current orbit parameters, the system will calculate the optimal orbit transfer strategy in combination with the predetermined parameters of the target orbit. Signal processing optimizes the accuracy and fuel consumption of the orbit transfer by adjusting the attitude and thrust of the rocket. The data in the entire process is filtered and error corrected by high-precision algorithms to ensure the efficient execution of the orbit transfer.

[0098] In the thrust vector control (TVC) system optimization (S4), signal processing involves the real-time calculation and control of the thrust vector. The torque signal required for the rocket attitude adjustment is generated by the thrust vector control system. After the coordinated control of the liquid microthruster and the solid rocket engine, the system continuously adjusts the thrust direction through the feedback signal to ensure the attitude stability in the complex environment outside the atmosphere. Signal processing adjusts the thrust output by sampling the attitude change data at high frequency and combining the real-time feedback of the thruster.

[0099] Finally, the overall signal data processing of the system also requires data fusion and correction of multiple redundant systems. The navigation system, attitude control system, orbit correction module and thrust vector control system all need to be coordinated through the data bus. The signals generated by each module are processed by the data fusion of the system's central processor to remove redundant information and optimize control instructions to ensure that each stage of the rocket flight is operating in the best condition.

[0100] It should be noted that the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. It can be understood by a person of ordinary skill in the art that the above-mentioned devices and methods can be implemented using computer executable instructions and / or contained in a processor control code, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. Such code is provided on the carrier medium. The device and its modules of the present invention can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, and can also be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0101] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. A solid launch vehicle exoatmospheric guidance control method, characterized in that: The method includes: a) Design a dual redundant navigation system, including an inertial navigation system and a starlight navigation system. The inertial navigation system obtains the acceleration and angular velocity data of the rocket through accelerometers and gyroscopes, and performs integral operations to obtain position and attitude information; the starlight navigation system corrects the rocket's navigation data by observing the position of celestial bodies, and combines it with the GPS navigation signal to form a dual redundant correction signal to improve navigation accuracy; b) using an adaptive attitude control algorithm, combined with feedback data from a control moment gyro (CMG) and microthrusters, to adjust thrust distribution in real time according to external disturbances during rocket flight, to optimize the response time and accuracy of attitude control, and the feedback signal is processed by a digital filter to reduce noise interference; c) During the orbit correction process, based on the control model of the optimal trajectory planning, the deviation between the current orbit and the target orbit is analyzed through predictive control and model reference adaptive control (MRAC) technology to generate the optimal orbit correction strategy, reduce fuel consumption and improve the success rate of orbit transfer; d) Optimize the thrust vector control (TVC) system, use the hybrid control technology of liquid microthrusters and solid rocket engines to dynamically adjust the thrust direction, enhance the rocket's attitude control capability through multi-redundant thruster configuration, and ensure sufficient control torque and correction capability during orbit transfer and attitude adjustment.

2. The solid launch vehicle exoatmospheric guidance control method according to claim 1, characterized in that: The S1 utilizes a starlight navigation system to compensate for the precision drift of inertial navigation, and uses a GPS system to perform precise orbit correction and positioning when entering geosynchronous orbit.

3. The solid launch vehicle exoatmospheric guidance control method according to claim 1, characterized in that: The S1 specifically includes: S11: Starlight navigation assistance: By observing the positions of specific stars, the starlight navigation system can provide the rocket with high-precision position information, thereby correcting the errors of the inertial navigation system and ensuring that the rocket flies along the predetermined orbit; this assistance method is particularly important during long-term flights and can significantly reduce the orbit deviation caused by the accumulated errors of inertial navigation; S12: GPS navigation system supplement: When entering the geosynchronous orbit or other specific orbits, the GPS navigation system can provide more accurate positioning information; through data fusion with the inertial navigation system, the GPS navigation system can correct the orbit deviation in real time to ensure that the rocket reaches the target orbit accurately; this dual-redundancy design not only improves the navigation accuracy, but also enhances the reliability of the navigation system; S13: Data fusion and algorithm optimization: The dual-redundant navigation system also uses advanced data fusion algorithms to conduct comprehensive analysis of starlight navigation, GPS navigation and inertial navigation data to obtain more accurate navigation results. At the same time, through the continuous optimization of the navigation algorithm, the new solution can further improve navigation accuracy, reduce error accumulation, and ensure that the rocket always flies along the predetermined orbit during long-term flight. S14: Real-time monitoring and correction: During the flight, the system can monitor the accuracy of navigation data in real time. Once deviations are found, corrections will be made immediately to ensure that the rocket always flies along the correct trajectory.

4. The solid launch vehicle exoatmospheric guidance control method according to claim 1, characterized in that: The new attitude control algorithm uses multi-sensor fusion technology to improve the system's anti-interference ability and ensure rapid recovery in the event of attitude loss of control. The algorithm formula is as follows: τ=F(q,ω,α,d,Sensors) Where: τ represents the control torque, that is, the thrust or torque calculated by the algorithm to be applied to adjust the rocket's attitude; q represents the current attitude of the rocket, which can usually be expressed in the form of quaternions, rotation matrices, or Euler angles; ω represents the angular velocity of the rocket, which is a measure of the rate of change of attitude; α represents the internal state variables of the algorithm, which include previous control inputs, error accumulation, adaptive parameters, etc.; d represents external disturbances, which affect the attitude of the rocket; Sensors represents data from multiple sensors, which are fused to provide accurate information about the current state of the rocket; Function F is a nonlinear function that calculates the control torque based on the current attitude, angular velocity, internal state, external disturbances, and sensor data.

5. The solid launch vehicle exoatmospheric guidance control method according to claim 1, characterized in that: In S3, the control model of the optimal trajectory planning is as follows: u(t)=u ref (t)+K(t).(ΔP(t)-Δp pred (t+1)) u(t) represents the control input at time tt, that is, the thrust or torque that needs to be applied to adjust the trajectory of the rocket; u ref (t) is the ideal control input at time t provided by the reference model R, which is derived based on the optimal trajectory planning; K(t) is the control gain matrix, which varies with time and is used to adjust the amplitude of the correction strategy; ΔP(t) represents the orbit deviation at time t, that is, the difference between the current orbit parameters and the target orbit parameters; Δp pred (t+1) is the predicted value of the orbit deviation at time t+1 in the future based on the predictive control algorithm at time t.

6. The solid launch vehicle exoatmospheric guidance control method according to claim 1, characterized in that: The hybrid control technology of the liquid micro-thruster and the solid rocket engine specifically includes: It combines the advantages of liquid micro-thrusters and solid rocket engines to achieve stable control in complex attitudes outside the atmosphere; liquid micro-thrusters have the characteristics of fast response speed and high control accuracy, which are suitable for fine attitude adjustment; solid rocket engines provide powerful thrust for rapid change of rocket attitude or orbit transfer; The multi-redundant thruster configuration specifically includes: achieving the diversification and redundancy of thrust vector control by increasing the number and types of thrusters; this configuration not only enhances the attitude control capability of the rocket, but also improves the reliability and safety of the system; when a thruster fails, other thrusters can quickly take over to ensure that the attitude control of the rocket is not affected.

7. A solid launch vehicle exoatmospheric guidance control system based on the solid launch vehicle exoatmospheric guidance control method as claimed in claims 1 to 6, characterized in that: The system specifically includes: The dual redundant navigation system design module introduces starlight navigation on the basis of the inertial navigation system, corrects the rocket position by observing the position of stars, and forms a dual redundant system combined with the GPS navigation system; The attitude control module is connected to the dual-redundant navigation system design module. Based on the traditional control moment gyro and micro-thruster, a set of adaptive attitude control algorithms is added. It can adjust the thrust distribution in real time according to external disturbances during flight, such as gravity gradient, solar radiation pressure, etc., to optimize the response time and accuracy of attitude control. The orbit correction module optimization module is connected to the attitude control module. It introduces a control model based on optimal trajectory planning and adopts predictive control and model reference adaptive control MRAC technology. It can calculate the best correction strategy according to the real-time orbit deviation. When performing orbit transfer, the module can automatically adjust the correction strategy according to the current orbit parameters and the target orbit parameters, reduce fuel consumption and improve the success rate of orbit transfer. The thrust vector control TVC system optimization module is connected to the orbit correction module optimization module, which further improves the performance of the thrust vector control system. It uses the hybrid control technology of liquid microthrusters and solid rocket engines to achieve stable control of complex attitudes outside the atmosphere. Through the configuration of multiple redundant thrusters, the rocket's attitude control capability is enhanced to ensure sufficient control torque and correction capability during orbit transfer.

8. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the solid carrier rocket exoatmospheric guidance control method as described in any one of claims 1-6.

9. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the steps of the solid launch vehicle exoatmospheric guidance control method as described in any one of claims 1 to 6.

10. An information data processing terminal, characterized in that: The information data processing terminal is used to implement the solid carrier rocket exoatmospheric guidance control system as described in claim 7.

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