STK and MATLAB interconnection-based constellation inspection track design and visualization system and method

Abstract

The invention discloses a constellation inspection track design and visualization system and method based on STK and MATLAB interconnection, the system integrates and displays an STKX component on a GUI interface in an ActiveX control form through Matlab, and by using rich secondary development interfaces and a good display function of the STK, the constellation inspection track design and visualization can be realized. And analysis and display of constellation orbit deployment query, fly-around orbit design and orbit maintenance, and grazing flight orbit design function modules are realized. The constellation inspection track design simulation analysis method can realize constellation inspection track design simulation analysis, and has important practical value for constellation inspection track design visualization.

Description

Technical Field

[0001] The invention belongs to the technical field of visual simulation, and in particular to a constellation inspection track design and visualization system and method based on STK and MATLAB interconnection. Background Art

[0002] With the rapid development of aerospace technology, space launch missions are becoming more frequent, especially with the introduction of the concept of constellations, which can deploy multiple satellites through a single launch mission. Space debris has also increased, which has led to an increasingly complex space environment. Therefore, a reliable visualization method for constellation inspection orbit design is needed to regularly inspect the constellation to ensure that the constellation can work in a safe environment.

[0003] At present, there are many tools and software at home and abroad for the problem of visualization methods for constellation inspection orbit design, which can be roughly summarized into three categories: the first category is commercial software, such as STK (Satellite Tool Kit) and GMAT (General Mission Analysis Tool). STK is a comprehensive simulation and analysis software developed by AGI, which is widely used in aerospace, defense, communications and other fields. It can simulate and analyze various complex systems, including satellite orbits, sensor coverage, communication links, etc., and provides three-dimensional and two-dimensional visualization modules for analysis and calculation display. GMAT is an open source software developed by NASA, with functions similar to STK. This method is difficult to achieve calculation analysis and display of specific tasks. The second category is to use programming software for calculation analysis and display. MATLAB is widely used in the field of calculation analysis. MATLAB is a commercial mathematical software produced by MathWorks in the United States. It has powerful numerical calculation and algorithm processing capabilities. It has a rich toolbox with powerful visualization functions and is widely used in data analysis, wireless communication, deep learning, image processing and computer vision, signal processing, quantitative finance and risk management, robotics, control systems and other fields. This method is costly and inefficient. The third category is to develop special software for specific aerospace missions. This method is costly and not widely used. Summary of the invention

[0004] The purpose of the present invention is to provide a constellation inspection track design and visualization system and method based on the interconnection of STK and MATLAB to address the problems existing in the above-mentioned prior art.

[0005] The technical solution to achieve the purpose of the present invention is: on the one hand, a constellation inspection orbit design and visualization system based on the interconnection of STK and MATLAB is provided, wherein the system integrates the STKX component in the form of ActiveX control through Matlab and displays it in the GUI interface, and utilizes STK to realize the analysis and display of constellation orbit deployment query, flyby orbit design and orbit maintenance, and flyby orbit design functional modules.

[0006] Further, the system includes a main interface, an orbit deployment query module, a flyby orbit design and orbit maintenance module, and a flyby orbit design module;

[0007] The main interface is used to display the 2D / 3D scene display of the constellation satellite classification based on the STKX component, and to provide the entry port of each module;

[0008] The orbital deployment query module is used to display the deployment status of each orbital plane of the constellation;

[0009] The orbit design and orbit maintenance module is used to implement the orbit design and orbit maintenance fuel consumption calculation for the required constellation satellite inspection and evaluate the orbit maintenance effect;

[0010] The flyby orbit design module is used to implement the flyby orbit design for the required constellation satellite inspection on any orbital plane and demonstrate the flyby monitoring effect.

[0011] Furthermore, the orbit design and orbit maintenance module outputs the orbit design result through the orbit design algorithm;

[0012] The orbit design algorithm is based on the CW equation and designs the orbit according to the load function requirements, specifically including:

[0013] Step 3.1, set the input parameters, including the target star, simulation time, orbiting radius, threshold and control period; query the STK engine according to the input target star name, obtain the target star handle, calculate the absolute orbit information of the orbiting star based on the read target orbit six numbers, initiate a satellite creation request to the STK engine, and establish the orbiting star object;

[0014] Step 3.2, in the natural drift phase, when the primary star orbit is a near-circular orbit, the polar coordinate form of the amplitude-phase of the CW equation is obtained through theoretical derivation:

[0015]

[0016] Where x(t), y(t), z(t), are the relative position vector and relative velocity vector of the orbiting star at time t, n is the average angular velocity of the target star, rx and r z are the amplitudes of radial and normal motion, respectively, l x and l y are the deviation values ​​of radial and track motion centers, α x and α z are the radial and normal initial phases, respectively;

[0017] in, x0, y0, z0, are the relative position vector and relative velocity vector of the orbiting star at the initial moment respectively;

[0018] Considering the symmetry of the configuration and the orbit radius r, the orbit orbit design constraints are obtained:

[0019]

[0020] Step 3.3, query the STK engine according to the input target star name, read the six elements of the target star and calculate the average orbital angular velocity, and then calculate the relative orbital position velocity vector parameters of the orbiting star according to the method of step 3.2;

[0021] Step 3.4, convert the orbiting star from the relative coordinate system to the absolute coordinate system.

[0022] Furthermore, the orbit design and orbit maintenance module maintains fuel consumption through an orbit maintenance algorithm; the orbit maintenance algorithm specifically includes:

[0023] Step 4.1, according to the input control cycle, threshold and simulation time, calculate the number of maintenance times in the analysis period, call the orbit prediction module of STK engine, obtain the orbit data of the target star and the orbiting star in the analysis period, and convert the absolute orbital elements of the orbiting star into ROE parameters according to the coordinate conversion relationship;

[0024] Step 4.2, the control strategy is: the natural drift phase and the controlled flight phase are carried out alternately. After flying around the flying star for a natural flight cycle, the deviation from the reference orbit is calculated, and the orbit is corrected within the control cycle. According to the pulse analytical solution, the size and action time of the tangential pulse and the normal pulse are calculated;

[0025] Step 4.3, storing the orbital data of the flying star under the two conditions of natural drift and orbit maintenance, repeating the above steps 4.1 to 4.2 until the time exceeds the analysis period;

[0026] Step 4.4, draw the orbit of the flying star and show the number of orbit elements and pulse size of the flying star.

[0027] Further, step 4.2 specifically includes: decoupling the orbit maintenance problem into an out-of-orbit vector correction and an in-orbit orbit correction based on relative dynamic characteristics;

[0028] The effect of the pulse on the relative orbital elements is shown in the following formula:

[0029]

[0030] Where a is the semi-major axis of the reference orbit, Δδα k represents the configuration parameter, u k represents the average latitude argument of the reference orbit when the pulse is implemented, δv R ,δv T and δv N represent radial pulse, track pulse and normal pulse respectively;

[0031] (1) The orbit correction in the orbital plane is performed by three tangential pulses, and its control solution is:

[0032]

[0033] Where T is the orbital period of the flying star, δa, δe and δλ are the relative orbital semi-major axis, relative orbital eccentricity and relative longitude argument, respectively. man ,δe man and δλ man is the configuration bias target parameter, δv t1 ,δv t2 and δv t3 are three tangential pulse sizes respectively;

[0034] The latitude angle u corresponding to the three tangential pulse maneuvers M1 、u M2 and u M3 as follows:

[0035]

[0036] In the formula, They are δe man The component, δe x ,δe y are the components of δe respectively;

[0037] (2) The out-of-plane vector correction uses a single normal pulse δv n After correction, the control solution is:

[0038]

[0039] In the formula, Δδi x is the component of the relative orbital inclination Δδi;

[0040] The latitude argument u corresponding to the normal pulse n as follows:

[0041]

[0042] In the formula, Δδi x , Δδi y is the component of the relative orbital inclination Δδi;

[0043] Furthermore, the configuration bias target parameter δa man ,δe man They are:

[0044] δa man =-7γsin(2i)Δδi x

[0045]

[0046]

[0047] In the formula, Δδi x is the component of the relative orbital inclination Δδi, i is the orbital inclination, γ is a constant coefficient, and is the nominal relative eccentricity δe nom The weight, To maintain the maximum allowable divergence of the relative eccentricity vector angle, δe max is the maximum allowed divergence of the relative eccentricity, is the phase angle of the E vector The differential of the latitude argument u of the formation main star.

[0048] Furthermore, the flyby trajectory design module obtains the optimal flyby trajectory through a flyby algorithm and outputs flyby trajectory design parameters; the flyby algorithm includes:

[0049] Step 7.1, set the input parameters, including the target satellite, payload range, payload angle, total simulation time and orbit recursion interval information;

[0050] Step 7.2, obtain the target satellite handle from the STK engine according to the input target satellite, initiate a data request for the target satellite inertial coordinate position and six orbital elements to the STK engine, and obtain the inertial coordinate position and six orbital elements of the target satellite at the total simulation time and discrete time input by the user;

[0051] Step 7.3, based on the six numbers of the flyby orbit designed by absolute state recursion, directly initiate a satellite creation request to the STK engine to create a flyby satellite object;

[0052] Step 7.4: The direction of the flyby satellite payload is opposite to the direction of the satellite pointing to the center of the earth, and the attitude is kept stable in three axes; the orbit prediction parameters of the target satellite group are output through the STK engine and passed to the GUI backend program; for the longest flyby mission, a discrete recursive model is used to predict the orbit of the flyby satellite to determine the flyby point, flyby time and flyby angle;

[0053] Step 7.5, based on the STK orbit prediction value of the target satellite and the flyby orbit prediction value obtained in step 7.4, construct a distance constraint function and an angle constraint function as the objective function of the particle swarm optimization algorithm;

[0054] Step 7.6, based on the objective function, taking the six numbers of flyby star orbits as optimization variables, the particle swarm algorithm is used to optimize the flyby orbit with the longest inspection time for the orbital plane, that is, the optimal flyby orbit, and the flyby time for each target star is calculated and output.

[0055] Furthermore, the discrete recursive model described in step 7.4 is specifically:

[0056] Assume the sampling frequency is T', when time t satisfies kT'≤t≤(k+1)T', k is any positive constant, and the state variable is The discrete state equation of the object sampled by zero-order holder, that is, the discrete recursive model, is:

[0057]

[0058] Convert the discrete recursive model into a simple form:

[0059]

[0060] Where A represents the state transfer matrix, B represents the control matrix, u represents the control acceleration, δx, δy, δz are the components of the relative position vector δr, is the relative velocity vector δv component, X[(k+1)T′], X(kT′), X(k+1), and X(k) are the state variables corresponding to the time instants (k+1)T′, kT′, k+1, and k, respectively;

[0061] For a linear steady-state continuous-time system, the expression of the discrete equation obtained by solving it is shown as follows:

[0062]

[0063] In the formula,

[0064] Among them, S nT′ represents sin(nT′), C nT′It represents cos(nT'), where n is the average angular velocity of the target star.

[0065] Furthermore, the objective function in step 7.5 is:

[0066] ||r skim -r target ||2≤D

[0067]

[0068] Among them, r skim 、r target are the STK orbit prediction value of the target satellite and the flyby orbit prediction value obtained in step 7.4, respectively. D and E are the distance constraint and angle constraint, respectively.

[0069] In one embodiment, a visualization method for constellation inspection track design and visualization system based on STK and MATLAB interconnection is provided, the method comprising:

[0070] Step 1: In the satellite tracking performance evaluation, a scenario is established according to the analysis period and the ephemeris file of the constellation, the data update maintenance component is triggered, and the classification criteria are constructed based on the three orbital characteristic parameters of orbital inclination, orbital semi-major axis and ascending node right ascension, and the constellation classification data is updated;

[0071] Step 2, operate various view components in the main interface, and realize 2D / 3D display of the scene in combination with the scene established in step 1;

[0072] Step 3, triggering the orbital deployment query module, combining the scenario established in step 1 and the constellation classification result, and displaying the orbital information of the constellation on the text information bar by selecting from the menu bar;

[0073] Step 4, trigger the orbit design and orbit maintenance module, combine the scenario established in step 1 and the constellation classification results, input the longitude and latitude of the ground target, ground station load parameters, target star, orbit radius, time step, simulation start and end time, control cycle and threshold parameters to the system, output the orbit design result and maintenance fuel consumption through the orbit design algorithm and orbit maintenance algorithm, and dynamically display the orbit and maintenance effect;

[0074] Step 5, trigger the flyby orbit design module, combine the scenario established in step 1 and the constellation classification results, obtain the target orbital plane, flyby orbit altitude, payload action range, payload action angle, and total simulation time information through interface interaction, obtain the optimal flyby orbit through the flyby algorithm, output the flyby orbit design parameters and display the flyby effect.

[0075] Compared with the prior art, the present invention has the following significant advantages:

[0076] (1) The present invention performs a first classification of constellation satellites according to orbital altitude and orbital inclination. On this basis, the present invention performs a second classification of constellation satellites according to the right ascension of the ascending node to obtain "shell-orbital plane-satellite" structure data. By classifying constellation satellites, constellation system management is more efficient.

[0077] (2) The present invention uses the flyby orbit design algorithm and maintenance algorithm to calculate the pulse size, and provides multiple reference trajectories by adjusting parameters, thereby expanding the reference range of the flyby orbit for target star inspection;

[0078] (3) The present invention uses a particle swarm optimization algorithm to obtain the optimal flyby orbit with the longest inspection time for any track surface under the conditions of satisfying the load action distance and load action angle parameters input by the user;

[0079] (4) The present invention interconnects STK and MATLAB, combining the powerful 3D view simulation capability of STK with the powerful computational analysis capability of MATLAB, to solve the problems of constellation satellite structured management, flyby orbit design and flyby orbit design for constellation inspection, and provide a reference for constellation inspection orbit design.

[0080] The present invention is further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 It is a principle block diagram of a constellation inspection track design and visualization system based on the interconnection of STK and MATLAB in one embodiment.

[0082] Figure 2 This is a workflow diagram of a constellation inspection track design and visualization system based on the interconnection of STK and MATLAB in one embodiment.

[0083] Figure 3 Flowchart of particle swarm optimization algorithm. DETAILED DESCRIPTION

[0084] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0085] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0086] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0087] In one embodiment, a constellation inspection orbit design and visualization system based on the interconnection of STK and MATLAB is provided. The system integrates STKX components in the form of ActiveX controls through Matlab and displays them in the GUI interface, and uses STK to realize the analysis and display of constellation orbit deployment query, flyby orbit design and orbit maintenance, and flyby orbit design functional modules.

[0088] It should be noted here that the implementation is not limited to the MATLAB platform.

[0089] Further, in one of the embodiments, the system includes a main interface, an orbit deployment query module, a flyby orbit design and orbit maintenance module, and a flyby orbit design module;

[0090] The main interface is used to display the 2D / 3D scene display of the constellation satellite classification based on the STKX component, and to provide the entry port of each module;

[0091] The orbital deployment query module is used to display the deployment status of each orbital plane of the constellation;

[0092] The orbit design and orbit maintenance module is used to implement the orbit design for the required constellation satellite inspection (providing a reference orbit for the target satellite's orbit inspection) and orbit maintenance fuel calculation, and evaluate the orbit maintenance effect;

[0093] The flyby orbit design module is used to implement the flyby orbit design for the inspection of the required constellation satellites on any orbital plane, select the flyby orbit with the longest inspection time through the particle swarm optimization algorithm, and display the flyby monitoring effect.

[0094] Furthermore, in one of the embodiments, before the track deployment query module, the system further includes:

[0095] The constellation satellite classification module is used to classify constellation satellites according to "shell-orbital plane-satellite" to facilitate management and target selection. After selecting the shell-orbital plane, the satellite trajectory can be displayed in the 2D / 3D scene of the main interface.

[0096] Preferably, in some embodiments, the constellation classification algorithm includes: constructing classification criteria based on three orbital characteristic parameters: orbital inclination, orbital semi-major axis and ascending node right ascension, to form a "shell-orbital plane-satellite" file structure.

[0097] Specifically, the first orbit classification is performed based on orbital altitude and orbital inclination, the orbital data of the constellation is divided according to the shell attributes, and the data under each shell is secondary classified according to the right ascension of the ascending node. According to the number of orbital planes in the constellation structure design parameters, the right ascension threshold of the ascending node corresponding to each shell is calculated. In the shell classification results, a satellite is selected, the right ascension of the ascending node is read and compared with the right ascension of the ascending node of the remaining satellites under the same shell. If the right ascension of the ascending node of the remaining satellites falls within the interval generated by the threshold, it is considered that these satellites are in the same orbital plane. After the satellite data of the orbital plane is saved, it is deleted from the shell data to generate new shell data. Repeat the above process until there is no target in all shell data, output the second classification result, and store the classified data according to the file structure of "shell-orbital plane-satellite".

[0098] Further, in one of the embodiments, the fly-by trajectory design and trajectory maintenance module outputs a fly-by trajectory design result through a fly-by trajectory design algorithm;

[0099] The orbit design algorithm is based on the CW equation and designs the orbit according to the load function requirements, specifically including:

[0100] Step 3.1, set the input parameters, including the target star, simulation time, orbiting radius, threshold and control period; query the STK engine according to the input target star name, obtain the target star handle, calculate the absolute orbit information of the orbiting star based on the read target orbit six numbers, initiate a satellite creation request to the STK engine, and establish the orbiting star object;

[0101] Step 3.2, in the natural drift phase, when the primary star orbit is a near-circular orbit, the polar coordinate form of the amplitude-phase of the CW equation is obtained through theoretical derivation:

[0102]

[0103] Where x(t), y(t), z(t), are the relative position vector and relative velocity vector of the orbiting star at time t, n is the average angular velocity of the target star, r x and r z are the amplitudes of radial and normal motion, respectively, l x and l y are the deviation values ​​of radial and track motion centers, α x and αz are the radial and normal initial phases, respectively;

[0104] in, x0, y0, z0, are the relative position vector and relative velocity vector of the orbiting star at the initial moment respectively;

[0105] Considering the symmetry of the configuration and the orbit radius r, the orbit orbit design constraints are obtained:

[0106]

[0107] Step 3.3, query the STK engine according to the input target star name, read the six elements of the target star and calculate the average orbital angular velocity, and then calculate the relative orbital position velocity vector parameters of the orbiting star according to the method of step 3.2;

[0108] Step 3.4, convert the orbiting star from the relative coordinate system to the absolute coordinate system.

[0109] Furthermore, in one embodiment, the orbit design and orbit maintenance module maintains fuel consumption through an orbit maintenance algorithm; the orbit maintenance algorithm specifically includes:

[0110] Step 4.1, according to the input control cycle, threshold and simulation time, calculate the number of maintenance times in the analysis period, call the orbit prediction module of STK engine, obtain the orbit data of the target star and the orbiting star in the analysis period, and convert the absolute orbital elements of the orbiting star into ROE parameters according to the coordinate conversion relationship;

[0111] Step 4.2, the control strategy is: the natural drift phase and the controlled flight phase are carried out alternately. After flying around the flying star for a natural flight cycle, the deviation from the reference orbit is calculated, and the orbit is corrected within the control cycle. According to the pulse analytical solution, the size and action time of the tangential pulse and the normal pulse are calculated;

[0112] Step 4.3, storing the orbital data of the flying star under the two conditions of natural drift and orbit maintenance, repeating the above steps 4.1 to 4.2 until the time exceeds the analysis period;

[0113] Step 4.4, draw the orbit of the flying star and show the number of orbit elements and pulse size of the flying star.

[0114] Further, in one of the embodiments, step 4.2 specifically includes: decoupling the orbit maintenance problem into an out-of-orbit vector correction and an in-orbit orbit correction based on relative dynamic characteristics;

[0115] The effect of the pulse on the relative orbital elements is shown in the following formula:

[0116]

[0117] Where a is the semi-major axis of the reference orbit, Δδα k represents the configuration parameter, u k represents the average latitude argument of the reference orbit when the pulse is implemented, δv R ,δv T and δv N represent radial pulse, track pulse and normal pulse respectively;

[0118] (1) The orbit correction in the orbital plane is performed by three tangential pulses, and its control solution is:

[0119]

[0120] Where T is the orbital period of the flying star, δa, δe and δλ are the relative orbital semi-major axis, relative orbital eccentricity and relative longitude argument, respectively. man ,δe man and δλ man is the configuration bias target parameter, δv t1 ,δv t2 and δv t3 are three tangential pulse sizes respectively;

[0121] The latitude angle u corresponding to the three tangential pulse maneuvers M1 、u M2 and u M3 as follows:

[0122]

[0123] In the formula, They are δe man The component, δe x ,δe y are the components of δe respectively;

[0124] (2) The out-of-plane vector correction uses a single normal pulse δv n After correction, the control solution is:

[0125]

[0126] In the formula, Δδi x is the component of the relative orbital inclination Δδi;

[0127] The latitude argument u corresponding to the normal pulse n as follows:

[0128]

[0129] In the formula, Δδi x , Δδi y is the component of the relative orbital inclination Δδi;

[0130] In some embodiments, the configuration bias target parameter δa man ,δe man They are:

[0131] δa man =-7γsin(2i)Δδi x

[0132]

[0133] In the formula, Δδi x is the component of the relative orbital inclination Δδii, i is the orbital inclination, γ is a constant coefficient, and is the nominal relative eccentricity δe nom The weight, To maintain the maximum allowable divergence of the relative eccentricity vector angle, δe max is the maximum allowed divergence of the relative eccentricity, is the phase angle of the E vector The differential of the latitude argument u of the formation main star.

[0134] Furthermore, in one embodiment, the flyby trajectory design module obtains the optimal flyby trajectory through a flyby algorithm and outputs flyby trajectory design parameters; the flyby algorithm includes:

[0135] Step 7.1, set the input parameters, including the target satellite, payload range, payload angle, total simulation time and orbit recursion interval information;

[0136] Step 7.2, obtain the target satellite handle from the STK engine according to the input target satellite, initiate a data request for the target satellite inertial coordinate position and six orbital elements to the STK engine, and obtain the inertial coordinate position and six orbital elements of the target satellite at the total simulation time and discrete time input by the user;

[0137] Step 7.3, based on the six numbers of the flyby orbit designed by absolute state recursion, directly initiate a satellite creation request to the STK engine to create a flyby satellite object;

[0138] Step 7.4: The direction of the flyby satellite payload is opposite to the direction of the satellite pointing to the center of the earth, and the attitude is kept stable in three axes; the orbit prediction parameters of the target satellite group are output through the STK engine and passed to the GUI backend program; for the longest flyby mission, a discrete recursive model is used to predict the orbit of the flyby satellite to determine the flyby point, flyby time and flyby angle;

[0139] Step 7.5, based on the STK orbit prediction value of the target satellite and the flyby orbit prediction value obtained in step 7.4, construct a distance constraint function and an angle constraint function as the objective function of the particle swarm optimization algorithm;

[0140] Step 7.6, based on the objective function, the six numbers of the flyby star orbits are used as optimization variables, and the particle swarm algorithm is used to optimize the flyby orbit with the longest inspection time for the orbital plane, that is, the optimal flyby orbit (such as Figure 3 The figure shows the flow chart of the particle swarm optimization algorithm), and calculates and outputs the flyby duration of each target star.

[0141] In some embodiments, the discrete recursive model in step 7.4 is specifically:

[0142] Assume that the sampling frequency is T', when the time t satisfies kT'≤t≤(k+1)T', k is any positive constant, and the state variable is The discrete state equation of the object sampled by zero-order holder, that is, the discrete recursive model, is:

[0143]

[0144] Convert the discrete recursive model into a simple form:

[0145]

[0146] Where A represents the state transfer matrix, B represents the control matrix, u represents the control acceleration, δx, δy, δz are the components of the relative position vector δr, is the relative velocity vector δv component, X[(k+1)T′], X(kT′), X(k+1), and X(k) are the state variables corresponding to the time instants (k+1)T′, kT′, k+1, and k, respectively;

[0147] For a linear steady-state continuous-time system, the expression of the discrete equation obtained by solving it is shown as follows:

[0148]

[0149] In the formula,

[0150] Among them, SnT′ represents sin(nT′), C nT′ It represents cos(nT'), where n is the average angular velocity of the target star.

[0151] In some embodiments, the objective function in step 7.5 is:

[0152] ||r skim -r target ||2≤D

[0153]

[0154] Among them, r skim 、r target are the STK orbit prediction value of the target satellite and the flyby orbit prediction value obtained in step 7.4, respectively. D and E are the distance constraint and angle constraint, respectively.

[0155] Here, the predicted flyby orbit value r obtained by this method is skim (x, y, z) and the STK orbit prediction value r of the target satellite target (x n ,y n ,z n ) to make a difference, we can determine whether the relative distance between the two satellites satisfies the distance constraint D at a discrete time point, and use it as one of the objective functions of the particle swarm optimization algorithm. At the same time, the angle constraint E in this process can be solved by the vector calculation method, and it can be used as the second objective function of the particle swarm optimization algorithm.

[0156] Figure 2 This is the workflow diagram of the system of the present invention. First, select whether to maintain data. If data maintenance is required, create a new scene. Otherwise, select whether to create a new scene. If not, load the scene. After entering the scene, select the function module, whether to select the orbit deployment query module, if the orbit deployment query module is selected, select the shell layer, select the orbital surface, and finally display the result; otherwise, select whether to fly around the orbit design and orbit maintenance module, if the orbit design and orbit maintenance module is selected, obtain user input, design time calculation and orbit solution, orbit maintenance combustion calculation, and finally display the result; otherwise, select the flyby orbit design module, obtain user input, select the orbital surface and orbit prediction, particle swarm optimization algorithm, and finally display the result.

[0157] In one embodiment, a visualization method for constellation inspection track design and visualization system based on STK and MATLAB interconnection is provided, the method comprising:

[0158] Step 1: In the satellite tracking performance evaluation, a scenario is established according to the analysis period and the ephemeris file of the constellation, the data update maintenance component is triggered, and the classification criteria are constructed based on the three orbital characteristic parameters of orbital inclination, orbital semi-major axis and ascending node right ascension, and the constellation classification data is updated;

[0159] Step 2, operate various view components in the main interface, and realize 2D / 3D display of the scene in combination with the scene established in step 1;

[0160] Step 3, triggering the orbital deployment query module, combining the scenario established in step 1 and the constellation classification result, and displaying the orbital information of the constellation on the text information bar by selecting from the menu bar;

[0161] Step 4, trigger the orbit design and orbit maintenance module, combine the scenario established in step 1 and the constellation classification results, input the longitude and latitude of the ground target, ground station load parameters, target star, orbit radius, time step, simulation start and end time, control cycle and threshold parameters to the system, output the orbit design result and maintenance fuel consumption through the orbit design algorithm and orbit maintenance algorithm, and dynamically display the orbit and maintenance effect;

[0162] Step 5, trigger the flyby orbit design module, combine the scenario established in step 1 and the constellation classification results, obtain the target orbital plane, flyby orbit altitude, payload action range, payload action angle, and total simulation time information through interface interaction, obtain the optimal flyby orbit through the flyby algorithm, output the flyby orbit design parameters and display the flyby effect.

[0163] For the specific limitations on the visualization method of the constellation inspection track design and visualization system based on the interconnection of STK and MATLAB, please refer to the above limitations on the visualization system of the constellation inspection track design and visualization system based on the interconnection of STK and MATLAB, which will not be repeated here.

[0164] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the functions of each module of the visualization system of the constellation inspection orbit design and visualization system based on the interconnection of STK and MATLAB when executing the computer program.

[0165] For the specific limitations of each module, please refer to the limitations of the visualization system of the constellation inspection track design and visualization system based on the interconnection of STK and MATLAB mentioned above, which will not be repeated here.

[0166] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the functions of each module of the visualization system of the constellation inspection track design and visualization system based on the interconnection of STK and MATLAB are realized.

[0167] For the specific limitations of each module, please refer to the limitations of the visualization system of the constellation inspection track design and visualization system based on the interconnection of STK and MATLAB mentioned above, which will not be repeated here.

[0168] The above description of the embodiments is to facilitate the understanding and use of the invention patent by ordinary technicians in the technical field. It is obvious that those familiar with the technology in this field can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the invention patent is not limited to the above embodiments. Improvements and modifications made by those skilled in the art based on the disclosure of the invention patent and not departing from the scope of the invention patent should be within the protection scope of the invention patent.

Claims

1. A constellation inspection track design and visualization system based on STK and MATLAB interconnection, characterized in that: The system integrates STKX components in the form of ActiveX controls in the GUI interface through Matlab, and uses STK to realize the analysis and display of constellation orbit deployment query, flyby orbit design and orbit maintenance, and flyby orbit design functional modules.

2. According to claim 1, the constellation inspection track design and visualization system based on STK and MATLAB interconnection is characterized in that: The system includes a main interface, an orbit deployment query module, a flyby orbit design and orbit maintenance module, and a flyby orbit design module; The main interface is used to display the 2D / 3D scene display of the constellation satellite classification based on the STKX component, and to provide the entry port of each module; The orbital deployment query module is used to display the deployment status of each orbital plane of the constellation; The orbit design and orbit maintenance module is used to implement the orbit design and orbit maintenance fuel consumption calculation for the required constellation satellite inspection, and evaluate the orbit maintenance effect; The flyby orbit design module is used to implement the flyby orbit design for the required constellation satellite inspection on any orbital plane and demonstrate the flyby monitoring effect.

3. The constellation inspection track design and visualization system based on STK and MATLAB interconnection according to claim 1, characterized in that: The orbit design and orbit maintenance module outputs the orbit design result through the orbit design algorithm; The orbit design algorithm is based on the CW equation and designs the orbit according to the load function requirements, specifically including: Step 3.1, set the input parameters, including the target star, simulation time, orbiting radius, threshold and control period; query the STK engine according to the input target star name, obtain the target star handle, calculate the absolute orbit information of the orbiting star based on the read target orbit six numbers, initiate a satellite creation request to the STK engine, and establish the orbiting star object; Step 3.2, in the natural drift phase, when the primary star orbit is a near-circular orbit, the polar coordinate form of the amplitude-phase of the CW equation is obtained through theoretical derivation: Where x(t), y(t), z(t), are the relative position vector and relative velocity vector of the orbiting star at time t, n is the average angular velocity of the target star, r x and r z are the amplitudes of radial and normal motion, respectively, l x and l y are the deviation values ​​of radial and track motion centers, α x and α z are the radial and normal initial phases, respectively; in, x0, y0, z0, are the relative position vector and relative velocity vector of the orbiting star at the initial moment respectively; Considering the symmetry of the configuration and the orbital radius r, the orbital design constraints are obtained: Step 3.3, query the STK engine according to the input target star name, read the six elements of the target star and calculate the average orbital angular velocity, and then calculate the relative orbital position velocity vector parameters of the orbiting star according to the method of step 3.2; Step 3.4, convert the orbiting star from the relative coordinate system to the absolute coordinate system.

4. The constellation inspection track design and visualization system based on STK and MATLAB interconnection according to claim 3 is characterized in that: The orbit design and orbit maintenance module maintains fuel consumption through an orbit maintenance algorithm; the orbit maintenance algorithm specifically includes: Step 4.1, according to the input control cycle, threshold and simulation time, calculate the number of maintenance times in the analysis period, call the orbit prediction module of STK engine, obtain the orbit data of the target star and the orbiting star in the analysis period, and convert the absolute orbital elements of the orbiting star into ROE parameters according to the coordinate conversion relationship; Step 4.2, the control strategy is: the natural drift phase and the controlled flight phase are carried out alternately. After flying around the flying star for a natural flight cycle, the deviation from the reference orbit is calculated, and the orbit is corrected within the control cycle. According to the pulse analytical solution, the size and action time of the tangential pulse and the normal pulse are calculated; Step 4.3, storing the orbital data of the flying star under the two conditions of natural drift and orbit maintenance, repeating the above steps 4.1 to 4.2 until the time exceeds the analysis period; Step 4.4, draw the orbit of the flying star and show the number of orbit elements and pulse size of the flying star.

5. The constellation inspection track design and visualization system based on STK and MATLAB interconnection according to claim 4 is characterized in that: Step 4.2 specifically includes: decoupling the orbit maintenance problem into out-of-orbit vector correction and in-orbit orbit correction based on relative dynamic characteristics; The effect of the pulse on the relative orbital elements is shown in the following formula: Where a is the semi-major axis of the reference orbit, Δδα k represents the configuration parameter, u k represents the average latitude argument of the reference orbit when the pulse is implemented, δv R ,δv T and δv N represent radial pulse, track pulse and normal pulse respectively; (1) The orbit correction in the orbital plane is performed by three tangential pulses, and its control solution is: Where T is the orbital period of the flying star, δa, δe and δλ are the relative orbital semi-major axis, relative orbital eccentricity and relative longitude argument, respectively. man ,δe man and δλ man is the configuration bias target parameter, δv t1 ,δv t2 and δv t3 are three tangential pulse sizes respectively; The latitude angle u corresponding to the three tangential pulse maneuvers M1 、u M2 and u M3 as follows: In the formula, They are δe man The component, δe x ,δe y are the components of δe respectively; (2) The out-of-plane vector correction uses a single normal pulse δv n After correction, the control solution is: In the formula, Δδi x is the component of the relative orbital inclination Δδi; The latitude argument u corresponding to the normal pulse n as follows: In the formula, Δδi x , Δδi y is the component of the relative orbital inclination Δδi.

6. The constellation inspection track design and visualization system based on STK and MATLAB interconnection according to claim 5 is characterized in that: The configuration bias target parameter δa man ,δe man They are: δa man =-7γsin(2i)Δδi x In the formula, Δδi x is the component of the relative orbital inclination Δδi, i is the orbital inclination, γ is a constant coefficient, and is the nominal relative eccentricity δe nom The weight, To maintain the maximum allowable divergence of the relative eccentricity vector angle, δe max is the maximum allowed divergence of the relative eccentricity, is the phase angle of the E vector The differential of the latitude argument u of the formation main star.

7. The constellation inspection track design and visualization system based on STK and MATLAB interconnection according to claim 1 is characterized in that: The flyby trajectory design module obtains the optimal flyby trajectory through a flyby algorithm and outputs flyby trajectory design parameters; the flyby algorithm includes: Step 7.1, set the input parameters, including the target satellite, payload range, payload angle, total simulation time and orbit recursion interval information; Step 7.2, obtain the target satellite handle from the STK engine according to the input target satellite, initiate a data request for the target satellite inertial coordinate position and six orbital elements to the STK engine, and obtain the inertial coordinate position and six orbital elements of the target satellite at the total simulation time and discrete time input by the user; Step 7.3, based on the six numbers of the flyby orbit designed by absolute state recursion, directly initiate a satellite creation request to the STK engine to create a flyby satellite object; Step 7.4: The direction of the flyby satellite payload is opposite to the direction of the satellite pointing to the center of the earth, and the attitude is kept stable in three axes; the orbit prediction parameters of the target satellite group are output through STKengine and passed to the GUI backend program; for the longest flyby mission, a discrete recursive model is used to predict the orbit of the flyby satellite to determine the flyby point, flyby time and flyby angle; Step 7.5, based on the STK orbit prediction value of the target satellite and the flyby orbit prediction value obtained in step 7.4, construct a distance constraint function and an angle constraint function as the objective function of the particle swarm optimization algorithm; Step 7.6, based on the objective function, taking the six numbers of flyby star orbits as optimization variables, the particle swarm algorithm is used to optimize the flyby orbit with the longest inspection time for the orbital plane, that is, the optimal flyby orbit, and the flyby time for each target star is calculated and output.

8. The constellation inspection track design and visualization system based on STK and MATLAB interconnection according to claim 7 is characterized in that: The discrete recursive model described in step 7.4 is specifically: Assume the sampling frequency is T', when time t satisfies kT'≤t≤(k+1)T', k is any positive constant, and the state variable is The discrete state equation of the object sampled by zero-order holder, that is, the discrete recursive model, is: Convert the discrete recursive model into a simple form: Where A represents the state transfer matrix, B represents the control matrix, u represents the control acceleration, δx, δy, δz are the components of the relative position vector δr, is the relative velocity vector δv component, X[(k+1)T′], X(kT′), X(k+1), and X(k) are the state variables corresponding to the time instants (k+1)T′, kT′, k+1, and k, respectively; For a linear steady-state continuous-time system, the expression of the discrete equation obtained by solving it is shown as follows: In the formula, Among them, S nT′ represents sin(nT′), C nT′ It represents cos(nT'), where n is the average angular velocity of the target star.

9. The constellation inspection track design and visualization system based on STK and MATLAB interconnection according to claim 7, characterized in that: The objective function in step 7.5 is: ||r skim -r target ||2≤D Among them, r skim 、r target are the STK orbit prediction value of the target satellite and the flyby orbit prediction value obtained in step 7.4, respectively. D and E are the distance constraint and angle constraint, respectively.

10. The visualization method of the constellation inspection track design and visualization system based on STK and MATLAB interconnection according to any one of claims 1 to 9, characterized in that: The method comprises: Step 1: In the satellite tracking performance evaluation, a scenario is established according to the analysis period and the ephemeris file of the constellation, the data update maintenance component is triggered, and the classification criteria are constructed based on the three orbital characteristic parameters of orbital inclination, orbital semi-major axis and ascending node right ascension, and the constellation classification data is updated; Step 2, operate various view components in the main interface, and realize 2D / 3D display of the scene in combination with the scene established in step 1; Step 3, triggering the orbital deployment query module, combining the scenario established in step 1 and the constellation classification result, and displaying the orbital information of the constellation on the text information bar by selecting from the menu bar; Step 4, trigger the orbit design and orbit maintenance module, combine the scenario established in step 1 and the constellation classification results, input the longitude and latitude of the ground target, ground station load parameters, target star, orbit radius, time step, simulation start and end time, control cycle and threshold parameters to the system, output the orbit design result and maintenance fuel consumption through the orbit design algorithm and orbit maintenance algorithm, and dynamically display the orbit and maintenance effect; Step 5, trigger the flyby orbit design module, combine the scenario established in step 1 and the constellation classification results, obtain the target orbital plane, flyby orbit altitude, payload action range, payload action angle, and total simulation time information through interface interaction, obtain the optimal flyby orbit through the flyby algorithm, output the flyby orbit design parameters and display the flyby effect.

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