Rotation separation attitude adjustment method based on quaternion

Abstract

The invention discloses a quaternion-based rotation separation attitude adjustment method, which comprises the following steps of: aiming at attitude requirements and angular velocity requirements of satellite separation, dividing a program angle planning process into two stages: a first stage is a directional attitude adjustment stage, and forward backward pushing is carried out through a satellite separation time point to obtain an attitude quaternion corresponding to the angular velocity of 0; taking the result as a program quaternion at the attitude adjustment ending moment; the second section is a rotation starting, stabilizing and racemization section, and according to the angular speed requirement, the quaternion of a rotation starting, stabilizing rotation and racemization program is designed; after the attitude of the rocket body is adjusted to the attitude adjustment end moment program quaternion, the angular velocity is linearly accelerated from 0 to the angular velocity required by separation according to the rotation starting, stable rotation and racemization program quaternion, and the satellite separation attitude and the angular velocity both reach expected values at the separation moment. According to the method, a universal solution is provided for one-time safe separation of multiple satellites, the problem of attitude solution ambiguity in the attitude adjusting process is avoided, high universality is achieved, and the reliability of one-time safe separation of the multiple satellites is guaranteed.

Description

Technical Field

[0001] The invention relates to the field of launch vehicle control systems, in particular to a rotation separation attitude adjustment method based on quaternions. Background Art

[0002] In the launch mission of a carrier rocket, when releasing a satellite, the rocket is required to provide the satellite with a certain initial angle and angular velocity. Traditional rockets usually separate satellites for single requirements of attitude or constant speed rotation, and it is rare to meet the requirements of both attitude and constant speed rotation. For the one-time separation of multiple satellites, the satellite assembly needs to use the angular velocity provided by the rocket to complete the separation. Therefore, at the moment of satellite-rocket separation, in addition to the attitude angle constraint, there is also an angular velocity requirement. It is necessary to provide a solution for the one-time safe separation of multiple satellites while meeting the requirements of attitude and constant speed rotation. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a rotation separation attitude adjustment method based on quaternions, and to solve the problem of achieving attitude determination and rotation speed determination for one-time safe separation of multiple satellites.

[0004] The technical solution of the present invention is: a rotation separation posture adjustment method based on quaternion, comprising:

[0005] According to the attitude and angular velocity requirements of satellite separation, the program angle planning process is divided into two stages. The first stage is the orientation attitude adjustment stage. In this stage, the attitude quaternion corresponding to the angular velocity of 0 is obtained by working backwards from the satellite separation time point, which is used as the program quaternion at the end of attitude adjustment. The second stage is the spin-up, stabilization and de-spin stage. In this stage, the spin-up, stabilization and de-spin program quaternions are designed according to the angular velocity requirements.

[0006] According to the program quaternion at the end of attitude adjustment, the rocket body attitude is adjusted to the program quaternion, and then the angular velocity is linearly accelerated from 0 to the angular velocity required for separation according to the program quaternion of spin-up, stable rotation and derotation. At the separation moment, the satellite separation attitude and angular velocity both reach the expected values.

[0007] Furthermore, the program quaternion q at the end of posture adjustment tz 1 cxe , calculated as:

[0008]

[0009] Among them, q FLcx It is calculated from the three-channel program angle at the separation moment;

[0010]

[0011] in, is the separation angular velocity, is the spin-up time, Spin stabilization time before separation.

[0012] Furthermore, the quaternion q is rotated, stabilized and derotated tz1cxe , calculated as:

[0013]

[0014] in, is the separation angular velocity, is the spin-up time, The spin stabilization time before separation, t0 is the end time of the attitude adjustment process. is the spin stabilization time after separation, is the racemization time.

[0015] Furthermore, it can be used to launch multiple satellites with one rocket and achieve the separation of multiple satellites at one time under the requirements of fixed attitude and fixed speed separation.

[0016] The present invention also provides a quaternion-based rotation separation posture adjustment system, comprising:

[0017] The first module is used to work backwards from the satellite separation time point to obtain the attitude quaternion corresponding to the angular velocity of 0, which is used as the program quaternion at the end of attitude adjustment;

[0018] The second module is used to design the quaternions for the spin-up, stable spin and despin procedures according to the angular velocity requirements;

[0019] The third module is used to adjust the rocket body attitude to the program quaternion according to the program quaternion at the end of attitude adjustment, and then according to the spin-up, stable rotation and derotation program quaternion, the angular velocity is linearly accelerated from 0 to the angular velocity required for separation, until the separation moment, so that the satellite separation attitude and angular velocity both reach the expected values

[0020] Furthermore, in the first module, the program quaternion q at the end of posture adjustment tz 1 cxe , calculated as:

[0021]

[0022] Among them, q FLcx It is calculated from the three-channel program angle at the separation moment;

[0023]

[0024] in, is the separation angular velocity, is the spin-up time, Spin stabilization time before separation.

[0025] Furthermore, in the second module, the quaternion q is used for rotation, stable rotation and derotation. tz1cxe , calculated as:

[0026]

[0027] in, is the separation angular velocity, is the spin-up time, The spin stabilization time before separation, t0 is the end time of the attitude adjustment process. is the spin stabilization time after separation, is the racemization time.

[0028] Furthermore, it can be used to launch multiple satellites with one rocket and achieve the separation of multiple satellites at one time under the requirements of fixed attitude and fixed speed separation.

[0029] The present invention also provides a computer program product, which implements the steps of the method when executed by a processor.

[0030] The advantages of the present invention compared with the prior art are:

[0031] The method proposed in the present invention can meet the attitude fixing and constant speed rotation separation requirements proposed by the one-time safe separation of multiple satellites, and provide a universal solution for the one-time safe separation of a large number of satellites. The quaternion-based strategy adopted is simple and efficient, and avoids the attitude solution ambiguity problem in the attitude adjustment process. It has strong versatility and ensures the reliability of the one-time safe separation of multiple satellites. It is an innovation of traditional application methods, a practical and effective engineering design method, and has important application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the process of the present invention;

[0033] Figure 2 It is a simulation result diagram in an embodiment of the present invention;

[0034] Figure 3 It is a simulation diagram of the pitch angular velocity in an embodiment of the present invention;

[0035] Figure 4 It is a simulation diagram of the yaw angular velocity in an embodiment of the present invention;

[0036] Figure 5 It is a simulation diagram of the rolling angular velocity in an embodiment of the present invention;

[0037] Figure 6 This is a simulation diagram of pitch angle deviation in an embodiment of the present invention;

[0038] Figure 7A simulation diagram of yaw angle deviation in an embodiment of the present invention;

[0039] Figure 8 This is a simulation diagram of the rolling angle deviation in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to better understand the technical solution of the present invention, the specific implementation mode of the present invention is described in detail below with reference to the accompanying drawings.

[0041] like Figure 1 As shown in the figure, according to the attitude and angular velocity requirements of satellite separation, the program angle planning process is divided into two stages. The first stage is the directional attitude adjustment stage. In this stage, the attitude quaternion corresponding to the angular velocity of 0 is obtained by back-calculating the satellite separation time point, which is used as the program quaternion at the end of attitude adjustment. The second stage is the spin-up, stabilization and de-spin stage. In this stage, the spin-up, stabilization rotation and de-spin program quaternions are designed according to the angular velocity requirements. According to the program quaternion at the end of attitude adjustment, the rocket body attitude is adjusted to the program quaternion, and then the angular velocity is linearly accelerated from 0 to the angular velocity required for separation according to the spin-up, stabilization rotation and de-spin program quaternion. At the separation time point, the satellite separation attitude and angular velocity both reach the expected value. This provides a solution for the one-time safe separation of multiple satellites. Based on quaternions, it avoids the attitude solution ambiguity problem in the attitude adjustment process, has strong versatility, and ensures the reliability of the one-time safe separation of multiple satellites.

[0042] The specific implementation process is as follows:

[0043] (1) Quaternion calculation at the end of posture adjustment

[0044] Program quaternion q at the end of posture adjustment tz1cxe , by the three-channel program angle at the separation time, the separation angular velocity And the spin time and spin stabilization time before separation The calculation formula is as follows:

[0045]

[0046] Among them, q FLcx It is calculated from the three-channel program angle at the separation moment;

[0047] in the formula Represents quaternion multiplication, which is specifically defined as:

[0048]

[0049] (2) Quaternions of the spin-up, stabilization and despin-off processes

[0050]

[0051] in,

[0052]

[0053] Among them, t0 is the end time of the posture adjustment process. is the spin stabilization time after separation, is the racemization time.

[0054] Example 1

[0055] The following table shows the attitude and angular velocity requirements of the satellite at the moment of separation in this embodiment:

[0056] Table 1 Satellite attitude and angular velocity requirements at separation time (example)

[0057]

[0058] Figure 2 The simulation analysis results of the method of the present invention are applied. It can be seen from the figure that the attitude and angular velocity planning at the separation moment are correct. The attitude adjustment phase is entered at 1145.94s, and the separation time is 1145.94+150=1295.94s. The corresponding pitch, yaw and roll program angles are 3.07, -50.55 and 87.84 respectively, which are consistent with the separation requirements in Table 1, and the separation attitude is correct.

[0059] Depend on Figure 3 to Figure 8 It can be seen from the figures that in the fixed-attitude and fixed-speed planning section, the program angle changes smoothly, the attitude angle at the separation moment is calculated correctly, the angular velocity is calculated correctly, the angular deviation and angular velocity flight are stable, and all indicators meet the separation and control requirements.

[0060] It is to be understood that the present invention is described by way of embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and embodiments that can fall within the scope of the claims of this application all fall within the scope protected by the present invention.

[0061] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A rotation separation posture adjustment method based on quaternion, characterized in that: include: According to the attitude and angular velocity requirements of satellite separation, the program angle planning process is divided into two stages. The first stage is the orientation attitude adjustment stage. In this stage, the attitude quaternion corresponding to the angular velocity of 0 is obtained by working backwards from the satellite separation time point, which is used as the program quaternion at the end of attitude adjustment. The second stage is the spin-up, stabilization and de-spin stage. In this stage, the spin-up, stabilization and de-spin program quaternions are designed according to the angular velocity requirements. According to the program quaternion at the end of attitude adjustment, the rocket body attitude is adjusted to the program quaternion, and then the angular velocity is linearly accelerated from 0 to the angular velocity required for separation according to the program quaternion of spin-up, stable rotation and derotation. At the separation moment, the satellite separation attitude and angular velocity both reach the expected values.

2. The rotation separation posture adjustment method based on quaternion according to claim 1, characterized in that: Program quaternion q at the end of posture adjustment tz 1 cxe , calculated as: Among them, q FLcx It is calculated from the three-channel program angle at the separation moment; in, is the separation angular velocity, is the spin-up time, Spin stabilization time before separation.

3. The rotation separation posture adjustment method based on quaternion according to claim 1, characterized in that: Program quaternion q for rotation, stable rotation and derotation tz1cxe , calculated as: in, is the separation angular velocity, is the spin-up time, The spin stabilization time before separation, t0 is the end time of the attitude adjustment process. is the spin stabilization time after separation, is the racemization time.

4. The rotation separation posture adjustment method based on quaternion according to claim 1, characterized in that: It is used to launch multiple satellites with one rocket and achieve the separation of multiple satellites at one time under the requirements of fixed attitude and constant speed separation.

5. A rotation separation posture adjustment system based on quaternion, characterized in that: include: The first module is used to work backwards from the satellite separation time point to obtain the attitude quaternion corresponding to the angular velocity of 0, which is used as the program quaternion at the end of attitude adjustment; The second module is used to design the quaternions for the spin-up, stable spin and despin procedures according to the angular velocity requirements; The third module is used to adjust the rocket body attitude to the program quaternion according to the program quaternion at the end of attitude adjustment, and then accelerate the angular velocity linearly from 0 to the angular velocity required for separation according to the program quaternion of spin-up, stable rotation and derotation, so that the satellite separation attitude and angular velocity reach the expected values ​​at the separation moment.

6. The quaternion-based rotation separation posture adjustment system according to claim 5, characterized in that: In the first module, the program quaternion q at the end of posture adjustment tz 1 cxe , calculated as: Among them, q FLcx It is calculated from the three-channel program angle at the separation moment; in, is the separation angular velocity, is the spin-up time, Spin stabilization time before separation.

7. The quaternion-based rotation separation posture adjustment system according to claim 5, characterized in that: In the second module, the quaternion q is rotated, stabilized and derotated. tz1cxe , calculated as: in, is the separation angular velocity, is the spin-up time, The spin stabilization time before separation, t0 is the end time of the attitude adjustment process. is the spin stabilization time after separation, is the racemization time.

8. The quaternion-based rotation separation posture adjustment system according to claim 5, characterized in that: It is used to launch multiple satellites with one rocket and achieve the separation of multiple satellites at one time under the requirements of fixed attitude and constant speed separation.

9. A computer program product, characterized in that: When the computer program product is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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