Quaternion-based rotation separation attitude determination method

Abstract

The application discloses a rotation separation attitude adjusting method based on quaternions, and divides a program angle planning process into two stages according to attitude requirements and angular velocity requirements of satellite separation, the first stage is a directional attitude adjusting stage, the attitude quaternion corresponding to the time point when the angular velocity is 0 is obtained by backward deduction from the satellite separation time point, and the attitude quaternion is used as the program quaternion at the end of attitude adjusting; the second stage is a spin-up, stable and spin-down stage, the spin-up, stable rotation and spin-down program quaternions are designed according to the angular velocity requirements; after the arrow body attitude is adjusted to the program quaternion at the end of attitude adjusting, the angular velocity is linearly accelerated from 0 to the angular velocity required by separation according to the spin-up, stable rotation and spin-down program quaternions, and at the separation time point, the satellite separation attitude and angular velocity reach the expected values. The application provides a universal solution for one-time safe separation of multiple satellites, avoids the attitude solution ambiguity problem in the attitude adjusting process, has strong universality, and guarantees the reliability of one-time safe separation of multiple satellites.

Description

Technical Field

[0001] This invention relates to the field of launch vehicle control systems, and in particular to a rotational separation attitude adjustment method based on quaternions. Background Technology

[0002] In launch vehicle missions, when releasing a satellite, the rocket must provide the satellite with a specific initial angle and angular velocity. Traditional rocket separation of satellites typically addresses only one requirement: attitude control or constant-velocity rotation. Simultaneously satisfying both requirements is rare. For the simultaneous separation of multiple satellites, the satellite assembly needs to utilize the angular velocity provided by the rocket to complete the separation. Therefore, at the moment of separation, in addition to attitude angle constraints, there are also angular velocity requirements. A solution is needed to ensure the safe, simultaneous separation of multiple satellites while simultaneously meeting both attitude control and constant-velocity rotation requirements. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of existing technologies and provide a quaternion-based rotational separation and attitude adjustment method to solve the problem of attitude and rotational velocity control for safe separation of multiple satellites in a single operation.

[0004] The technical solution of this invention is: a rotational separation attitude adjustment method based on quaternions, comprising:

[0005] To address the attitude and angular velocity requirements for satellite separation, the programmed angle planning process is divided into two stages. The first stage is the orientation and attitude adjustment stage, in which the attitude quaternion corresponding to the angular velocity of 0 is obtained by working backward from the satellite separation time point, and this quaternion is used as the programmed quaternion at the end of the attitude adjustment. The second stage is the spin-on, stabilization, and despinning stage, in which the programmed quaternions for spin-on, stabilization, and despinning are designed according to the angular velocity requirements.

[0006] Based on the quaternion program at the end of attitude adjustment, the rocket body attitude is adjusted to the quaternion program. Then, based on the quaternion program for initiation, stable rotation, and despinning, the angular velocity is linearly accelerated from 0 to the required angular velocity for separation. At the separation moment, both the satellite's separation attitude and angular velocity reach the expected values.

[0007] Furthermore, the quaternion q at the end of the attitude adjustment process tz 1 cxe The calculation method is as follows:

[0008]

[0009] Where, q FLcx The angle was calculated from the three-channel program angle at the separation time;

[0010]

[0011] in, For the separation angular velocity, For the time of spin onset, The time it takes for the spin to stabilize before separation.

[0012] Furthermore, the quaternion q for the spin initiation, stabilization, and despin procedures. tz1cxe The calculation method is as follows:

[0013]

[0014] in, For the separation angular velocity, For the time of spin onset, The stabilization time before separation, t0 is the end time of the attitude adjustment process. This refers to the spin stabilization time after separation. This is the derotation time.

[0015] Furthermore, it can be used for launching multiple satellites with a single rocket, enabling multiple satellites to separate at one time under the requirements of attitude and velocity-controlled separation.

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

[0017] The first module is used to work backward 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 the attitude adjustment.

[0018] The second module is used to design quaternions for initiating, stabilizing, and de-rotating the rotation according to the angular velocity requirements.

[0019] The third module is used to adjust the rocket's attitude to the specified quaternion based on the attitude adjustment end time program quaternion. Then, based on the spin initiation, stabilization, and despinning program quaternions, it linearly accelerates the angular velocity from 0 to the required separation angular velocity until the separation moment, ensuring that both the satellite's separation attitude and angular velocity reach the expected values.

[0020] Furthermore, in the first module, the quaternion q at the end of the attitude adjustment process... tz 1 cxe The calculation method is as follows:

[0021]

[0022] Where, q FLcx The angle was calculated from the three-channel program angle at the separation time;

[0023]

[0024] in, For the separation angular velocity, For the time of spin onset, The time it takes for the spin to stabilize before separation.

[0025] Furthermore, in the second module, the quaternion q represents the spin initiation, stabilization, and despin procedures. tz1cxe The calculation method is as follows:

[0026]

[0027] in, For the separation angular velocity, For the time of spin onset, The stabilization time before separation, t0 is the end time of the attitude adjustment process. This refers to the spin stabilization time after separation. This is the derotation time.

[0028] Furthermore, it can be used for launching multiple satellites with a single rocket, enabling multiple satellites to separate at one time under the requirements of attitude and velocity-controlled separation.

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

[0030] The advantages of this invention compared to the prior art are:

[0031] The method proposed in this invention can meet the attitude and velocity rotation separation requirements for the safe separation of multiple satellites in one operation, providing a universal solution for the safe separation of a large number of satellites in one operation. The quaternion-based strategy adopted is simple and efficient, avoids the attitude calculation ambiguity problem in the attitude adjustment process, has strong versatility, and ensures the reliability of the safe separation of multiple satellites in one operation. It is an innovation on traditional application methods, a practical and effective engineering design method, and has important application value. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the method flow of the present invention;

[0033] Figure 2 The above is a simulation result diagram from an embodiment of the present invention;

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

[0035] Figure 4 This is a simulation diagram of the yaw rate in an embodiment of the present invention;

[0036] Figure 5 This 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 7This is a 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 Implementation

[0040] To better understand the technical solution of the present invention, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0041] like Figure 1 As shown, to address the attitude and angular velocity requirements for satellite separation, the programmed angle planning process is divided into two stages. The first stage is the orientation and attitude adjustment stage. In this stage, the attitude quaternion corresponding to the angular velocity of 0 is obtained by working backward from the satellite separation time point, serving as the programmed quaternion for the attitude adjustment end moment. The second stage is the spin-on, stabilization, and despinning stage. In this stage, based on the angular velocity requirements, the spin-on, stabilization, and despinning programmed quaternions are designed. After adjusting the rocket body attitude to the programmed quaternion based on the attitude adjustment end moment, the angular velocity is linearly accelerated from 0 to the required separation angular velocity according to the spin-on, stabilization, and despinning programmed quaternions. By the separation moment, both the satellite separation attitude and angular velocity reach the expected values. This provides a solution for the safe separation of multiple satellites in a single operation. Based on quaternions, it avoids the attitude calculation ambiguity problem in the attitude adjustment process, has strong versatility, and ensures the reliability of the safe separation of multiple satellites in a single operation.

[0042] The specific implementation process is as follows:

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

[0044] At the end of the attitude adjustment procedure, the quaternion q tz1cxe The separation time is determined by the three-channel program angle and separation angular velocity. and the time of spin and the spin stabilization time before separation The calculation is as follows:

[0045]

[0046] Where, q FLcx The angle was calculated from the three-channel program angle at the separation time;

[0047] in the formula Quaternion multiplication is specifically defined as:

[0048]

[0049] (2) Quaternion procedure for the initiation, stabilization and despinning processes

[0050]

[0051] in,

[0052]

[0053] Where t0 is the end time of the attitude adjustment process. This refers to the spin stabilization time after separation. This is the derotation time.

[0054] Example 1

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

[0056] Table 1. Attitude and angular velocity requirements at satellite separation time (example)

[0057]

[0058] Figure 2 The simulation analysis results of the method of this invention show that the attitude and angular velocity planning at the separation time is 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. The separation attitude is correct.

[0059] Depend on Figures 3-8 As can be seen from the figures, during the attitude and velocity planning segment, the program angle changes smoothly, the attitude angle is calculated correctly at the moment of separation, the angular velocity is calculated correctly, the angular deviation and angular velocity are stable during flight, and all indicators meet the separation and control requirements.

[0060] It is understood that this invention has been described through embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this invention. Furthermore, under the teachings of this invention, these features and embodiments can be modified to adapt to specific circumstances without departing from the spirit and scope of this invention. Therefore, this invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are protected by this invention.

[0061] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A rotational separation attitude adjustment method based on quaternions, characterized in that, include: To address the attitude and angular velocity requirements for satellite separation, the programmed angle planning process is divided into two stages. The first stage is the orientation and attitude adjustment stage, in which the attitude quaternion corresponding to the angular velocity of 0 is obtained by working backward from the satellite separation time point, and this quaternion is used as the programmed quaternion at the end of the attitude adjustment. The second stage is the spin-on, stabilization, and despinning stage, in which the programmed quaternions for spin-on, stabilization, and despinning are designed according to the angular velocity requirements. Based on the quaternion program at the end of attitude adjustment, the rocket body attitude is adjusted to the quaternion program. Then, based on the quaternion program for initiation, stable rotation, and de-spinning, the angular velocity is linearly accelerated from 0 to the required angular velocity for separation. At the separation moment, both the satellite's separation attitude and angular velocity reach the expected values.

2. The quaternion-based rotational separation attitude adjustment method according to claim 1, characterized in that: At the end of the attitude adjustment procedure, the quaternion q tz1cxe The calculation method is as follows: Where, q FLcx The angle was calculated from the three-channel program angle at the separation time; in, For the separation angular velocity, For the time of initiation of spin, The time it takes for the spin to stabilize before separation.

3. The quaternion-based rotational separation attitude adjustment method according to claim 1, characterized in that: The quaternion q for the spin initiation, stabilization, and despin procedures tz1cxe The calculation method is as follows: in, For the separation angular velocity, For the time of initiation of spin, The stabilization time before separation, t0 is the end time of the attitude adjustment process. This refers to the spin stabilization time after separation. This is the derotation time.

4. The quaternion-based rotational separation attitude adjustment method according to claim 1, characterized in that: Used for launching multiple satellites in one launch, enabling multiple satellites to separate at one time under the requirements of attitude and velocity stability separation.

5. A quaternion-based rotational separation attitude adjustment system, characterized in that, include: The first module is used to work backward 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 the attitude adjustment. The second module is used to design quaternions for initiating, stabilizing, and de-rotating the rotation according to the angular velocity requirements. The third module is used to adjust the attitude of the rocket body to the program quaternion according to the program quaternion at the end of the attitude adjustment, and then accelerate the angular velocity linearly from 0 to the required angular velocity for separation according to the program quaternion for initiation, stable rotation and despinning, so that the satellite separation attitude and angular velocity both reach the expected values ​​at the separation moment.

6. The quaternion-based rotational separation attitude adjustment system according to claim 5, characterized in that: In the first module, the quaternion q at the end of the attitude adjustment process tz1cxe The calculation method is as follows: Where, q FLcx The angle was calculated from the three-channel program angle at the separation time; in, For the separation angular velocity, For the time of initiation of spin, The time it takes for the spin to stabilize before separation.

7. The quaternion-based rotational separation attitude adjustment system according to claim 5, characterized in that: In the second module, the quaternion q represents the procedures for initiating, stabilizing, and de-spinning. tz1cxe The calculation method is as follows: in, For the separation angular velocity, For the time of initiation of spin, The stabilization time before separation, t0 is the end time of the attitude adjustment process. This refers to the spin stabilization time after separation. This is the derotation time.

8. The quaternion-based rotational separation attitude adjustment system according to claim 5, characterized in that: Used for launching multiple satellites in one launch, enabling multiple satellites to separate at one time under the requirements of attitude and velocity stability separation.

9. A computer program product, characterized in that: When the computer program product is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 4.

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