A full-window adaptive guidance method for transfer trajectories to earth escape orbit

Abstract

The present application relates to a kind of full window self-adapting guidance method of launch geotranfer orbit, comprising: according to launch time planning, the orbit root number of quadratic curve-based iterative guidance target orbit is obtained;Estimate the shutdown time of the last active stage of rocket flight, according to the target orbit root number affected by flight time, the orbit root number affected by flight time is corrected according to the earth rotation angular velocity and the shutdown time;According to launch time, establish the initial value of iterative guidance, combined with target orbit root number, using single-stage iterative guidance method, in the last active stage of rocket flight, iterative guidance calculation is carried out in each guidance cycle to update program angle;According to launch time, update the shutdown amount of the last active stage, for ending active stage flight.The present application realizes the self-adapting adjustment of active stage guidance method, realizes the correction of launch time deviation, and achieves the purpose of high-precision orbit insertion in full window.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of launch vehicle control, and relates to a full-window adaptive guidance method for launching a geocentric transfer orbit. BACKGROUND

[0002] The target orbit of a launch vehicle launching a Mars probe is a geocentric transfer orbit. In order to reduce the fuel consumption of the probe during the transfer, while ensuring that the probe can enter the sphere of influence of Mars, the flight trajectory and target orbit of the launch vehicle need to be designed in detail. In the traditional design method, the launch window is discretely divided into several adjacent equal-interval sub-windows, and a corresponding target orbit and trajectory are designed for each sub-window, so the guidance system needs to design multiple trajectories. Under this design method, the fuel consumption of the probe during the transfer is not optimal. If a geocentric transfer orbit that matches the launch time is to be obtained, the time length of the sub-window needs to be shortened, which will greatly increase the number of trajectories, increasing the workload of the ground design and being not conducive to the command decision-making before the launch of the rocket. SUMMARY

[0003] The technical problem solved by the present application is to overcome the shortcomings of the prior art and provide a full-window adaptive guidance method for launching a geocentric transfer orbit. For a launch vehicle mission that requires high-precision orbit insertion within the full window of a geocentric transfer orbit, the program angle and shutdown parameters are adjusted on the basis of the traditional iterative guidance. Based on the launch time, the iterative guidance target orbit, the estimated remaining flight time, the iterative initial value, and the compensation calculation of the shutdown parameters are used to correct the iterative guidance program angle, realize the adaptive adjustment of the active stage guidance method, and achieve the purpose of high-precision orbit insertion within the full window.

[0004] The technical problem solved by the present application is a full-window adaptive guidance method for launching a geocentric transfer orbit, comprising the following steps:

[0005] According to the launch time, a quadratic curve-based iterative guidance target orbit is planned, and the orbit elements are obtained;

[0006] The shutdown time of the last active stage of the rocket flight is estimated, and the target orbit elements affected by the flight time are corrected according to the Earth rotation angular velocity and the shutdown time;

[0007] According to the launch time, the iterative guidance initial value is established, and combined with the target orbit elements, a single-stage iterative guidance method is used to update the program angle in each guidance cycle during the last active stage of the rocket flight.

[0008] According to the launch time, the shutdown amount of the last active stage is updated to end the active stage flight.

[0009] Further, the iterative guidance target orbit calculation method is:

[0010] The launch time is defined as T, and before entering the iterative guidance, the target orbit is calculated by using a quadratic curve, and the orbit elements of the target orbit, i.e., the apogee height H a , the perigee height H p , the orbit inclination i, the perigee argument ω, and the ascending node longitude Ω, are updated according to the launch time T as follows:

[0011]

[0012] where k a0 , k a1 , k a2 are the coefficients of the apogee height quadratic curve function, k p0 , k p1 , k p2 are the coefficients of the perigee height quadratic curve function, k i0 , k i1 , k i2 are the coefficients of the orbit inclination quadratic curve function, k ω0 , k ω1 , k ω2 are the coefficients of the perigee argument quadratic curve function, and k Ω0 , k Ω1 , k Ω2 are the coefficients of the ascending node longitude quadratic curve function.

[0013] Further, the shutdown time of the last active stage of the rocket flight is estimated, which is specifically:

[0014] For full window launch, single-stage iterative guidance is adopted, and before entering the iterative guidance, the shutdown time T C of the last active stage of the rocket flight is estimated by using a quadratic curve according to the launch time T:

[0015] T C = k C0 +k C1 ·T+k C2 ·T 2

[0016] where k C0 , k C1 , k C2 are the coefficients of the shutdown time quadratic curve function.

[0017] Further, the target orbit elements affected by the flight time are corrected, which is specifically:

[0018] Ω * = Ω+ω e ·TC

[0019] where ω e is the earth rotation angular velocity, Ω * is the corrected target orbit ascending node longitude.

[0020] Further, the iteration guidance initial value is established according to the launch time, specifically:

[0021] Before entering the iteration guidance, the iteration guidance initial value based on the quadratic curve is established according to the launch time T, including the iteration guidance estimated remaining flight time T k of the last active stage, the geocentric vector of the orbit entry point r k , the root mean square of the orbit entry point velocity V k , and the velocity inclination angle of the orbit entry point θ k :

[0022]

[0023] where k T0 , k T1 , k T2 are the coefficients of the quadratic curve function of the estimated remaining flight time, k r0 , k r1 , k r2 are the coefficients of the quadratic curve function of the geocentric vector of the orbit entry point r k , k V0 , k V1 , k V2 are the coefficients of the quadratic curve function of the root mean square of the orbit entry point velocity V k , k θ0 , k θ1 , k θ2 are the coefficients of the quadratic curve function of the velocity inclination angle of the orbit entry point θ k .

[0024] Further, the program angle is updated by iteration guidance calculation in each guidance cycle, specifically:

[0025] Based on the apogee height H a , the perigee height H p , the orbit inclination i, the perigee argument ω, and the corrected ascending node longitude Ω * of the iteration guidance target orbit parameters, T k , r k , V k , and θ k are taken as the iteration initial values, the iteration guidance calculation is performed in each guidance cycle to update T k , r k , V k , and θ k, the iterative guidance pitch procedure angle φ and the yaw procedure angle ψ are obtained.

[0026] Further, the shutdown amount of the last active stage is updated, specifically:

[0027] K=k K0 +k K1 T+k K2 T 2

[0028] Wherein, K is the shutdown amount of the last active stage, k K0 ,k K1 ,k K2 The coefficients of the quadratic curve function of the active stage shutdown amount.

[0029] A computer readable storage medium, the computer readable storage medium stores a computer program, the computer program is executed by the processor to realize the steps of the full window adaptive guidance method of the launch earth-mars transfer orbit.

[0030] An electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor executes the computer program to realize the steps of the full window adaptive guidance method of the launch earth-mars transfer orbit.

[0031] A computer program product, comprising a computer program, the computer program is executed by the processor to realize the steps of the full window adaptive guidance method of the launch earth-mars transfer orbit.

[0032] The beneficial effects of the present application compared with the prior art are:

[0033] (1) The present application proposes a rocket launch full window iterative guidance procedure angle adjustment method, which can enter the earth-mars transfer target orbit that meets the relative motion relationship between the earth and the Mars at the shutdown time.

[0034] (2) The present application realizes the correction of the launch time deviation by performing quadratic curve compensation calculation on the rocket last active stage iterative guidance target orbit, iterative initial value and shutdown parameters.

[0035] (3) The present application performs iterative guidance calculation according to the corrected target orbit and the initial value, and controls the rocket to fly to the accurate earth-mars transfer orbit through the adaptive adjustment of the iterative guidance procedure angle in the full window. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 The flowchart of the full window adaptive guidance method of the launch earth-mars transfer orbit of the present application. DETAILED DESCRIPTION

[0037] The present application provides a full window adaptive guidance method of launch earth-mars transfer orbit, in the last active phase of flight, according to the launch time, the iterative guidance related parameters and the active phase shutdown related parameters are calculated by quadratic curve compensation. When the launch time changes, the iterative guidance program angle and the shutdown parameters in the full window are adaptively adjusted, and the Mars probe is sent into the earth-mars transfer orbit which meets the relative motion relationship between the earth and the Mars.

[0038] The present application is further described below in conjunction with examples.

[0039] Example 1

[0040] As shown in the figure, the full window adaptive guidance method of launch earth-mars transfer orbit of the present embodiment comprises the following steps: Figure 1

[0041] (1) According to the launch time, the iterative guidance target orbit based on quadratic curve is planned, and the orbit elements are obtained;

[0042] (2) The shutdown time of the last active phase of rocket flight is estimated, and the target orbit elements affected by flight time are corrected according to the earth rotation angular velocity and the shutdown time;

[0043] (3) According to the launch time, the initial value of iterative guidance is established, combined with the target orbit elements, the single-stage iterative guidance method is adopted, and the iterative guidance calculation is carried out in each guidance period to update the program angle in the last active phase of rocket flight;

[0044] (4) According to the launch time, the shutdown amount of the last active phase is updated, which is used to end the active phase flight.

[0045] In step (1), the calculation method of iterative guidance target orbit is:

[0046] Define the launch time as T, before entering the iterative guidance, the iterative guidance target orbit is calculated by quadratic curve: according to the launch time, update the orbit elements of the target orbit, the apogee height H a , the perigee height H p , the orbit inclination i, the perigee amplitude ω and the ascending node longitude Ω as follows:

[0047]

[0048] Where, k a0 , k a1 , k a2 are the coefficients of the apogee height quadratic curve function, k p0 , k p1 , k p2 are the coefficients of the perigee height quadratic curve function, k​i0 ,k i1 ,k i2 The coefficients of the quadratic curve function of the track inclination angle, k ω0 ,k ω1 ,k ω2 k is the coefficient of the quadratic function of the perigee angle. Ω0 ,k Ω1 ,k Ω2 The coefficients of the quadratic curve function at the ascending node longitude are given.

[0049] In step (2), the estimated shutdown time of the last active phase of the rocket flight is as follows:

[0050] For full-window launches, a single-stage iterative guidance system is employed. Before entering iterative guidance, the shutdown time T of the last active phase of the rocket's flight is estimated using a quadratic curve method based on the launch time T. C :

[0051] T C =k C0 +k C1 ·T+k C2 ·T 2

[0052] Where, k C0 ,k C1 ,k C2 These are the coefficients of the quadratic curve function for shutdown time.

[0053] In step (2), the target orbital elements affected by flight time are corrected, specifically as follows:

[0054] The longitude Ω of the ascending node is affected by the Earth's rotation, so the Earth's rotational angular velocity ω is used. e and the last active shutdown time T C The longitude Ω of the ascending node of the target orbit calculated by the iterative guidance is corrected as follows:

[0055] Ω * =Ω+ω e ·T C

[0056] Among them, Ω * This is the corrected longitude of the ascending node of the target orbit.

[0057] In step (3), initial values ​​for iterative guidance are established based on the launch time, specifically as follows:

[0058] Before entering iterative guidance, initial values ​​for iterative guidance based on a quadratic curve are established according to the launch time T, including the estimated remaining flight time T of the last active phase. k The orbital point of entry, the geocentric vector r kroot mean square velocity at the point of entry V k The velocity and inclination angle at the point of entry into orbit θ k :

[0059]

[0060] Where, k T0 ,k T1 ,k T2 To estimate the coefficients of the quadratic function for the remaining flight time, k r0 ,k r1 ,k r2 The geocentric radius r at the orbital insertion point k The coefficients of the quadratic function, k V0 ,k V1 ,k V2 V is the root mean square velocity at the point of entry into orbit. k The coefficients of the quadratic function, k θ0 ,k θ1 ,k θ2 The inclination angle θ at the point of entry k The coefficients of a quadratic curve function.

[0061] In step (3), iterative guidance calculations are performed in each guidance cycle to update the program angle, specifically as follows:

[0062] apogee height H based on iterative guidance target orbital elements a Perimeter altitude H p Orbital inclination i, perigee argument ω, and corrected ascending node longitude Ω * , with T k ,r k V k ,θ k As the initial value for iteration, iterative guidance calculations are performed in each guidance cycle to update T. k ,r k V k ,θ k The pitch program angle φ and yaw program angle ψ of the iterative guidance were obtained.

[0063] In step (4), the shutdown value of the last active segment is updated, specifically as follows:

[0064] K = k K0 +k K1 T+k K2 T 2

[0065] Where K is the shutdown amount of the last active segment, k K0 ,k K1 ,k K2 These are the coefficients of the quadratic curve function for the active segment shutdown quantity.

[0066] The application realizes self-adaptive guidance in the case of the orbit variation of the transfer trajectory of the earth-to-inertial transfer by calculating the program angle on the basis of the traditional iterative guidance according to the adjustment of the orbit of the guided target, the shutdown quantity, the shutdown time and the initial value of iteration according to the launch time, so as to meet the requirement of the entry orbit accuracy.

[0067] The application provides a computer readable storage medium, which stores computer instructions, when the computer instructions run on a computer, make the computer execute Figure 1 The method.

[0068] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system or a computer program product. Therefore, the application can adopt a completely hardware embodiment, a completely software embodiment or an embodiment combining software and hardware aspects. Moreover, the application can adopt a computer program product in the form of one or more computer usable storage media (including but not limited to disk storage and optical storage) containing computer usable program codes.

[0069] The application is described with reference to flowcharts and / or block diagrams of the method, equipment (system) and computer program product according to the embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams and the combination of the flows and / or blocks can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing equipment to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment produce a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks. Figure 1 The means for implementing the functions specified in one or more flows and / or blocks.

[0070] These computer program instructions can also be stored in a computer readable storage medium which can guide the computer or other programmable data processing equipment to work in a specific way, so that the instructions stored in the computer readable storage medium produce a product including instruction means, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks. Figure 1 The means for implementing the functions specified in one or more flows and / or blocks.

[0071] These computer program instructions can also be loaded to the computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce a computer implemented process, so that the instructions executed on the computer or other programmable equipment provide a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks. Figure 1steps of the functions specified in the individual blocks or blocks.

[0072] It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application cover the modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

[0073] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

Claims

1. A full-window adaptive guidance method for launching a ground-to-Mars transfer trajectory, characterized in that, Includes the following steps: Based on the launch time planning, the orbital elements are obtained by iteratively guiding the target orbit using a quadratic curve; The shutdown time of the last active phase of the rocket flight is estimated, and the target orbital elements affected by the flight time are corrected based on the Earth's rotational angular velocity and the shutdown time. Based on the launch time, initial values ​​for iterative guidance are established. Combined with the target orbital elements, a single-stage iterative guidance method is adopted. In the last active phase of the rocket flight, iterative guidance calculations are performed in each guidance cycle to update the program angle. Based on the launch time, update the shutdown value of the last active phase to end the active phase flight.

2. The full-window adaptive guidance method for launch-to-ground-fire transfer orbit according to claim 1, characterized in that, The calculation method for the iterative guided target trajectory is as follows: Define the launch time as T. Before entering iterative guidance, the target trajectory is calculated using a quadratic curve method: based on the launch time, the orbital elements and apogee altitude H of the target trajectory are updated. a Perimeter altitude H p The orbital inclination i, perigee argument ω, and ascending node longitude Ω are as follows: Where, k a0 ,k a1 ,k a2 k represents the coefficient of the quadratic function of the apogee altitude. p0 ,k p1 ,k p2 k represents the coefficient of the quadratic function of perigee altitude. i0 ,k i1 ,k i2 k is the coefficient of the quadratic curve function of the track inclination angle. ω0 ,k ω1 ,k ω2 k is the coefficient of the quadratic function with perigee angle. Ω0 ,k Ω1 ,k Ω2 The coefficients of the quadratic curve function at the ascending node longitude are given.

3. The full-window adaptive guidance method for launch-to-Mars transfer orbit according to claim 2, characterized in that, The estimated shutdown time for the final active phase of the rocket's flight is as follows: For full-window launches, a single-stage iterative guidance system is employed. Before entering iterative guidance, the shutdown time T of the last active phase of the rocket's flight is estimated using a quadratic curve method based on the launch time T. C : T C =k C0 +k C1 ·T+k C2 ·T 2 Where, k C0 ,k C1 ,k C2 These are the coefficients of the quadratic curve function for shutdown time.

4. The full-window adaptive guidance method for launch-to-ground-fire transfer orbit according to claim 3, characterized in that, The target orbital elements affected by flight time are corrected as follows: Oh * =Ω+Ω e ·T C Where, ω e Ω is the angular velocity of Earth's rotation. * This is the corrected longitude of the ascending node of the target orbit.

5. The full-window adaptive guidance method for launch-to-ground-fire transfer orbit according to claim 4, characterized in that, The initial values ​​for iterative guidance are established based on the launch time, specifically as follows: Before entering iterative guidance, initial values ​​for iterative guidance based on a quadratic curve are established according to the launch time T, including the estimated remaining flight time T of the last active phase. k The orbital point of entry, the geocentric vector r k root mean square velocity at the point of entry V k The velocity and inclination angle at the point of entry into orbit θ k : Where, k T0 ,k T1 ,k T2 To estimate the coefficients of the quadratic function for the remaining flight time, k r0 ,k r1 ,k r2 The geocentric radius r at the orbital insertion point k The coefficients of the quadratic function, k V0 ,k V1 ,k V2 V is the root mean square velocity at the point of entry into orbit. k The coefficients of the quadratic function, k θ0 ,k θ1 ,k θ2 The inclination angle θ at the point of entry k The coefficients of a quadratic curve function.

6. The full-window adaptive guidance method for launch-to-ground-fire transfer orbit according to claim 5, characterized in that, In each guidance cycle, iterative guidance calculations are performed to update the program angle, specifically: apogee height H based on iterative guidance target orbital elements a Perimeter altitude H p Orbital inclination i, perigee argument ω, and corrected ascending node longitude Ω * , with T k ,r k V k ,θ k As the initial value for iteration, iterative guidance calculations are performed in each guidance cycle to update T. k ,r k V k ,θ k The pitch program angle φ and yaw program angle ψ of the iterative guidance were obtained.

7. The full-window adaptive guidance method for launch-to-ground-fire transfer orbit according to claim 2, characterized in that, Update the shutdown value of the last active segment, specifically as follows: K=k K0 +k K1 T+k K2 T 2 Where K is the shutdown amount of the last active segment, k K0 ,k K1 ,k K2 These are the coefficients of the quadratic curve function for the active segment shutdown quantity.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 7.

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