High-precision KBR phase center on-orbit calibration planning and control method

Abstract

The invention provides a high-precision KBR phase center on-orbit calibration planning and control method which is suitable for load calibration planning and control of a satellite with a magnetic torquer and a thruster as attitude control execution mechanisms. As a satellite is only provided with a magnetic torquer and a thruster as executing mechanisms, accurate attitude tracking control similar to momentum wheel control is difficult to simply realize. The invention designs a satellite load calibration maneuvering planning and control strategy based on a magnetic torquer and a thruster. The strategy mainly comprises five algorithm modules: an attitude maneuver planning target angle, angular velocity and angular acceleration real-time calculation module, an attitude control error calculation module, an attitude control calculation and maneuver planning torque thruster distribution calculation module based on magnetic control and a thruster, and a control signal synthesis and output module. The five modules are organically combined, and the satellite load calibration maneuvering planning and control problem based on the magnetic torquer and the thruster is systematically solved.

Description

Technical Field

[0001] The invention belongs to the technical field of spacecraft attitude control and relates to a high-precision KBR phase center on-orbit calibration planning and control method. Background Art

[0002] Currently, the demand for satellite payload calibration based on magnetic torquers and thrusters is increasing. Since satellites are only equipped with magnetic torquers and thrusters as actuators, it is difficult to simply achieve precise attitude tracking control similar to momentum wheel control.

[0003] Therefore, it is necessary to propose a new satellite payload calibration maneuver planning and control method based on magnetic torquers and thrusters to achieve accurate tracking of the satellite attitude to the desired target during the payload calibration process. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and propose a high-precision KBR phase center on-orbit calibration planning and control method, which has strong versatility and can be used for payload calibration maneuver planning and control of a type of satellite that is only equipped with magnetic torquers and thrusters. Through payload calibration maneuver planning and thruster allocation calculation based on maneuver feedforward torque compensation, the satellite attitude can accurately track the desired target during the payload calibration process.

[0005] The technical solution of the present invention is: a high-precision KBR phase center on-orbit calibration planning and control method, which is applicable to satellites using magnetic torquers and thrusters as attitude control actuators, and the method includes:

[0006] Calibrate attitude maneuver parameters according to the set load, and calculate attitude maneuver planning target angle, angular velocity and angular acceleration in real time;

[0007] Calculate attitude control error based on attitude maneuver planning target angular velocity calculated in real time combined with attitude measurement angle;

[0008] According to the calculated attitude control error, the attitude control calculation based on magnetic control and thruster is completed;

[0009] According to the attitude maneuver planning target angular acceleration, the maneuver planning torque thruster allocation calculation is completed;

[0010] Combine the attitude control calculation results with the maneuver planning torque thruster allocation calculation to complete the control signal synthesis and output.

[0011] Preferably, the step of real-time calculation of the target angle, angular velocity and angular acceleration of the attitude maneuver planning is as follows:

[0012]

[0013] φ KBR=A KBR sin(ω freq ·T CS )

[0014]

[0015] If the pitch axis is calibrated for maneuvering, then

[0016] q TO =Qa(Ayrp(0,θ T +φ KBR ,ψ T ))

[0017]

[0018] If the yaw axis calibration maneuver is

[0019] q TO =Qa(Ayrp(0,θ T ,ψ T +φ KBR ))

[0020]

[0021] Among them, P KBR Calibrate the maneuvering period for KBR; A KBR is the angle amplitude of KBR calibration maneuver; T CS is the current maneuvering timing moment; freq The frequency of the KBR calibrated maneuver planning circle, a KBR is the angular acceleration of the current maneuver plan, φ KBR is the current maneuver planning angle, Planned angular velocity for the current maneuver; θ T and ψ T is the pitch angle and yaw angle value of the current intersatellite pointing target attitude; Ayrp() represents the function of converting the Euler angle into the attitude matrix in the order of yaw-roll-pitch, and the three parameters of the function represent the roll Euler angle, pitch Euler angle, and yaw Euler angle respectively; Qa() represents the function of converting the attitude matrix into a quaternion; q TO represents the quaternion of the KBR calibration maneuver plan, and Represents the pitch rate and yaw rate of the KBR calibration maneuver plan.

[0022] Preferably, the posture control error calculation step is specifically as follows:

[0023]

[0024] Φ c =2arcsin(qBT )

[0025]

[0026] Among them A BO The attitude transformation matrix of the satellite system relative to the orbital system given for attitude determination, ω g The angular velocity of the satellite system relative to the inertial system given for attitude determination, ω o is the absolute value of the orbital angular velocity given by the satellite orbit calculation, q BO Indicated by A BO The converted quaternion, q TO -1 Indicates q TO The inverse quaternion of Represents quaternion multiplication, and arcsin() represents the inverse sine function.

[0027] Preferably, the maneuver planning torque thruster allocation calculation steps are specifically as follows:

[0028] According to the target planning angular acceleration a REF and the nominal angular acceleration a of the thrusters acting on the satellite's three axes y- , a y+ , a z- , a z+ Calculate the compensation pulse width T jr+ and T jr- ;

[0029] If the pitch axis calibration maneuver, if a REF is a positive value, then T jr+ =a REF / a y+ ,T jr- =0, otherwise T jr+ =0,T jr- =-a REF / a y- ;

[0030] If the yaw axis calibration maneuver, if a REF is a positive value, then T jr+ =a REF / a z+ ,T jr- =0, otherwise T jr+ =0,T jr- =-a REF / a z- .

[0031] Preferably, the control signal integration and output steps are as follows:

[0032] (3) According to the jet pulse width allocation matrix and compensation pulse width T jr+, T jr- , update the pulse width T of each thruster ji ,i=1,2…N Jet ;

[0033] (4) The pulse width command T of each thruster is ji ,i=1,2…N Jet and each magnetic torquer voltage command W m [i],i=1,2…,N MT Output to the actuator for execution.

[0034] A satellite payload calibration maneuver planning and control device based on a magnetic torquer and a thruster, comprising:

[0035] The parameter real-time calculation module calibrates the attitude maneuvering parameters according to the set load, and calculates the attitude maneuvering planning target angle, angular velocity and angular acceleration in real time;

[0036] The attitude control error calculation module calculates the attitude control error based on the attitude maneuver planning target angular velocity calculated in real time combined with the attitude measurement angle;

[0037] The attitude control calculation module completes the attitude control calculation based on magnetic control and thruster according to the calculated attitude control error;

[0038] The maneuver planning module completes the maneuver planning torque thruster allocation calculation according to the attitude maneuver planning target angular acceleration;

[0039] The control signal synthesis and output module combines the results of the attitude control calculation module with the results of the excitement planning module to complete the control signal synthesis and output.

[0040] Preferably, the parameter real-time calculation module calculates the attitude maneuver planning target angle, angular velocity and angular acceleration by the following formula:

[0041]

[0042] φ KBR =A KBR sin(ω freq ·T CS )

[0043]

[0044] If the pitch axis is calibrated for maneuvering, then

[0045] q TO =Qa(Ayrp(0,θ T +φ KBR ,ψ T ))

[0046]

[0047] If the yaw axis calibration maneuver is

[0048] q TO =Qa(Ayrp(0,θ T ,ψ T +φ KBR ))

[0049]

[0050] Among them, P KBR Calibrate the maneuvering period for KBR; A KBR is the angle amplitude of KBR calibration maneuver; T CS is the current maneuvering timing moment; freq The frequency of the KBR calibrated maneuver planning circle, a KBR is the angular acceleration of the current maneuver plan, φ KBR is the current maneuver planning angle, Planned angular velocity for the current maneuver; θ T and ψ T is the pitch angle and yaw angle value of the current intersatellite pointing target attitude; Ayrp() represents the function of converting the Euler angle into the attitude matrix in the order of yaw-roll-pitch, and the three parameters of the function represent the roll Euler angle, pitch Euler angle, and yaw Euler angle respectively; Qa() represents the function of converting the attitude matrix into a quaternion; q TO represents the quaternion of the KBR calibration maneuver plan, and Represents the pitch rate and yaw rate of the KBR calibration maneuver plan.

[0051] Preferably, the posture control error calculation module calculates the posture control error by the following formula:

[0052]

[0053] Φ c =2arcsin(q BT )

[0054]

[0055] Among them A BO The attitude transformation matrix of the satellite system relative to the orbital system given for attitude determination, ω g The angular velocity of the satellite system relative to the inertial system given for attitude determination, ω o is the absolute value of the orbital angular velocity given by the satellite orbit calculation, q BO Indicated by A BO The converted quaternion, q TO-1 Indicates q TO The inverse quaternion of Represents quaternion multiplication, and arcsin() represents the inverse sine function.

[0056] Preferably, the maneuver planning module completes the maneuver planning in the following manner:

[0057] According to the target planning angular acceleration a REF and the nominal angular acceleration a of the thrusters acting on the satellite's three axes y- , a y+ , a z- , a z+ Calculate the compensation pulse width T jr+ and T jr- ;

[0058] If the pitch axis calibration maneuver, if a REF is a positive value, then T jr+ =a REF / a y+ ,T jr- =0, otherwise T jr+ =0,T jr- =-a REF / a y- ;

[0059] If the yaw axis calibration maneuver, if a REF is a positive value, then T jr+ =a REF / a z+ ,T jr- =0, otherwise T jr+ =0,T jr- =-a REF / a z- .

[0060] A satellite payload calibration maneuver planning and control device based on a magnetic torquer and a thruster, comprising:

[0061] one or more processors;

[0062] a storage device for storing one or more programs,

[0063] When the one or more programs are executed by the one or more processors, the one or more processors implement the high-precision KBR phase center on-orbit calibration planning and control method.

[0064] The advantages of the present invention compared with the prior art are:

[0065] This method is highly versatile and can be used for the payload calibration maneuver planning and control problem of a type of satellite that is only equipped with magnetic torquers and thrusters. Through payload calibration maneuver planning and thruster allocation calculation based on maneuver feedforward torque compensation, the satellite attitude can accurately track the desired target during the payload calibration process. This method relies on mature components of the satellite control system and does not require the addition of new measurement or execution components; the algorithm requires a small amount of calculation and does not require additional computing resources. Therefore, it has a good market promotion prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 This is a flow chart of a high-precision KBR phase center on-orbit calibration planning and control method of the present invention; DETAILED DESCRIPTION

[0067] The following detailed description of the present invention will make the features and advantages of the present invention more clear and explicit.

[0068] The present invention provides a high-precision KBR phase center on-orbit calibration planning and control method, such as Figure 1 As shown, including:

[0069] (1) Real-time calculation of target angle, angular velocity and angular acceleration for attitude maneuver planning;

[0070] According to the set load, the attitude maneuver parameters are calibrated, and the attitude maneuver planning target angle, angular velocity and angular acceleration are calculated in real time:

[0071]

[0072] φ KBR =A KBR sin(ω freq ·T CS )

[0073]

[0074] If the pitch axis is calibrated for maneuvering, then

[0075] q TO =Qa(Ayrp(0,θ T +φ KBR ,ψ T ))

[0076]

[0077] If the yaw axis calibration maneuver is

[0078] q TO =Qa(Ayrp(0,θ T ,ψ T +φKBR ))

[0079]

[0080] Among them, P KBR Calibrate the maneuvering period for KBR; A KBR is the angle amplitude of KBR calibration maneuver; T CS is the current maneuvering timing moment; freq The frequency of the KBR calibrated maneuver planning circle, a KBR is the angular acceleration of the current maneuver plan, φ KBR is the current maneuver planning angle, Planned angular velocity for the current maneuver; θ T and ψ T is the pitch angle and yaw angle value of the current intersatellite pointing target attitude; Ayrp() represents the function of converting the Euler angle into the attitude matrix in the order of yaw-roll-pitch, and the three parameters of the function represent the roll Euler angle, pitch Euler angle, and yaw Euler angle respectively; Qa() represents the function of converting the attitude matrix into a quaternion; q TO represents the quaternion of the KBR calibration maneuver plan, and Represents the pitch rate and yaw rate of the KBR calibration maneuver plan.

[0081] (2) Calculate the attitude control error based on the attitude maneuver planning target angular velocity calculated in real time combined with the attitude measurement angle;

[0082]

[0083] Φ c =2arcsin(q BT )

[0084]

[0085] Among them A BO The attitude transformation matrix of the satellite system relative to the orbital system given for attitude determination, ω g The angular velocity of the satellite system relative to the inertial system given for attitude determination, ω o is the absolute value of the orbital angular velocity given by the satellite orbit calculation, q BO Indicated by A BO The converted quaternion, q TO -1 Indicates q TO The inverse quaternion of represents quaternion multiplication, and arcsin() represents the inverse sine function. (3) Attitude control calculation based on magnetic control and thruster;

[0086] Calculate the pulse width T of each thruster according to the attitude control error calculated above ji ,i=1,2…N Jet and each magnetic torquer voltage W m [i],i=1,2...,N MT For the specific calculation method, please refer to patent CN106081167B "A high-precision attitude control method combining magnetic control and jet control with low working fluid".

[0087] Where N Jet Indicates the number of thrusters, N MT Indicates the number of magnetic torquers.

[0088] (4) Maneuver planning torque thruster allocation calculation;

[0089] According to the target planning angular acceleration a REF and the nominal angular acceleration a of the thrusters acting on the satellite's three axes y- , a y+ , a z- , a z+ Calculate the compensation pulse width T jr+ and T jr- ; Taking the pitch axis calibration maneuver as an example, if a REF is a positive value, then T jr+ =a REF / a y+ ,T jr- =0, otherwise T jr+ =0,T jr- =-a REF / a y- ; The yaw axis calibration maneuver is similar, using a z- , a z+ Replace a y- , a y+ .

[0090] (5) Control signal synthesis and output.

[0091] (5.1) According to the jet pulse width allocation matrix and compensation pulse width T jr+ , T jr- , update the pulse width T of each thruster ji ,i=1,2...N Jet ; Taking the pitch axis calibration maneuver as an example, according to the jet pulse width allocation matrix, assuming that the positive angular acceleration of the pitch axis is generated by nozzles i1 and i2, and the negative angular acceleration of the pitch axis is generated by nozzles i3 and i4, then T ji1 =T ji1 +T jr+ , T ji2 =T ji2 +T jr+ , T ji3=T ji3 +T jr- , T ji4 =T ji4 +T jr- ; The yaw axis calibration maneuver is similar.

[0092] (5.2) The pulse width command T of each thruster is ji ,i=1,2...N Jet and each magnetic torquer voltage command W m [i],i=1,2...,N MT Output to the executive agency for execution;

[0093] According to a second aspect of the present invention, there is also provided a satellite payload calibration maneuver planning and control device based on a magnetic torquer and a thruster, comprising:

[0094] The parameter real-time calculation module calibrates the attitude maneuvering parameters according to the set load, and calculates the attitude maneuvering planning target angle, angular velocity and angular acceleration in real time;

[0095] The attitude control error calculation module calculates the attitude control error based on the attitude maneuver planning target angular velocity calculated in real time combined with the attitude measurement angle;

[0096] The attitude control calculation module completes the attitude control calculation based on magnetic control and thruster according to the calculated attitude control error;

[0097] The maneuver planning module completes the maneuver planning torque thruster allocation calculation according to the attitude maneuver planning target angular acceleration;

[0098] The control signal synthesis and output module combines the results of the attitude control calculation module with the results of the excitement planning module to complete the control signal synthesis and output.

[0099] The specific implementation of the functions of each module in the device can preferably refer to the description of the above method.

[0100] According to a third aspect of the present invention, there is also provided a satellite payload calibration maneuver planning and control device based on a magnetic torquer and a thruster, comprising:

[0101] one or more processors;

[0102] a storage device for storing one or more programs,

[0103] When the one or more programs are executed by the one or more processors, the one or more processors implement the high-precision KBR phase center on-orbit calibration planning and control method described in the first aspect.

[0104] According to a fourth aspect of the present invention, there is also provided a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a high-precision KBR phase center on-orbit calibration planning and control method as described in the first aspect.

[0105] 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 high-precision KBR phase center on-orbit calibration planning and control method, characterized in that Applicable to satellites using magnetic torquers and thrusters as attitude control actuators, the method includes: Calibrate attitude maneuver parameters according to the set load, and calculate attitude maneuver planning target angle, angular velocity and angular acceleration in real time; Calculate attitude control error based on attitude maneuver planning target angular velocity calculated in real time combined with attitude measurement angle; According to the calculated attitude control error, the attitude control calculation based on magnetic control and thruster is completed; According to the attitude maneuver planning target angular acceleration, the maneuver planning torque thruster allocation calculation is completed; Combine the attitude control calculation results with the maneuver planning torque thruster allocation calculation to complete the control signal synthesis and output.

2. A high-precision KBR phase center on-orbit calibration planning and control method according to claim 1, characterized in that: The steps for real-time calculation of the target angle, angular velocity and angular acceleration of the attitude maneuver planning are as follows: f KBR =A KBR sin(ω freq ·T CS ) If the pitch axis is calibrated for maneuvering, then q TO =Qa(Ayrp(0,θ T +φ KBR ,ψ T )) If the yaw axis calibration maneuver is q TO =Qa(Ayrp(0,θ T ,ψ T +φ KBR )) Among them, P KBR Calibrate the maneuvering period for KBR; A KBR is the angle amplitude of KBR calibration maneuver; T CS is the current maneuvering timing moment; freq The frequency of the KBR calibrated maneuver planning circle, a KBR is the angular acceleration of the current maneuver plan, φ KBR is the current maneuver planning angle, Planned angular velocity for the current maneuver; θ T and ψ T is the pitch angle and yaw angle value of the current intersatellite pointing target attitude; Ayrp() represents the function of converting the Euler angle into the attitude matrix in the order of yaw-roll-pitch, and the three parameters of the function represent the roll Euler angle, pitch Euler angle, and yaw Euler angle respectively; Qa() represents the function of converting the attitude matrix into a quaternion; q TO represents the quaternion of the KBR calibration maneuver plan, and Represents the pitch rate and yaw rate of the KBR calibration maneuver plan.

3. A high-precision KBR phase center on-orbit calibration planning and control method according to claim 1, characterized in that: The steps for calculating the attitude control error are as follows: Φ c =2arcsin(q BT ) Among them A BO The attitude transformation matrix of the satellite system relative to the orbital system given for attitude determination, ω g The angular velocity of the satellite system relative to the inertial system given for attitude determination, ω o is the absolute value of the orbital angular velocity given by the satellite orbit calculation, q BO Indicated by A BO The converted quaternion, q TO -1 Indicates q TO The inverse quaternion of Represents quaternion multiplication, and arcsin() represents the inverse sine function.

4. A high-precision KBR phase center on-orbit calibration planning and control method according to claim 1, characterized in that: The maneuver planning torque thruster allocation calculation steps are as follows: According to the target planning angular acceleration a REF and the nominal angular acceleration a of the thrusters acting on the satellite's three axes y- , a y+ , a z- , a z+ Calculate the compensation pulse width T jr+ and T jr -; If the pitch axis calibration maneuver, if a REF is a positive value, then T jr+ =a REF / a y+ ,T jr- =0, otherwise T jr+ =0,T jr- =-a REF / a y- ; If the yaw axis calibration maneuver, if a REF is a positive value, then T jr+ =a REF / a z+ ,T jr- =0, otherwise T jr+ =0,T jr- =-a REF / a z- .

5. The high-precision KBR phase center on-orbit calibration planning and control method according to claim 1 is characterized by: The steps of controlling signal synthesis and output are as follows: (1) According to the jet pulse width allocation matrix and compensation pulse width T jr+ , T jr- , update the pulse width T of each thruster ji ,i=1,2...N Jet ; (2) The pulse width command T of each thruster is ji ,i=1,2...N Jet and each magnetic torquer voltage command W m [i],i=1,2…,N MT Output to the actuator for execution.

6. A satellite payload calibration maneuver planning and control device based on magnetic torquer and thruster, characterized in that: include: The parameter real-time calculation module calibrates the attitude maneuvering parameters according to the set load, and calculates the attitude maneuvering planning target angle, angular velocity and angular acceleration in real time; The attitude control error calculation module calculates the attitude control error based on the attitude maneuver planning target angular velocity calculated in real time combined with the attitude measurement angle; The attitude control calculation module completes the attitude control calculation based on magnetic control and thruster according to the calculated attitude control error; The maneuver planning module completes the maneuver planning torque thruster allocation calculation according to the attitude maneuver planning target angular acceleration; The control signal synthesis and output module combines the results of the attitude control calculation module with the results of the excitement planning module to complete the control signal synthesis and output.

7. The device according to claim 6, characterized in that: The parameter real-time calculation module calculates the attitude maneuver planning target angle, angular velocity and angular acceleration through the following formula: f KBR =A KBR sin(ω freq ·T CS ) If the pitch axis is calibrated for maneuvering, then q TO =Qa(Ayrp(0,θ T +φ KBR ,ψ T )) If the yaw axis calibration maneuver is q TO =Qa(Ayrp(0,θ T ,ψ T +φ KBR )) Among them, P KBR Calibrate the maneuvering period for KBR; A KBR is the angle amplitude of KBR calibration maneuver; T CS is the current maneuvering time; ωf req The frequency of the KBR maneuver planning circle is a KBR is the angular acceleration of the current maneuver plan, φ KBR is the current maneuver planning angle, Planned angular velocity for the current maneuver; θ T and ψ T is the pitch angle and yaw angle value of the current intersatellite pointing target attitude; Ayrp() represents the function of converting the Euler angle into the attitude matrix in the order of yaw-roll-pitch, and the three parameters of the function represent the roll Euler angle, pitch Euler angle, and yaw Euler angle respectively; Qa() represents the function of converting the attitude matrix into a quaternion; q TO represents the quaternion of the KBR calibration maneuver plan, and Represents the pitch rate and yaw rate of the KBR calibration maneuver plan.

8. The device according to claim 6, characterized in that: The attitude control error calculation module calculates the attitude control error by the following formula: Φ c =2arcsin(q BT ) Among them A BO The attitude transformation matrix of the satellite system relative to the orbital system given for attitude determination, ω g The angular velocity of the satellite system relative to the inertial system given for attitude determination, ω o is the absolute value of the orbital angular velocity given by the satellite orbit calculation, q BO Indicated by A BO The converted quaternion, q TO -1 Indicates q TO The inverse quaternion of Represents quaternion multiplication, and arcsin() represents the inverse sine function.

9. The device according to claim 6, characterized in that: The maneuver planning module completes maneuver planning in the following manner: According to the target planning angular acceleration a REF and the nominal angular acceleration a of the thrusters acting on the satellite's three axes y- , a y+ , a z- , a z+ Calculate the compensation pulse width T jr+ and T jr- ; If the pitch axis calibration maneuver, if a REF is a positive value, then T jr+ =a REF / a y+ ,T jr- =0, otherwise T jr+ =0,T jr- =-a REF / a y- ; If the yaw axis calibration maneuver, if a REF is a positive value, then T jr+ =a REF / a z+ ,T jr- =0, otherwise T jr+ =0,T jr- =-a REF / a z- .

10. A satellite payload calibration maneuver planning and control device based on magnetic torquers and thrusters, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement a high-precision KBR phase center on-orbit calibration planning and control method as described in one of claims 1 to 5.

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