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

Abstract

The application 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 torque device and a thruster as an attitude control execution mechanism. Since the satellite is only configured with the magnetic torque device and the thruster as the execution mechanism, it is difficult to simply realize the accurate attitude tracking control similar to the momentum wheel control. The application designs a satellite load calibration maneuver planning and control strategy based on the magnetic torque device and the thruster. The strategy mainly includes five algorithm modules: an attitude maneuver planning target angle, an angular velocity and an angular acceleration real-time calculation module, an attitude control error calculation module, an attitude control calculation based on the magnetic control and the thruster, a maneuver planning torque thruster distribution calculation module, and a control signal synthesis and output module. The five modules are organically combined, and the satellite load calibration maneuver planning and control problem based on the magnetic torque device and the thruster is systematically solved.

Description

TECHNICAL FIELD

[0001] The application 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

[0002] At present, the satellite load calibration demand based on magnetic torque and thruster is continuously improved, and it is difficult to simply realize accurate attitude tracking control similar to momentum wheel control because the satellite is only configured with magnetic torque and thruster as an actuator.

[0003] Therefore, it is necessary to propose a new satellite load calibration maneuver planning and control method based on magnetic torque and thruster, so as to realize accurate tracking of the satellite attitude to the expected target in the load calibration process. SUMMARY

[0004] The application solves the technical problem of overcoming the shortcomings of the prior art and proposes a high-precision KBR phase center on-orbit calibration planning and control method, which has strong universality and can be used for load calibration maneuver planning and control of a satellite configured with only magnetic torque and thruster. Through load calibration maneuver planning and thruster distribution calculation based on maneuver feedforward torque compensation, accurate tracking of the satellite attitude to the expected target in the load calibration process is realized.

[0005] The technical solution of the application is a high-precision KBR phase center on-orbit calibration planning and control method, which is suitable for a satellite with magnetic torque and thruster as an attitude control actuator, and the method comprises the following steps:

[0006] According to the set load calibration attitude maneuver parameters, the attitude maneuver planning target angle, angular velocity and angular acceleration are calculated in real time;

[0007] According to the real-time calculated attitude maneuver planning target angular velocity and the attitude measurement angle, the attitude control error is calculated;

[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 distribution calculation is completed;

[0010] The attitude control calculation result and the maneuver planning torque thruster distribution calculation are combined to complete the control signal synthesis and output.

[0011] Preferably, the attitude maneuver planning target angle, angular velocity and angular acceleration real-time calculation step specifically comprises the following steps:

[0012]

[0013] φ KBR= A KBR sin(ω freq ·T CS )

[0014]

[0015] If the pitch axis calibration maneuver is performed, then

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

[0017]

[0018] If the yaw axis calibration maneuver is performed, then

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

[0020]

[0021] where P KBR is the KBR calibration maneuver period; A KBR is the angular amplitude of the KBR calibration maneuver; T CS is the current maneuver timing instant; ω freq is the KBR calibration maneuver planning circle frequency, a KBR is the current maneuver planning angular acceleration, φ KBR is the current maneuver planning angle, is the current maneuver planning angular velocity; θ T and ψ T are the current inter-satellite pointing target attitude pitch and yaw angle values; Ayrp() represents the Euler angle to attitude matrix conversion function in yaw-roll-pitch rotation sequence, the three parameters of the function represent roll Euler angle, pitch Euler angle, and yaw Euler angle in turn; Qa() represents the attitude matrix to quaternion conversion function; q TO represents the KBR calibration maneuver planning quaternion, and represent the KBR calibration maneuver planning pitch angular velocity and yaw angular velocity.

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

[0023]

[0024] Φ c = 2arcsin(qBT )

[0025]

[0026] where A BO is the attitude transformation matrix of the satellite body frame with respect to the orbit frame given by attitude determination, ω g is the angular velocity of the satellite body frame with respect to the inertial frame given by attitude determination, ω o is the absolute value of the orbit angular velocity given by satellite orbit computation, q BO denotes the quaternion converted from A BO , q TO -1 denotes the inverse quaternion of q TO , denotes quaternion multiplication, arcsin() denotes the inverse sine function.

[0027] Preferably, the maneuver planning moment thruster allocation computation step is implemented as follows:

[0028] According to the target planning angular acceleration a REF and the nominal angular acceleration a y- of the thruster acting on the satellite three-axes, a y+ , a z- , a z+ , the compensation pulse width T jr+ and T jr- are calculated;

[0029] If the pitch axis is calibrated maneuver, if a REF is positive, 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 is calibrated maneuver, if a REF is positive, then T jr+ = a REF / a z+ , T jr- = 0, otherwise T jr+ = 0, T jr- = -a REF / a z- .

[0031] Preferably, the controlled signal synthesis and output step is implemented as follows:

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

[0033] (4) output the distribution pulse width command T ji i = 1, 2…N Jet and the magnetic momenter voltage command W m [i], i = 1, 2…, N MT to the actuator for execution.

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

[0035] A parameter real-time calculation module, which calculates the attitude maneuver planning target angle, angular velocity and angular acceleration in real time according to the set payload calibration attitude maneuver parameters;

[0036] An attitude control error calculation module, which calculates the attitude control error according to the real-time calculated attitude maneuver planning target angular velocity combined with the attitude measurement angle;

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

[0038] A maneuver planning module, which completes the maneuver planning moment thruster distribution calculation according to the attitude maneuver planning target angular acceleration;

[0039] A control signal synthesis and output module, which combines the results of the attitude control calculation module and the maneuver 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 through the following formula:

[0041]

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

[0043]

[0044] If the pitch axis calibration maneuver is performed, then

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

[0046]

[0047] If the yaw axis calibration maneuver is performed,

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

[0049]

[0050] where P KBR is the KBR calibration maneuver period; A KBR is the angle amplitude of the KBR calibration maneuver; T CS is the current maneuver timing moment; ω freq is the KBR calibration maneuver planning circle frequency, a KBR is the current maneuver planning angular acceleration, φ KBR is the current maneuver planning angle, is the current maneuver planning angular velocity; θ T and ψ T are the current inter-satellite pointing target attitude pitch angle and yaw angle values; Ayrp() represents an Euler angle conversion to attitude matrix function in the yaw-roll-pitch rotation sequence, and the three parameters of the function represent the roll Euler angle, the pitch Euler angle, and the yaw Euler angle, respectively; Qa() represents an attitude matrix conversion to quaternion function; q TO represents the KBR calibration maneuver planning quaternion, and represent the KBR calibration maneuver planning pitch angular velocity and yaw angular velocity.

[0051] Preferably, the attitude control error calculation module calculates the attitude control error through the following formula:

[0052]

[0053] Φ c = 2arcsin(q BT )

[0054]

[0055] where A BO is the satellite body system attitude conversion matrix given by the attitude determination relative to the orbit system, ω g is the satellite body system angular velocity given by the attitude determination relative to the inertial system, ω o is the absolute value of the orbit angular velocity given by the satellite orbit calculation, q BO represents the quaternion converted by A BO , and q TO-1 q represents a quaternion, TO the inverse quaternion of q, represents quaternion multiplication, arcsin() represents the inverse sine function.

[0056] Preferably, the maneuver planning module accomplishes maneuver planning by the following way:

[0057] According to the target planning angular acceleration a REF and the nominal angular acceleration a y- of the thruster acting on the three axes of the satellite, y+ a z- , a z+ , the compensation pulse width T jr+ and T jr- are calculated;

[0058] If the pitch axis calibration maneuver, if a REF is positive, 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 positive, 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 torque device and a thruster, comprising:

[0061] One or more processors;

[0062] Storage devices 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 present application has the following advantages compared with the prior art:

[0065] The method has strong universality, can calibrate the maneuver planning and control problem of a satellite load which is only configured with a magnetic torque device and a thruster, realizes accurate tracking of the satellite attitude to the expected target in the load calibration process through load calibration maneuver planning and thruster distribution calculation based on pre-maneuver feed-forward torque compensation. BRIEF DESCRIPTION OF DRAWINGS

[0066] Figure 1 A flowchart of the high-precision KBR phase center on-orbit calibration planning and control method; DETAILED DESCRIPTION

[0067] The characteristics and advantages of the present application will become more apparent with these descriptions.

[0068] The present application provides a high-precision KBR phase center on-orbit calibration planning and control method, as shown in Figure 1 The method comprises the following steps:

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

[0070] According to the set load calibration attitude maneuver parameters, 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 calibration maneuver is performed, then

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

[0076]

[0077] If the yaw axis calibration maneuver is performed, then

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

[0079]

[0080] where P KBR is the KBR nominal maneuver period; A KBR is the KBR nominal maneuver angular amplitude; T CS is the current maneuver timing moment; ω freq is the KBR nominal maneuver planning circle frequency, a KBR is the current maneuver planning angular acceleration, φ KBR is the current maneuver planning angle, is the current maneuver planning angular velocity; θ T and ψ T are the current inter-satellite pointing target attitude pitch and yaw angle values; Ayrp() represents the Euler angle to attitude matrix conversion function in yaw-roll-pitch rotation sequence, and the three parameters of the function represent roll Euler angle, pitch Euler angle, and yaw Euler angle, respectively; Qa() represents the attitude matrix to quaternion conversion function; q TO represents the KBR nominal maneuver planning quaternion, and represent the KBR nominal maneuver planning pitch angular velocity and yaw angular velocity.

[0081] (2) Attitude control error calculation according to the real-time calculated attitude maneuver planning target angular velocity combined with the attitude measurement angle;

[0082]

[0083] Φ c = 2arcsin(q BT )

[0084]

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

[0086] According to the above calculated attitude control error, the thrust distributor pulse width T ji i = 1, 2…N Jet and each magnetic torque W m [i], i = 1, 2..., N MT . The specific calculation method can refer to the patent CN106081167B "A high-precision attitude control method of magnetic control and jet control combined with less working medium".

[0087] Where N Jet represents the number of thrusters, and N MT represents the number of magnetic torque.

[0088] (4) Maneuver planning moment thruster distribution calculation;

[0089] According to the target planning angular acceleration a REF and the nominal angular acceleration a y- of the thruster acting on the three-axis of the satellite, a y+ , a z- , a z+ , a jr+ and T jr- are calculated; taking the pitch axis calibration maneuver as an example, if a REF is positive, 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, replace a z- , a z+ with a y- , a y+ .

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

[0091] (5.1) According to the jet pulse width distribution matrix and the compensation pulse width T jr+ , T jr- , update the distribution pulse width T ji of each thruster, i = 1, 2...N Jet ; taking the pitch axis calibration maneuver as an example, according to the jet pulse width distribution matrix, assuming that the positive angular acceleration of the pitch axis is generated by the nozzle i1, i2, and the negative angular acceleration of the pitch axis is generated by the nozzle i3, 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 distribution pulse width command T ji , i = 1, 2... N Jet and each magnetic torque motor voltage command W m [i], i = 1, 2..., N MT are output to the actuator for execution;

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

[0094] A parameter real-time calculation module, which calculates the attitude maneuver planning target angle, angular velocity and angular acceleration in real time according to the set payload calibration attitude maneuver parameters;

[0095] An attitude control error calculation module, which calculates the attitude control error according to the real-time calculated attitude maneuver planning target angular velocity combined with the attitude measurement angle;

[0096] An attitude control calculation module, which completes the attitude control calculation based on magnetic control and thrusters according to the calculated attitude control error;

[0097] A maneuver planning module, which completes the maneuver planning moment thruster distribution calculation according to the attitude maneuver planning target angular acceleration;

[0098] A control signal synthesis and output module, which combines the results of the attitude control calculation module and the maneuver planning module to complete the control signal synthesis and output.

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

[0100] According to the third aspect of the present application, there is also provided a satellite payload calibration maneuver planning and control device based on magnetic torque motors and thrusters, 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 of the first aspect.

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

[0105] The contents not described in detail in the specification of the present application are known to those skilled in the art.

Claims

1. A high-precision KBR phase center on-orbit calibration planning and control method, characterized in that The method is suitable for a satellite with a magnetic momenter and a thruster as an attitude control actuator, and the method comprises the following steps: According to the set load calibration attitude maneuver parameter, the current maneuver planning angle, angular velocity and angular acceleration are calculated in real time; According to the real-time calculated current maneuver planning angular velocity and the attitude measurement angle, the attitude control error is calculated; According to the calculated attitude control error, the attitude control calculation based on the magnetic control and the thruster is completed; According to the target planning angular acceleration, the maneuver planning moment thruster distribution calculation is completed to obtain the compensation pulse width; The attitude control calculation result and the maneuver planning moment thruster distribution calculation are combined to complete the control signal synthesis and output.

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

3. The high-precision KBR phase center on-orbit calibration planning and control method according to claim 2, characterized in that: The attitude control error calculation step is as follows: Φ c = 2arcsin(q BT ) where A BO is the attitude transformation matrix of the satellite body frame with respect to the orbital frame given by the attitude determination, ω g is the angular velocity of the satellite body frame with respect to the inertial frame given by the attitude determination, ω o is the absolute value of the orbital angular velocity given by the satellite orbit computation, q BO denotes the quaternion resulting from the transformation of A BO , q TO -1 denotes the inverse quaternion of q TO , denotes the quaternion multiplication, arcsin() denotes the inverse sine function.

4. The high-precision KBR phase center on-orbit calibration planning and control method according to claim 1, characterized in that: The maneuver planning moment thruster distribution calculation step is as follows: According to the target angular acceleration a REF and the thruster action on the satellite three-axis nominal angular acceleration a y- , a y+ , a z- , a z+ Calculate compensation pulse width T jr+ and T jr- ; If the pitch axis is calibrated for a motor, if a REF is positive, then T jr+ = a REF / a y+ , T jr- = 0, otherwise T jr+ = 0, T j-r = -a REF / a; If the yaw axis is calibrated, if a REF is positive, then T jr+ = a REF / a z+ , T jr- = 0, otherwise T jr+ = 0, T j-r = -a REF / a - .

5. The high-precision KBR phase center on-orbit calibration planning and control method according to claim 1, characterized in that: The control signal synthesis and output step is as follows: (1) Update the distribution pulse width T jr+ of each thruster according to the jet pulse width distribution matrix and the compensation pulse width T jr- ji i = 1, 2...N Jet ; N Jet represents the number of thrusters.​ (2) The distribution pulse width command T ji i = 1, 2...N Jet and each magnetic moment voltage command W m [i], i = 1, 2..., N MT is output to the actuator for execution; N MT represents the number of magnetic moment devices.

6. A satellite payload calibration maneuver planning and control apparatus based on magnetic torque and thruster, characterized in that, It comprises: The parameter real-time calculation module calculates the current maneuver planning angle, angular velocity and angular acceleration in real time according to the set load calibration attitude maneuver parameter; The attitude control error calculation module calculates the attitude control error according to the real-time calculated current maneuver planning angular velocity and the attitude measurement angle; The attitude control calculation module completes the attitude control calculation based on the magnetic control and the thruster according to the calculated attitude control error; The maneuver planning module completes the maneuver planning moment thruster distribution calculation according to the target planning angular acceleration to obtain the compensation pulse width; The control signal synthesis and output module combines the results of the attitude control calculation module and the maneuver planning module to complete the control signal synthesis and output.

7. The apparatus of claim 6, wherein: The parameter real-time calculation module calculates the current maneuver planning angle, angular velocity and angular acceleration by the following formula: φ KBR = A KBR sin(ω freq ·T CS ) If the pitch axis is calibrated for maneuver, then q TO = Qa(Ayrp(0, θ T + φ KBR , ψ T )) If the yaw axis is calibrated for maneuver, then q TO = Qa(Ayrp(0, θ T , ψ T + φ KBR )) where P KBR is the KBR calibrated maneuver period; A KBR is the KBR calibrated maneuver angular amplitude; T CS is the current maneuver timing moment; ω freq is the KBR calibrated maneuver planning circle frequency, a KBR is the current maneuver planning angular acceleration, φ KBR is the current maneuver planning angle, is the current maneuver planning angular velocity; θ T and ψ T are the current inter-satellite pointing target attitude pitch angle and yaw angle values; Ayrp() represents a function of converting Euler angles into an attitude matrix in the yaw-roll-pitch rotation sequence, and the three parameters of the function represent the roll Euler angle, the pitch Euler angle, and the yaw Euler angle, respectively; Qa() represents a function of converting an attitude matrix into a quaternion; q TO represents a quaternion of the KBR calibrated maneuver planning, and represent the pitch angular velocity and the yaw angular velocity of the KBR calibrated maneuver planning.

8. The apparatus of claim 7, wherein: The attitude control error calculation module calculates the attitude control error by the following formula: Φ c = 2 arcsin(q BT ) where A BO is the attitude transformation matrix of the satellite body frame with respect to the orbit frame given by attitude determination, ω g is the angular velocity of the satellite body frame with respect to the inertial frame given by attitude determination, ω o is the absolute value of the orbit angular velocity given by satellite orbit computation, q BO denotes the quaternion resulting from the transformation of A BO , q TO -1 denotes the inverse quaternion of q TO , denotes quaternion multiplication, arcsin() denotes the inverse sine function.

9. The apparatus of claim 6, wherein: The maneuver planning module completes the maneuver planning by the following way: According to the target angular acceleration a REF and the thruster action on the satellite three-axis nominal angular acceleration a y- , a y+ , a z- , a z+ Calculate compensation pulse width T jr+ and T jr- ; If the pitch axis is calibrated for maneuvering, if a REF is positive, then T jr+ = a REF / a y+ , T jr- = 0, otherwise T jr+ = 0, T j-r = -a REF / a; If the yaw axis is calibrated, if a REF is positive, then T jr+ = a REF / a z+ , T jr- = 0, otherwise T jr+ = 0, T j-r = -a REF / a - .

10. A satellite payload calibration maneuver planning and control apparatus based on magnetic torquer and thruster, characterized in that, It comprises: One or more processors; 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 the high-precision KBR phase center on-orbit calibration planning and control method of any one of claims 1 to 5.

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