Rocket attitude adjustment method, rocket and storage medium
By setting multiple foundation antennas on the rocket, determining and selecting candidate roll angles, and using preset posture adjustment strategies to control the rocket to adjust the target roll angle, the problem of long and low efficiency of adjusting the roll angle is solved, and more efficient posture adjustment is achieved.
Patent Information
- Application Number
- CN202510391169.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-31
- Publication Date
- 2025-05-09
AI Technical Summary
In the prior art, rockets need to adjust the rolling angle after launch so that the foundation antenna can connect to the foundation measurement and control station, adjust the path length and the efficiency is low.
By setting multiple foundation antennas, multiple candidate roll angles are determined according to the difference between the roll angle corresponding to the at least two foundation antennas and the initial roll angle of the rocket, and the smallest candidate roll angle is selected as the target roll angle. The rocket is controlled to adjust to the target roll angle using the preset posture adjustment strategy and the target roll angle.
Through this method, the Rocket adjusts the rolling angle path at the shortest, which improves the efficiency of the Rocket adjusting posture.
Smart Images
Figure CN119958391A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of rocket technology, and in particular to a rocket attitude adjustment method, a rocket and a storage medium. Background Art
[0002] During the flight of a launch vehicle, environmental parameters, control system parameters, liquid propulsion attitude control power system parameters, flight trajectory parameters, etc. need to be telemetered and transmitted to the ground to provide support for experimental analysis. Rocket telemetry usually adopts a ground-based measurement and control and space-based measurement and control relay working mode to jointly complete the telemetry task from rocket takeoff to satellite-rocket separation. In the early stage of the launch vehicle's flight, the space-based antenna cannot point to the relay satellite, and the space-based measurement and control link cannot be established. Ground-based antenna telemetry is used to fill the space-based measurement and control blind spot in the early stage of the rocket flight. Usually, a ground-based antenna can include multiple ground-based antennas, and multiple ground-based antennas are set at a certain angle, which can communicate with the ground according to the effective pointing of the antenna beam; in addition, the space-based antenna can communicate with the relay satellite according to the effective pointing of the antenna beam.
[0003] At present, with the demand for rapid rocket launches, omnidirectional launches of rockets can be achieved. Among them, omnidirectional launch means that after the rocket body is erected, there is no need to adjust the position and direction of the rocket body, and it can be launched at any initial roll angle. For ground-based antennas, multiple ground-based antennas with a certain angle can be set, but because the antenna signal receiving and transmitting angle range is narrow and the rocket is launched at an arbitrary initial roll angle, the rocket needs to adjust the roll angle after launch to enable the ground-based antenna to connect to the ground-based measurement and control station. However, the current method of adjusting the roll angle of the rocket has a long adjustment path and low efficiency. Summary of the invention
[0004] The present application provides a rocket attitude adjustment method, a rocket and a storage medium, which are used to solve the problem that the method of adjusting the rolling angle of the rocket in the prior art has a long adjustment path and low efficiency.
[0005] In a first aspect, the present application provides a rocket attitude adjustment method, which is applied to a rocket, wherein the rocket includes a rocket primary stage and a rocket final stage connected in sequence, at least two ground-based antennas are arranged at intervals around the outer side surface of the rocket primary stage, and at least two ground-based antennas form a preset angle between each other, and the preset angle satisfies α is a preset angle, n is the number of ground-based antennas, and the method includes:
[0006] In response to the ignition command, the rocket begins to be controlled to launch and fly;
[0007] Determine a plurality of candidate roll angles according to the difference between the roll angles respectively corresponding to at least two preset ground-based antennas and the pre-recorded initial roll angle of the rocket, wherein the roll angle respectively corresponding to each ground-based antenna is: the minimum roll angle of the rocket when the ground-based antenna meets the communication with the ground-based tracking and control station;
[0008] Selecting a minimum candidate roll angle from the candidate roll angles corresponding to at least two ground-based antennas as a target roll angle;
[0009] At the first target moment before the preset time interval between the ground-based signal receiving and sending moment in the preset flight trajectory sequence, based on the preset attitude adjustment strategy and target roll angle, the rocket is controlled to adjust from the initial roll angle to the roll angle associated with the ground-based antenna corresponding to the target roll angle, and the attitude adjustment duration of the rocket is less than or equal to the preset duration.
[0010] In some embodiments, the number of ground-based antennas is two, and the preset rolling angle corresponding to the first ground-based antenna is r 1 , the rolling angles corresponding to the second ground-based antennas satisfy the formula Among them, r 2 It is the rolling angle corresponding to the preset second ground-based antenna.
[0011] In some embodiments, a plurality of candidate roll angles are determined according to the difference between the roll angles corresponding to the preset at least two ground-based antennas and the pre-recorded initial roll angle of the rocket, including:
[0012] According to the formula Determine multiple candidate roll angles, where Δr 1 is the candidate roll angle corresponding to the first ground-based antenna, Δr 2 is the candidate roll angle corresponding to the second ground-based antenna, r 0 is the initial roll angle of the rocket.
[0013] In some embodiments, the number of ground-based antennas is three, and the preset rolling angle corresponding to the first ground-based antenna is r 1 , the rolling angle corresponding to the second ground-based antenna satisfies the formula The rolling angles corresponding to the third ground-based antennas satisfy Among them, r 2 is the roll angle corresponding to the preset second ground-based antenna, r 3 It is the rolling angle corresponding to the preset third ground-based antenna.
[0014] In some embodiments, a plurality of candidate roll angles are determined according to the difference between the roll angles corresponding to the preset at least two ground-based antennas and the pre-recorded initial roll angle of the rocket, including:
[0015] According to the formula Determine multiple candidate roll angles, Δr 1 is the candidate roll angle corresponding to the first ground-based antenna, Δr 2 is the candidate roll angle corresponding to the second ground-based antenna, Δr 3 is the candidate roll angle corresponding to the third ground-based antenna, r 0 is the initial roll angle of the rocket.
[0016] In some embodiments, based on a preset attitude adjustment strategy and a target roll angle, controlling the rocket to adjust from an initial roll angle to a roll angle associated with a ground-based antenna corresponding to the target roll angle includes:
[0017] According to the attitude adjustment strategy of uniform acceleration, uniform speed or uniform deceleration, and the target roll angle, the rocket is controlled to adjust from the initial roll angle to the roll angle associated with the ground-based antenna corresponding to the target roll angle.
[0018] In some embodiments, a space-based antenna is disposed on the outer side of the rocket's final stage. After the rocket is controlled to adjust from an initial roll angle to a roll angle associated with the ground-based antenna corresponding to a target roll angle, the method provided by the present application further includes:
[0019] At a second target time before the space-based signal receiving and transmitting time in the preset flight trajectory time sequence by a preset time length, determining a differential roll angle between a current roll angle of the rocket and a preset space-based signal receiving and transmitting roll angle;
[0020] Based on the preset attitude adjustment strategy and differential roll angle, the rocket is controlled to adjust from the current roll angle of the rocket to the roll angle of the space-based signal reception and transmission, and the attitude adjustment time of the rocket is less than or equal to the preset time.
[0021] In a second aspect, the present application provides a rocket, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the rocket executes the method provided in the first aspect of the present application.
[0022] In a third aspect, the present application further provides a storage medium storing a computer program. When the computer program is executed by a processor, the computer executes the method provided in the first aspect of the present application.
[0023] In a fourth aspect, the present application also provides a computer program product, including a computer program, which, when run, enables the rocket to execute the method provided in the first aspect of the present application.
[0024] The present application provides a method for adjusting the attitude of a rocket, a rocket and a storage medium. According to the difference between the roll angles respectively corresponding to at least two preset ground-based antennas and the initial roll angle of the rocket recorded in advance, multiple candidate roll angles can be determined, and the smallest candidate roll angle can be selected from the candidate roll angles respectively corresponding to at least two ground-based antennas as the target roll angle; at the first target moment before the preset time interval of the ground-based signal receiving and sending moment in the preset flight trajectory sequence, the rocket is controlled to adjust from the initial roll angle to the roll angle associated with the ground-based antenna corresponding to the target roll angle based on the preset attitude adjustment strategy and the target roll angle. Since the roll angles respectively corresponding to each ground-based antenna are: the minimum roll angle of the rocket when the ground-based antenna meets the communication with the ground-based measurement and control station; and the target roll angle is the smallest candidate roll angle selected from the candidate roll angles respectively corresponding to at least two ground-based antennas, the adjustment path of the rocket to adjust the roll angle can be made shortest, thereby improving the efficiency of the rocket to adjust the attitude. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0026] Figure 1 A schematic diagram of the architecture of the rocket provided in the embodiment of the present application communicating with the ground-based tracking and control station and the relay satellite respectively;
[0027] Figure 2 One of the flow charts of the rocket attitude adjustment method provided in the embodiment of the present application;
[0028] Figure 3 Flow chart 2 of the rocket attitude adjustment method provided in the embodiment of the present application;
[0029] Figure 4 A functional module block diagram of the rocket attitude adjustment device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0030] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.
[0031] Various structural schematic diagrams according to embodiments of the present disclosure are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may further design regions / layers with different shapes, sizes, and relative positions according to actual needs.
[0032] In the context of the present disclosure, when a layer / element is referred to as being "on" another layer / element, the layer / element may be directly on the other layer / element or an intervening layer / element may exist therebetween. In addition, if a layer / element is "on" another layer / element in one orientation, the layer / element may be "below" the other layer / element when the orientation is reversed.
[0033] The following is a detailed description of the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.
[0034] The present application embodiment provides a rocket attitude adjustment method, which is applied to rocket 101. Figure 1 As shown, the rocket 101 includes a rocket primary stage and a rocket final stage connected in sequence, and at least two ground-based antennas 102 ( Figure 1 It should be noted that, since the number of ground-based antennas 102 has little effect on the carrying capacity of the rocket 101, the power is low, and the cost is relatively low, the number of ground-based antennas 102 can be greater than one. Furthermore, at least two ground-based antennas 102 form a preset angle between each other, and the preset angle satisfies α is a preset angle, and n is the number of ground-based antennas 102. For example, when n=2, α=180°; when n=3, α=120°; when n=4, α=90°. However, the number of ground-based antennas 102 should not be too large to avoid the cost of the ground-based antennas 102 being too high and the load of the rocket 101 being too heavy. Figure 2 As shown, the method provided in the embodiment of the present application includes:
[0035] S201: In response to the ignition command, start controlling the rocket 101 to launch and fly.
[0036] Exemplarily, the flight of rocket 101 may be controlled according to a preset flight trajectory sequence.
[0037] In addition, before the rocket 101 is launched, the rocket 101 can be carried to a random launchable position. Due to the different terrains at the launchable positions, the initial roll angle of the rocket 101 will also be different. Therefore, before S201, the initial roll angle γ of the rocket 101 can be obtained according to the artificial optical aiming or the three-inertial group self-alignment algorithm. 0 , so that Rocket 101 can collect the initial rolling γ 0 .
[0038] It should be noted that the rolling angle γ required by the ground-based measurement and control can be determined in advance according to the ground-based measurement and control station, the pointing direction of the ground-based antenna 102 and the flight trajectory timing. 1 And the rolling angle γ required to meet the ground-based measurement and control requirements 1 The corresponding time t 1 In addition, the ignition time can be recorded as t 0 Generally, the default duration of the communication between the ground-based measurement and control station 103 and the ground-based antenna 102 is generally less than 400 seconds, and one attitude adjustment can meet the communication requirements between the ground-based antenna 102 and the ground-based measurement and control station 103 .
[0039] S202: Determine a plurality of candidate roll angles according to the differences between the roll angles corresponding to the at least two preset ground-based antennas 102 and the pre-recorded initial roll angle of the rocket 101 .
[0040] The rolling angle corresponding to each ground-based antenna 102 is: the minimum rolling angle of the rocket 101 when the ground-based antenna 102 can communicate with the ground-based tracking and control station.
[0041] For example, the number of ground-based antennas 102 may be two, and the preset rolling angle corresponding to the first ground-based antenna 102 is r 1 , the rolling angles corresponding to the second ground-based antenna 102 satisfy the formula Among them, r 2 is the preset rolling angle corresponding to the second ground-based antenna 102. In this way, the minimum rolling angles corresponding to the two ground-based antennas 102 are accurately determined.
[0042] In some implementations, the number of ground-based antennas 102 may be three, and the preset rolling angle corresponding to the first ground-based antenna 102 is r. 1 , the rolling angle corresponding to the second ground-based antenna 102 satisfies the formula The rolling angles corresponding to the third ground-based antennas 102 satisfy Among them, r 2 is the preset rolling angle corresponding to the second ground-based antenna 102, r 3 is the preset rolling angle corresponding to the third ground-based antenna 102. In this way, the minimum rolling angles corresponding to the three ground-based antennas 102 are accurately determined.
[0043] Optionally, the number of the ground-based antennas 102 may be four, five, etc. The minimum rolling angle corresponding to each ground-based antenna 102 is determined similarly to the above-mentioned rule, which will not be elaborated herein.
[0044] S203: Selecting a minimum candidate roll angle from the candidate roll angles corresponding to at least two ground-based antennas 102 as a target roll angle.
[0045] For example, when there are two base antennas 102, the formula Determine multiple candidate roll angles. Among them, Δr 1 is the candidate roll angle corresponding to the first ground-based antenna 102, Δr 2 is the candidate roll angle corresponding to the second ground-based antenna 102, r 0 is the initial roll angle of the rocket 101. In this way, multiple candidate roll angles can be accurately obtained.
[0046] For another example, when the number of base antennas 102 is three, according to the formula Determine multiple candidate roll angles, Δr 1 is the candidate roll angle corresponding to the first ground-based antenna 102, Δr 2 is the candidate roll angle corresponding to the second ground-based antenna 102, Δr 3 is the candidate roll angle corresponding to the third ground-based antenna 102, r 0 is the initial roll angle of the rocket 101. In this way, multiple candidate roll angles can also be accurately obtained.
[0047] S204: At the first target moment before the preset time interval between the ground-based signal receiving and sending moment in the preset flight trajectory sequence, based on the preset attitude adjustment strategy and target roll angle, the rocket 101 is controlled to adjust from the initial roll angle to the roll angle associated with the ground-based antenna 102 corresponding to the target roll angle.
[0048] For example, according to the uniform acceleration, uniform speed or uniform deceleration attitude adjustment strategy and the target roll angle, the rocket 101 can be controlled to adjust from the initial roll angle to the roll angle associated with the ground-based antenna 102 corresponding to the target roll angle. After adjusting to the roll angle associated with the ground-based antenna 102 corresponding to the target roll angle, the rocket 101 can communicate with the ground-based measurement and control station 103.
[0049] In addition, the attitude adjustment time of the rocket 101 is less than or equal to the preset time. For example, if the preset time is 30 seconds, the attitude adjustment time of the rocket 101 can be, but is not limited to, 25 seconds.
[0050] To summarize, a rocket attitude adjustment method provided in an embodiment of the present application can determine a plurality of candidate roll angles according to the difference between the roll angles corresponding to at least two preset ground-based antennas 102 and the pre-recorded initial roll angle of the rocket 101, and select the smallest candidate roll angle from the candidate roll angles corresponding to at least two ground-based antennas 102 as the target roll angle; at the first target moment before a preset time interval between the ground-based signal receiving and sending moment in a preset flight trajectory sequence, based on a preset attitude adjustment strategy and target roll angle, control the rocket 101 to adjust from the initial roll angle to the roll angle associated with the ground-based antenna 102 corresponding to the target roll angle. Since the roll angle corresponding to each ground-based antenna 102 is: the minimum roll angle of the rocket 101 when the ground-based antenna 102 satisfies the communication with the ground-based tracking and control station; and the target roll angle is the smallest candidate roll angle selected from the candidate roll angles corresponding to at least two ground-based antennas 102, the adjustment path of the rocket 101 to adjust the roll angle can be made shortest, thereby improving the efficiency of the rocket 101 in adjusting its attitude.
[0051] In addition, if Figure 3 As shown, a space-based antenna 104 is disposed on the outer side of the rocket's final stage. Since the space-based antenna 104 is relatively expensive, has a significant impact on the carrying capacity of the rocket 101, and has high power. Therefore, the number of space-based antennas 104 is usually one. After S204, the method provided in the embodiment of the present application further includes:
[0052] S205: At a second target time before a preset time interval from the space-based signal receiving and sending time in the preset flight trajectory sequence, determine the differential roll angle between the current roll angle of the rocket 101 and the preset space-based signal receiving and sending roll angle.
[0053] S206: Based on the preset attitude adjustment strategy and the differential roll angle, the rocket 101 is controlled to adjust from the current roll angle of the rocket 101 to the space-based signal transmission and reception roll angle. Further, the attitude adjustment time of the rocket 101 is less than or equal to the preset time.
[0054] After adjusting from the current roll angle of the rocket 101 to the roll angle for transmitting and receiving space-based signals, the rocket 101 can communicate with the relay satellite 105 .
[0055] It should be noted that, in other embodiments, at least two space-based antennas 104 are spaced around the outer side of the rocket primary, and at least two ground-based antennas 102 are spaced apart to form a preset angle between each other, and the preset angle satisfies α is a preset angle, and m is the number of ground-based antennas 102. The differential roll angle of the space-based antenna 104 can be determined according to the same rules as in S202-S203. In this way, when there are multiple space-based antennas 104, the adjustment path of the roll angle of the rocket 101 can be made shortest, thereby improving the efficiency of adjusting the attitude of the rocket 101.
[0056] In addition, the embodiment of the present application further provides a rocket attitude adjustment device, which is configured on the rocket 101. It should be noted that the basic principle and technical effect of the rocket attitude adjustment device provided in the embodiment of the present application are the same as those of the above-mentioned embodiment. For the sake of brief description, for parts not mentioned in the embodiment of the present application, reference can be made to the corresponding contents in the above-mentioned embodiment. The rocket 101 includes a rocket primary stage and a rocket final stage connected in sequence. At least two ground-based antennas 102 are spaced around the outer side surface of the rocket primary stage, and at least two ground-based antennas 102 form a preset angle between each other, and the preset angle satisfies α is a preset angle, and n is the number of ground-based antennas 102. Figure 4 As shown, the device provided by the embodiment of the present application includes a launch control unit, a candidate roll angle determination unit, a target roll angle determination unit, and a posture adjustment unit, wherein:
[0057] The launch control unit is used to respond to the ignition command and start controlling the rocket 101 to launch and fly.
[0058] The candidate roll angle determination unit is used to determine multiple candidate roll angles based on the differences between the roll angles corresponding to at least two preset ground-based antennas 102 and the pre-recorded initial roll angles of the rocket 101, wherein the roll angle corresponding to each ground-based antenna 102 is: the minimum roll angle of the rocket 101 when the ground-based antenna 102 satisfies the communication with the ground-based measurement and control station.
[0059] A target roll angle determination unit, configured to select a minimum candidate roll angle from the candidate roll angles respectively corresponding to at least two ground-based antennas 102 as the target roll angle;
[0060] The attitude adjustment unit is used to control the rocket 101 to adjust from an initial roll angle to a roll angle associated with a ground-based antenna 102 corresponding to a target roll angle at a first target moment before a preset time interval between a ground-based signal receiving and sending moment in a preset flight trajectory sequence, based on a preset attitude adjustment strategy and a target roll angle, and the attitude adjustment duration of the rocket 101 is less than or equal to the preset duration.
[0061] In some embodiments, the number of ground-based antennas 102 is two, and the preset rolling angle corresponding to the first ground-based antenna 102 is r 1 , the rolling angles corresponding to the second ground-based antenna 102 satisfy the formula Among them, r2 is the preset rolling angle corresponding to the second ground-based antenna 102 .
[0062] In some implementations, the candidate roll angle determination unit is specifically configured to determine the candidate roll angle according to the formula Determine multiple candidate roll angles, where Δr 1 is the candidate roll angle corresponding to the first ground-based antenna 102, Δr 2 is the candidate roll angle corresponding to the second ground-based antenna 102, r 0 is the initial rolling angle of the rocket 101.
[0063] In some embodiments, the number of ground-based antennas 102 is three, and the preset rolling angle corresponding to the first ground-based antenna 102 is r 1 , the rolling angle corresponding to the second ground-based antenna 102 satisfies the formula The rolling angles corresponding to the third ground-based antennas 102 satisfy Among them, r 2 is the preset rolling angle corresponding to the second ground-based antenna 102, r 3 is the preset rolling angle corresponding to the third ground-based antenna 102 .
[0064] In some implementations, the candidate roll angle determination unit is specifically configured to determine the candidate roll angle according to the formula Determine multiple candidate roll angles, Δr 1 is the candidate roll angle corresponding to the first ground-based antenna 102, Δr 2 is the candidate roll angle corresponding to the second ground-based antenna 102, Δr 3 is the candidate roll angle corresponding to the third ground-based antenna 102, r 0 is the initial rolling angle of the rocket 101.
[0065] In some embodiments, the attitude adjustment unit is specifically used to control the rocket 101 to adjust from an initial roll angle to a signal receiving and transmitting roll angle according to an attitude adjustment strategy of uniform acceleration, uniform speed or uniform deceleration, and a target roll angle.
[0066] In some embodiments, a space-based antenna 104 and an attitude adjustment unit are provided on the outer side of the rocket's last stage, which are specifically used to determine the difference roll angle between the current roll angle of the rocket 101 and the preset space-based signal receiving and sending roll angle at a second target time before the space-based signal receiving and sending time in the preset flight trajectory sequence by a preset time length; based on the preset attitude adjustment strategy and the difference roll angle, the rocket 101 is controlled to adjust from the current roll angle of the rocket 101 to the space-based signal receiving and sending roll angle, and the attitude adjustment duration of the rocket 101 is less than or equal to the preset duration.
[0067] In addition, an embodiment of the present application provides a rocket, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the rocket executes the method provided in the above embodiment of the present application.
[0068] In addition, an embodiment of the present application further provides a storage medium, which stores a computer program. When the computer program is executed by a processor, the computer executes the method provided in the above embodiment of the present application.
[0069] In addition, an embodiment of the present application also provides a computer program product, including a computer program, which, when executed, enables the rocket to execute the method provided in the above embodiment of the present application.
[0070] In the above description, the technical details such as the patterning of each layer are not described in detail. However, those skilled in the art should understand that various technical means can be used to form layers, regions, etc. of desired shapes. In addition, in order to form the same structure, those skilled in the art can also design methods that are not completely the same as the methods described above. In addition, although the various embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage.
[0071] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.
[0072] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.
Claims
1. A rocket attitude adjustment method, characterized in that: Applied to a rocket, the rocket comprises a rocket primary stage and a rocket final stage connected in sequence, at least two ground-based antennas are arranged around the outer side surface of the rocket primary stage, and the at least two ground-based antennas form a preset angle between each other, and the preset angle satisfies α is the preset angle, n is the number of the ground-based antennas, and the method includes: In response to the ignition command, start controlling the rocket to launch and fly; According to the difference between the preset roll angles corresponding to the at least two ground-based antennas and the pre-recorded initial roll angle of the rocket, a plurality of candidate roll angles are determined, wherein the roll angle corresponding to each ground-based antenna is: the minimum roll angle of the rocket when the ground-based antenna meets the communication with the ground-based measurement and control station; Selecting a minimum candidate roll angle from the candidate roll angles respectively corresponding to the at least two ground-based antennas as a target roll angle; At the first target moment before the preset time interval between the ground-based signal receiving and sending moment in the preset flight trajectory sequence, based on the preset attitude adjustment strategy and the target roll angle, the rocket is controlled to adjust from the initial roll angle to the roll angle associated with the ground-based antenna corresponding to the target roll angle, and the attitude adjustment duration of the rocket is less than or equal to the preset duration.
2. The method according to claim 1, characterized in that There are two ground-based antennas, the preset rolling angle corresponding to the first ground-based antenna is r1, and the rolling angles corresponding to the second ground-based antennas satisfy the formula Among them, r2 is the preset rolling angle corresponding to the second ground-based antenna.
3. The method according to claim 2, characterized in that The method of determining a plurality of candidate roll angles according to the difference between the preset roll angles corresponding to the at least two ground-based antennas and the pre-recorded initial roll angle of the rocket comprises: According to the formula Determine a plurality of candidate roll angles, wherein Δr1 is the candidate roll angle corresponding to the first ground-based antenna, Δr2 is the candidate roll angle corresponding to the second ground-based antenna, and r0 is the initial roll angle of the rocket.
4. The method according to claim 1, characterized in that: The number of the ground-based antennas is three, the preset rolling angle corresponding to the first ground-based antenna is r1, and the rolling angle corresponding to the second ground-based antenna satisfies the formula The rolling angles corresponding to the third ground-based antennas satisfy Among them, r2 is the preset rolling angle corresponding to the second ground-based antenna, and r3 is the preset rolling angle corresponding to the third ground-based antenna.
5. The method according to claim 4, characterized in that The method of determining a plurality of candidate roll angles according to the difference between the preset roll angles corresponding to the at least two ground-based antennas and the pre-recorded initial roll angle of the rocket comprises: According to the formula Determine multiple candidate roll angles, Δr1 is the candidate roll angle corresponding to the first ground-based antenna, Δr2 is the candidate roll angle corresponding to the second ground-based antenna, Δr3 is the candidate roll angle corresponding to the third ground-based antenna, and r0 is the initial roll angle of the rocket.
6. The method according to any one of claims 1 to 5, characterized in that: The method of controlling the rocket to adjust from the initial roll angle to a roll angle associated with a ground-based antenna corresponding to the target roll angle based on a preset attitude adjustment strategy and the target roll angle includes: According to the attitude adjustment strategy of uniform acceleration, uniform speed or uniform deceleration, and the target roll angle, the rocket is controlled to adjust from the initial roll angle to the roll angle associated with the ground-based antenna corresponding to the target roll angle.
7. The method according to any one of claims 1 to 5, characterized in that: The outer side of the rocket's final stage is provided with a space-based antenna. After controlling the rocket to adjust from the initial roll angle to the roll angle associated with the ground-based antenna corresponding to the target roll angle, the method further includes: At a second target time before the space-based signal receiving and transmitting time in the preset flight trajectory time sequence by a preset time length, determining a differential roll angle between the current roll angle of the rocket and the preset space-based signal receiving and transmitting roll angle; Based on a preset attitude adjustment strategy and the differential roll angle, the rocket is controlled to adjust from the current roll angle of the rocket to the space-based signal receiving and transmitting roll angle, and the attitude adjustment duration of the rocket is less than or equal to the preset duration.
8. A rocket 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, the rocket executes the method as described in any one of claims 1 to 7.
9. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the computer is caused to perform the method according to 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, the rocket executes the method as claimed in any one of claims 1 to 7.