A fixed-point tracking control method for high-area-to-mass ratio space targets

Abstract

The present invention relates to the field of aerospace technology, and in particular to a method for fixed-point tracking and aiming control of a space target with a high area-to-mass ratio. The method comprises: obtaining the relative state of the space target in a satellite orbit system; calculating the satellite attitude control quantity based on the relative position and the current attitude of the satellite; calculating the satellite's relative orbit control quantity based on the relative state of the space target and the satellite's fixed-point relative position; and using a phase plane algorithm to determine the attitude control and orbit control thruster on / off status based on the satellite attitude control quantity and the relative orbit control quantity, and continuously determining the attitude control and orbit control thruster on / off status at the current moment to perform fixed-point tracking and aiming control of the space target. The solution provided by the present invention can perform fixed-point tracking and aiming on a space target with a high area-to-mass ratio.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a fixed-point tracking and aiming control method for a high-area-to-mass ratio space target. Background Art

[0002] High-area-to-mass space targets have a much larger area-to-mass ratio than conventional spacecraft. Typical examples include solar sails with large frontal areas, as well as very small smart dust, space targets, space chip satellites, and space debris. Miniaturized high-area-to-mass satellites offer advantages such as low R&D costs, short design cycles, mass production, high functional density, and ease of deployment. They can independently complete simple space missions or work collaboratively in clusters. They hold promising applications in environmental monitoring, deep space exploration, on-orbit patrols, and high-resolution observation.

[0003] Fixed-point tracking is a mission scenario for achieving continuous surveillance of space targets. The optimal position for achieving fixed-point tracking is usually the phase before and after the target in the same orbit. High-area-to-mass ratio space targets experience orbital accelerations much greater than those of traditional spacecraft due to atmospheric drag in a low-orbit environment. Orbital decay will cause rapid drift in relative phase, increasing the difficulty of maintaining fixed-point control. Traditional bang-bang control is effective and feasible in fixed-point tracking missions with slow relative velocity changes. However, when applied to fixed-point tracking of high-area-to-mass ratio space targets, the rapid drift in relative phase will lead to frequent triggering of unilateral control, increasing the control frequency and consuming more fuel, and may even exceed the control boundary, causing mission failure.

[0004] Therefore, there is an urgent need to propose a fixed-point tracking method for high-surface-to-mass ratio space targets to solve the above technical problems. Summary of the Invention

[0005] Embodiments of the present invention provide a method, device, electronic device, and storage medium for controlling fixed-point tracking of a high-area-to-mass ratio space target, which can perform fixed-point tracking of a high-area-to-mass ratio space target.

[0006] In a first aspect, an embodiment of the present invention provides a method for tracking and controlling a high-area-to-mass ratio space target, comprising:

[0007] Obtaining the relative state of the space target in the satellite orbit system; wherein the relative state includes the relative position and relative velocity of the space target with respect to the satellite, the satellite orbit system includes X, Y, and Z axes, the +Z axis points toward the center of the Earth, the +X axis is located in the orbital plane and points in the direction of flight, and the +Y axis is determined by the right-hand rule;

[0008] Calculating a satellite attitude control variable based on the relative position and the current attitude of the satellite; wherein the satellite attitude control variable includes a satellite attitude angle control variable and a satellite attitude angular velocity control variable;

[0009] Calculating a relative orbit control amount of the satellite based on the relative state of the space target and the satellite fixed-point maintaining relative position; wherein the satellite orbit control amount includes a position control amount and a speed control amount of the satellite relative orbit;

[0010] Determining the on / off status of the attitude control and orbit control thrusters using a phase plane algorithm based on the satellite attitude control variable and the relative orbit control variable;

[0011] The attitude control and orbit control thruster power on / off status at the current moment is continuously determined to perform fixed-point tracking and aiming control of the space target.

[0012] In one possible design, calculating the satellite attitude control amount based on the relative position and the current attitude of the satellite includes:

[0013] Determining a converted relative position of the space target in the satellite local system according to the relative position and an attitude rotation matrix of the satellite local system relative to the satellite orbital system;

[0014] Calculating the target attitude quaternion in the satellite local system according to the converted relative position, the direction of the satellite target pointing axis, and the attitude quaternion of the satellite local system relative to the satellite orbit system;

[0015] Calculating the satellite attitude angle control amount according to the converted relative position and the direction of the satellite target pointing axis;

[0016] The satellite attitude angular velocity control amount is calculated according to the actual angular velocity of the satellite, the target attitude quaternion and the attitude quaternion motion equation function.

[0017] In one possible design, the conversion relative position is calculated using the following formula:

[0018] Rpos_btemp=C BO *Rpos_o;

[0019] Rpos_b=Rpos_btemp / |Rpos_btemp|;

[0020] Wherein, Rpos_o is the relative position, C BO is the attitude rotation matrix of the satellite orbit system, and Rpos_b is the converted relative position.

[0021] In one possible design, the target attitude quaternion is calculated using the following formula:

[0022] alpha_tp=acos(dot(PointAxis_b,Rpos_b));

[0023] e_tp=Rpos_b×PointAxis_b;

[0024] q TB =[-e_tp'*sin(0.5*alpha_tp),cos(0.5*alpha_tp)];

[0025]

[0026] Among them, PointAxis_b is the direction of the satellite target pointing axis, q BO is the attitude quaternion of the satellite system relative to the satellite orbit system, q TO is the target posture quaternion, dot(·,·) represents vector dot product, × represents vector cross product, Represents quaternion multiplication.

[0027] In one possible design, the satellite attitude angle control value is calculated using the following formula:

[0028] attc = alpha_tp * e_tp;

[0029] Wherein, attc is the satellite attitude angle control value;

[0030] The satellite attitude angular velocity control value is calculated by the following formula:

[0031]

[0032] dattc=ω BO -ω TO ;

[0033] Wherein, dattc is the satellite attitude angular velocity control value, ω TO is the satellite target attitude angular velocity, ω BO is the actual attitude angular velocity of the satellite, Eq is the attitude quaternion motion equation function, and Δt is the satellite control period.

[0034] In one possible design, the position control amount of the satellite relative to the orbit is calculated using the following formula:

[0035] RelPosc=Rpos_o-RelPosT;

[0036] Wherein, RelPosT is the relative position maintained by the satellite, Rvel_o is the relative speed of the space target, and RelPosc is the position control value;

[0037] The speed control amount of the satellite relative orbit is calculated by the following formula:

[0038] RelVelc=Rvel_o

[0039] Wherein, RelVelc is the speed control variable.

[0040] In one possible design, the phase plane algorithm is used to determine the attitude control and orbit control thruster on / off states, including:

[0041] A first phase plane including a horizontal axis and a vertical axis is established, wherein the first phase plane is defined by a first expression The first symmetry formula about the origin divides the coordinate system into three regions: the region where both the horizontal and vertical axes are positive is the first phase plane region 1, the region where both the horizontal and vertical axes are negative is the first phase plane region 2, and the remaining region is the first phase plane region 3;

[0042] A second phase plane including a horizontal axis and a vertical axis is established, and the second phase plane is defined by the first expression And the second expression The formed broken line divides the coordinate system into two areas, the right side of the horizontal axis of the second phase plane is the positive direction, the upper side of the vertical axis of the second phase plane is the positive direction, the part located above the second expression and to the right of the first expression is the second phase plane area 1, and the part located to the left of the first expression and below the second expression is the second phase plane area 2;

[0043] For each axis of the three-axis attitude control thruster, based on the first phase plane, the following operations are performed:

[0044] The attitude angle control amount in the direction of the axis is set as the horizontal coordinate, and the attitude angular velocity control amount in the direction of the axis is set as the vertical coordinate. The phase plane variable θ in the first expression is c , are respectively taken as attitude angular velocity and attitude angular velocity control quantity, K J and θ D is an empirical value, the calculated satellite target attitude angular velocity and the satellite attitude angular velocity control amount in the direction of the axis are substituted into the first phase plane, and the area in which they fall is observed. When they fall into area 1 of the first phase plane, the attitude control thrusters in the negative direction of the axis are turned on; when they fall into area 2 of the first phase plane, the attitude control thrusters in the positive direction of the axis are turned on; when they fall into area 3 of the first phase plane, both the attitude control thrusters in the positive and negative directions of the axis are turned off;

[0045] In the Y-axis and Z-axis directions of the orbital control thruster, based on the first phase plane, the following operations are performed:

[0046] The position control amount in the direction of the axis is set as the horizontal coordinate, and the speed control amount in the direction of the axis is set as the horizontal coordinate. The phase plane variable θ in the first expression is c , Take them as relative position control quantity and relative speed control quantity respectively, K J and θ D is an empirical value, and the calculated position control value in the direction of the axis is substituted into the first phase plane to observe the area in which it falls. When it falls into area 1 of the first phase plane, the orbit control thrusters in the positive direction of the axis are turned on; when it falls into area 2 of the first phase plane, the orbit control thrusters in the negative direction of the axis are turned on; when it falls into area 3 of the first phase plane, both the orbit control thrusters in the positive and negative directions of the axis are turned off;

[0047] In the x-axis direction of the orbit control thruster, based on the second phase plane, the following operations are performed:

[0048] The position control amount in the direction of the axis is set as the horizontal coordinate, and the speed control amount in the direction of the axis is set as the horizontal coordinate. The phase plane variable θ in the first expression is c , Take them as relative position control quantity and relative speed control quantity respectively, K J and θ D The position control value in the direction of the axis obtained by calculation is substituted into the second phase plane to observe the area in which it falls. When it falls into area 1 of the second phase plane, both the positive and negative direction orbit control thrusters of the axis are shut down. When it falls into area 2 of the second phase plane, the negative direction orbit control thrusters of the axis are turned on.

[0049] In a second aspect, an embodiment of the present invention further provides a fixed-point tracking and aiming control device for a high-area-to-mass ratio space target, for implementing any of the above methods, the device comprising:

[0050] The first unit is configured to obtain a relative state of a space target in a satellite orbital system; wherein the relative state includes a relative position and relative velocity of the space target relative to the satellite, wherein the satellite orbital system includes X, Y, and Z axes, wherein the +Z axis points toward the center of the Earth, the +X axis is located in the orbital plane and points in the direction of flight, and the +Y axis is determined by the right-hand rule;

[0051] The second unit is configured to calculate a satellite attitude control variable based on the relative position and the current attitude of the satellite; wherein the satellite attitude control variable includes a satellite attitude angle control variable and a satellite attitude angular velocity control variable;

[0052] A third unit is configured to calculate a relative orbit control amount of the satellite based on the relative state of the space target and the satellite fixed point maintenance relative position; wherein the satellite orbit control amount includes a position control amount and a speed control amount of the satellite relative orbit;

[0053] A fourth unit is configured to determine the on / off status of the attitude control and orbit control thrusters using a phase plane algorithm according to the satellite attitude control variable and the relative orbit control variable;

[0054] The fifth unit is configured to continuously determine the current status of the attitude control and orbit control thrusters to enable fixed-point tracking and aiming control of the space target. In a third aspect, an embodiment of the present invention further provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method described in any embodiment of this specification.

[0055] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, enables the computer to execute the method described in any embodiment of this specification.

[0056] Compared with the prior art, the present invention has at least the following beneficial effects:

[0057] 1) Decomposing the fixed-point tracking and aiming control into attitude control for pointing to the target and relative orbit control for maintaining the fixed point, which are respectively completed by attitude control thrusters and orbit control thrusters to achieve decoupled control;

[0058] 2) The phase plane algorithm is used to directly determine the on / off status of the attitude and orbit control thrusters, resulting in a simple and effective control strategy;

[0059] 3) A unilateral limit cycle control strategy is used in the x-axis direction of the orbital system to offset the drift of the relative phase through relative velocity overshoot, effectively reducing the control frequency and saving fuel. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0061] Figure 1 This is a flow chart of a method for controlling fixed-point tracking of a space target with a high area-to-mass ratio provided by one embodiment of the present invention;

[0062] Figure 2 is the first phase plane control switching curve;

[0063] Figure 3 is the second phase plane control switching curve;

[0064] Figure 4 is the relative position control result;

[0065] Figure 5 It is the result of target pointing attitude control;

[0066] Figure 6This is a hardware architecture diagram of an electronic device provided by one embodiment of the present invention;

[0067] Figure 7 This is a structural diagram of a fixed-point tracking and aiming control device for a high-area-to-mass ratio space target provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0069] The specific implementation of the above concept is described below.

[0070] Please refer to Figure 1 The embodiment of the present invention provides a method for tracking and controlling a high-area-to-quality ratio space target, which is characterized by comprising:

[0071] Obtain the relative state of the space target in the satellite orbit system; the relative state includes the relative position and relative velocity of the space target to the satellite. The satellite orbit system includes X, Y, and Z axes, with the +Z axis pointing toward the center of the Earth, the +X axis located in the orbital plane and pointing in the direction of flight, and the +Y axis determined by the right-hand rule.

[0072] Calculating the satellite attitude control variable according to the relative position and the current attitude of the satellite; wherein the satellite attitude control variable includes the satellite attitude angle control variable and the satellite attitude angular velocity control variable;

[0073] Calculate the satellite's relative orbit control quantity based on the relative state of the space target and the satellite's fixed point relative position; wherein the satellite's orbit control quantity includes the satellite's relative orbit position control quantity and speed control quantity;

[0074] According to the satellite attitude control quantity and relative orbit control quantity, the phase plane algorithm is used to determine the on / off status of the attitude control and orbit control thrusters;

[0075] Constantly determine the current state of attitude control and orbit control thrusters to perform point tracking and aiming control of space targets.

[0076] In this embodiment, the relative state of a space target can be measured using onboard relative sensors. After calculating the satellite's attitude control and relative orbit control values, data for each axis along the attitude and orbit control axes are extracted. This data is projected into the phase plane, and the thruster opening and closing of that axis is determined based on the data's landing point within the phase plane. The current data, namely, the satellite's attitude control and relative orbit control values ​​for each attitude and orbit control axis, are continuously calculated. The thruster opening and closing are then continuously determined based on this data, ultimately achieving fixed-point tracking.

[0077] In some embodiments of the present invention, calculating the satellite attitude control amount based on the relative position and the current attitude of the satellite includes:

[0078] Determine the relative position of the space target in the satellite system based on the relative position and the attitude rotation matrix of the satellite system relative to the satellite orbit system;

[0079] Calculate the target attitude quaternion in the satellite system based on the converted relative position, the direction of the satellite target pointing axis and the attitude quaternion of the satellite system relative to the satellite orbit system;

[0080] Calculate the satellite attitude angle control value based on the converted relative position and the direction of the satellite target pointing axis;

[0081] The satellite attitude angular velocity control quantity is calculated based on the actual satellite angular velocity, the target attitude quaternion and the attitude quaternion motion equation function.

[0082] In some embodiments of the present invention, the conversion relative position is calculated using the following formula:

[0083] Rpos_btemp=C BO *Rpos_o;

[0084] Rpos_b=Rpos_btemp / |Rpos_btemp|;

[0085] Among them, Rpos_o is the relative position, C BO is the attitude rotation matrix of the satellite orbit system, and Rpos_b is the conversion relative position.

[0086] In some embodiments of the present invention, the target posture quaternion is calculated using the following formula:

[0087] alpha_tp=acos(dot(PointAxis_b,Rpos_b));

[0088] e_tp=Rpos_b×PointAxis_b;

[0089] q TB=[-e_tp'*sin(0.5*alpha_tp),cos(0.5*alpha_tp)];

[0090]

[0091] Among them, PointAxis_b is the direction of the satellite target pointing axis, q BO is the attitude quaternion of the satellite system relative to the satellite orbit system, q TO is the target posture quaternion, dot(·,·) represents vector dot product, × represents vector cross product, Represents quaternion multiplication.

[0092] In some embodiments of the present invention, the satellite attitude angle control value is calculated using the following formula:

[0093] attc = alpha_tp * e_tp;

[0094] Among them, attc is the satellite attitude angle control value;

[0095] The satellite attitude angular velocity control value is calculated by the following formula:

[0096]

[0097] dattc=ω BO -ω TO ;

[0098] Among them, dattc is the satellite attitude angular velocity control value, ω TO is the satellite target attitude angular velocity, ω BO is the actual attitude angular velocity of the satellite, Eq is the attitude quaternion motion equation function, and Δt is the satellite control period.

[0099] In this embodiment, ω can be determined based on a4. TO Is it a negative number? When a4 is less than 0, ω TO =-ω TO .

[0100] In this embodiment, a4=q′ TO (1) q TO (1)+q′ TO (2) q TO (2)+q′ TO (3) q TO (3)+q′ TO (4) q TO (4).

[0101] In this embodiment, the posture quaternion motion equation function is

[0102] In some embodiments of the present invention, the position control amount of the satellite relative to the orbit is calculated using the following formula:

[0103] RelPosc=Rpos_o-RelPosT;

[0104] Among them, RelPosT is the relative position of the satellite, Rvel_o is the relative speed of the space target, and RelPosc is the position control value;

[0105] The speed control amount of the satellite relative to the orbit is calculated by the following formula:

[0106] RelVelc=Rvel_o

[0107] Among them, RelVelc is the speed control variable.

[0108] In some embodiments of the present invention, a phase plane algorithm is used to determine the on / off status of attitude control and orbit control thrusters, including:

[0109] Establish the first phase plane including the horizontal axis and the vertical axis. The first phase plane is obtained by the first expression The first symmetry formula about the origin divides the coordinate system into three regions: the region where both the horizontal and vertical axes are positive is the first phase plane region 1, the region where both the horizontal and vertical axes are negative is the first phase plane region 2, and the remaining region is the first phase plane region 3;

[0110] Establish a second phase plane including the horizontal axis and the vertical axis, and the second phase plane is obtained by the first expression And the second expression The formed broken line divides the coordinate system into two areas. The right side of the horizontal axis of the second phase plane is the positive direction, the upper side of the vertical axis of the second phase plane is the positive direction, the part located above the second expression and to the right of the first expression is the second phase plane area 1, and the part located to the left of the first expression and below the second expression is the second phase plane area 2;

[0111] For each axis of the three-axis attitude control thruster, based on the first phase plane, the following operations are performed:

[0112] The attitude angle control amount in the direction of the axis is set as the horizontal coordinate, and the attitude angular velocity control amount in the direction of the axis is set as the vertical coordinate. The phase plane variable θ in the first expression is c , are respectively taken as attitude angular velocity and attitude angular velocity control quantity, K J and θ Dis an empirical value. The calculated satellite target attitude angular velocity and satellite attitude angular velocity control amount in the direction of the axis are substituted into the first phase plane and the area in which they fall is observed. When they fall into area 1 of the first phase plane, the attitude control thrusters in the negative direction of the axis are turned on; when they fall into area 2 of the first phase plane, the attitude control thrusters in the positive direction of the axis are turned on; when they fall into area 3 of the first phase plane, both the attitude control thrusters in the positive and negative directions of the axis are turned off.

[0113] The Y-axis and Z-axis directions of the orbital control thruster, based on the first phase plane, are both executed:

[0114] The position control amount in the direction of the axis is set as the horizontal coordinate, the speed control amount in the direction of the axis is set as the horizontal coordinate, and the phase plane variable θ in the first expression is c , Take them as relative position control quantity and relative speed control quantity respectively, K J and θ D The calculated position control value of the axis is substituted into the first phase plane to observe the area it falls into. When it falls into area 1 of the first phase plane, the orbit control thruster of the axis in the positive direction is turned on; when it falls into area 2 of the first phase plane, the orbit control thruster of the axis in the negative direction is turned on; when it falls into area 3 of the first phase plane, both the orbit control thrusters in the positive and negative directions of the axis are turned off.

[0115] In the x-axis direction of the orbital control thruster, based on the second phase plane, the following operations are performed:

[0116] The position control amount in the direction of the axis is set as the horizontal coordinate, the speed control amount in the direction of the axis is set as the horizontal coordinate, and the phase plane variable θ in the first expression is c , Take them as relative position control quantity and relative speed control quantity respectively, K J and θ D It is an empirical value. The calculated position control value in the direction of the axis is substituted into the second phase plane to observe the area it falls into. When it falls into area 1 of the second phase plane, the orbit control thrusters in the positive and negative directions of the axis are both turned off. When it falls into area 2 of the second phase plane, the orbit control thrusters in the negative direction of the axis are turned on. Specific embodiments

[0118] The present invention is described in detail below with reference to specific examples.

[0119] The working conditions are as follows:

[0120] High surface-to-mass ratio space target (target) resistance area 3m 2 , mass 6kg; tracking satellite drag area 1m 2 , mass 200kg, the initial orbital data of the two are:

[0121] Instantaneous root number a(km) e i(degree) Ω(degrees) ω (degrees) M (degrees) Target 6721 0.00124 53 115.068 0 145.1035 Tracking satellite 6721 0.00124 53 115.068 0 145.095

[0122] The tracking satellite's target pointing axis PointAxis_b = [1,0,0]', and the target relative position is RelPosT = [1000,0,0]m. The measurement error and delay of the relative sensor are not considered.

[0123] Follow the steps below to complete the satellite tracking and aiming at the target:

[0124] (1) According to the measurement of the onboard relative sensor, the relative state of the target in the satellite orbit system is obtained, the relative position Rpos_o = [996.066, -0.000232, -0.632]'m, and the relative velocity Rvel_o = [-0.000861, -0.000918, 0.00116]'m / s.

[0125] (2) Based on the relative position and the current attitude of the satellite, the target attitude of the satellite's target pointing axis and the satellite attitude control amount are calculated.

[0126] Assume that the current satellite attitude rotation matrix C relative to the orbital coordinate system is BO , attitude quaternion q BO , attitude angular velocity ω BO They are

[0127] q BO =[0 0 0 1],ω BO =[0 0 0].

[0128] The relative position of the target in the satellite system Rpos_btemp=C BO *Rpos_o=[996.066,-0.000232,-0.632]'m, calculate the target attitude quaternion qTO by the following formula: Rpos_b=Rpos_btemp / |Rpos_btemp|=[0.999999799,-2.33e-7,-6.345e-4]';

[0129] alpha_tp=acos(dot(PointAxis_b,Rpos_b))=0.0006345';

[0130] e_tp=Rpos_b×PointAxis_b=[0,-0.0006345,2.329e-7];

[0131] qTB=[-e_tp'*sin(0.5*alpha_tp),cos(0.5*alpha_tp)]=[0,2.013e-7,-7.389e-11, 0.999999949676843];

[0133]

[0134] This is the first calculation, and the satellite target attitude angular velocity ω is set TO =[0,0,0], then the target attitude of the satellite target pointing axis and the satellite attitude control amount are calculated as follows:

[0135] attc=alpha_tp*e_tp=[0,-4.0258e-07,1.478e-10];

[0136] dattc=ω BO -ω TO =[0,0,0].

[0137] (3) Calculate the satellite relative orbit control quantity based on the relative state of the space target in the satellite orbit system and the relative position maintained by the satellite.

[0138] RelPosc=Rpos_o-RelPosT=[-3.934,-0.000232,-0.632]'m

[0139] RelVelc=Rvel_o=[-0.000861,-0.000918,0.00116]'m / s

[0140] (4) Based on the satellite attitude control quantity and relative orbit control quantity, the phase plane algorithm is used to determine the on / off status of the attitude and orbit control thrusters.

[0141] The three-axis attitude control adopts the first phase plane control switch curve, the phase plane variable θ c , The angle control value and angular velocity control value are taken as respectively (units are degrees and degrees / s respectively), and the expression of the AB segment switch curve is taken as The current three-axis attitude control values ​​are all in range ③, so the attitude control thrusters are all shut down.

[0142] The relative track control in the y and z axis directions adopts the first phase plane control switch curve, and the phase plane variable θ c , They are taken as relative position control quantity and relative speed control quantity (units are m and m / s respectively), and the expression of AB segment switch curve is taken as Currently, the relative orbit control quantities in the y and z directions are both in interval ③, so the orbit control thrusters in the y and z directions are both turned off.

[0143] The relative track control in the x-axis direction adopts the second phase plane control switch curve, and the phase plane variable θ c , They are taken as relative position control quantity and relative speed control quantity (units are m and m / s respectively), and the AC section switch curve expression is taken as The expression of the CD segment switching curve is taken as The current x-direction relative orbit control quantity is in interval ①, so all x-direction orbit control thrusters are shut down.

[0144] (5) Repeat steps (1) to (4) to calculate the attitude and orbit control variables based on the relative measurements, and determine the switches of the corresponding thrusters based on the phase plane partitions. Figure 4 is the control result of relative position, Figure 5 is the attitude control result.

[0145] like Figure 6 、 Figure 7 As shown, the embodiment of the present invention provides a fixed-point tracking and aiming control device for a space target with a high surface-to-mass ratio. The device embodiment can be implemented by software, hardware, or a combination of software and hardware. From the hardware level, Figure 6 As shown in the figure, a hardware architecture diagram of an electronic device where a fixed-point tracking and aiming control device for a high area-to-mass ratio space target provided by an embodiment of the present invention is located, except Figure 6 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 7 As shown, as a logical device, the CPU of the electronic device in which it is located reads the corresponding computer program in the non-volatile memory into the internal memory and runs it. This embodiment provides a fixed-point tracking and aiming control device for a high-surface-to-mass ratio space target, including:

[0146] The first unit is configured to obtain a relative state of a space target in a satellite orbital system; wherein the relative state includes a relative position and relative velocity of the space target relative to the satellite, wherein the satellite orbital system includes X, Y, and Z axes, wherein the +Z axis points toward the center of the Earth, the +X axis is located in the orbital plane and points in the direction of flight, and the +Y axis is determined by the right-hand rule;

[0147] The second unit is configured to calculate a satellite attitude control variable based on the relative position and the current attitude of the satellite; wherein the satellite attitude control variable includes a satellite attitude angle control variable and a satellite attitude angular velocity control variable;

[0148] A third unit is configured to calculate a relative orbit control amount of the satellite based on the relative state of the space target and the satellite fixed point maintenance relative position; wherein the satellite orbit control amount includes a position control amount and a speed control amount of the satellite relative orbit;

[0149] A fourth unit is configured to determine the on / off status of the attitude control and orbit control thrusters using a phase plane algorithm according to the satellite attitude control variable and the relative orbit control variable;

[0150] The fifth unit is used to continuously determine the current state of the attitude control and orbit control thrusters to perform fixed-point tracking and aiming control of the space target.

[0151] It should be understood that the structure illustrated in the embodiments of the present invention does not constitute a specific limitation on a fixed-point tracking and aiming control device for a high-area-to-mass ratio space target. In other embodiments of the present invention, a fixed-point tracking and aiming control device for a high-area-to-mass ratio space target may include more or fewer components than illustrated, or may combine or separate certain components, or employ a different component arrangement. The illustrated components may be implemented in hardware, software, or a combination of both.

[0152] The information interaction, execution process, etc. between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For specific contents, please refer to the description in the embodiment of the method of the present invention and will not be repeated here.

[0153] An embodiment of the present invention further provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a method for controlling fixed-point tracking of a high-area-to-quality ratio space target according to any embodiment of the present invention is implemented.

[0154] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the processor executes a method for controlling fixed-point tracking of a high-area-to-quality ratio space target according to any embodiment of the present invention.

[0155] Specifically, a system or device equipped with a storage medium can be provided, on which software program codes that implement the functions of any of the above-mentioned embodiments are stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program codes stored in the storage medium.

[0156] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute part of the present invention.

[0157] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code can be downloaded from a server computer via a communication network.

[0158] In addition, it should be clear that the functions of any of the above embodiments can be achieved not only by executing the program code read by the computer, but also by enabling the operating system operating on the computer to complete part or all of the actual operations based on the instructions of the program code.

[0159] In addition, it can be understood that the program code read from the storage medium is written into a memory provided in an expansion board inserted into the computer or into a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above embodiments.

[0160] It should be noted that, in this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical factors in the process, method, article or device comprising the elements.

[0161] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk, etc. Various media that can store program codes.

[0162] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for tracking and controlling a high-area-to-mass ratio space target, characterized in that: include: Obtaining the relative state of the space target in the satellite orbit system; wherein the relative state includes the relative position and relative velocity of the space target with respect to the satellite, the satellite orbit system includes X, Y, and Z axes, the +Z axis points toward the center of the Earth, the +X axis is located in the orbital plane and points in the direction of flight, and the +Y axis is determined by the right-hand rule; Calculating a satellite attitude control variable based on the relative position and the current attitude of the satellite; wherein the satellite attitude control variable includes a satellite attitude angle control variable and a satellite attitude angular velocity control variable; Calculating a relative orbit control amount of the satellite based on the relative state of the space target and the satellite fixed-point maintaining relative position; wherein the relative orbit control amount of the satellite includes a position control amount and a speed control amount of the satellite relative orbit; Determining the on / off status of the attitude control and orbit control thrusters using a phase plane algorithm based on the satellite attitude control variable and the relative orbit control variable; Continuously determine the current state of attitude control and orbit control thrusters to perform fixed-point tracking and aiming control of the space target; Calculating the satellite attitude control amount according to the relative position and the current attitude of the satellite includes: Determining a converted relative position of the space target in the satellite local system according to the relative position and an attitude rotation matrix of the satellite local system relative to the satellite orbital system; Calculating the target attitude quaternion in the satellite local system according to the converted relative position, the direction of the satellite target pointing axis, and the attitude quaternion of the satellite local system relative to the satellite orbit system; Calculating the satellite attitude angle control amount according to the converted relative position and the direction of the satellite target pointing axis; The satellite attitude angular velocity control amount is calculated according to the actual angular velocity of the satellite, the target attitude quaternion and the attitude quaternion motion equation function.

2. The fixed-point tracking and aiming control method according to claim 1, characterized in that: The conversion relative position is calculated by the following formula: Rpos_btemp=C BO *Rpos_o; Rpos_b=Rpos_btemp / |Rpos_btemp|; Wherein, Rpos_o is the relative position, C BO is the attitude rotation matrix of the satellite orbit system, and Rpos_b is the converted relative position.

3. The fixed-point tracking and aiming control method according to claim 2, characterized in that: The target attitude quaternion is calculated by the following formula: alpha_tp=acos(dot(PointAxis_b,Rpos_b)); e_tp=Rpos_b×PointAxis_b; q TB =[-e_tp'*sin(0.5*alpha_tp),cos(0.5*alpha_tp)]; Among them, PointAxis_b is the direction of the satellite target pointing axis, q BO is the attitude quaternion of the satellite system relative to the satellite orbit system, q TO is the target posture quaternion, dot(·,·) represents vector dot product, × represents vector cross product, Represents quaternion multiplication.

4. The fixed-point tracking and aiming control method according to claim 3, characterized in that: The satellite attitude angle control value is calculated by the following formula: attc = alpha_tp * e_tp; Wherein, attc is the satellite attitude angle control value; The satellite attitude angular velocity control value is calculated by the following formula: dattc=ω BO -oh TO ; Wherein, dattc is the satellite attitude angular velocity control value, ω TO is the satellite target attitude angular velocity, ω BO is the actual attitude angular velocity of the satellite, Eq is the attitude quaternion motion equation function, and Δt is the satellite control period.

5. The fixed-point tracking and aiming control method according to claim 1, characterized in that: The position control amount of the satellite relative orbit is calculated by the following formula: RelPosc=Rpos_o-RelPosT; Wherein, RelPosT is the relative position maintained by the satellite, Rvel_o is the relative speed of the space target, and RelPosc is the position control value; The speed control amount of the satellite relative orbit is calculated by the following formula: RelVelc=Rvel_o Wherein, RelVelc is the speed control variable.

6. The fixed-point tracking and aiming control method according to claim 1, characterized in that: The method of using a phase plane algorithm to determine the on / off status of the attitude control and orbit control thrusters includes: A first phase plane including a horizontal axis and a vertical axis is established, wherein the first phase plane is defined by a first expression The first symmetry formula about the origin divides the coordinate system into three regions: the region where both the horizontal and vertical axes are positive is the first phase plane region 1, the region where both the horizontal and vertical axes are negative is the first phase plane region 2, and the remaining region is the first phase plane region 3; A second phase plane including a horizontal axis and a vertical axis is established, and the second phase plane is defined by the first expression And the second expression The formed broken line divides the coordinate system into two areas, the right side of the horizontal axis of the second phase plane is the positive direction, the upper side of the vertical axis of the second phase plane is the positive direction, the part located above the second expression and to the right of the first expression is the second phase plane area 1, and the part located to the left of the first expression and below the second expression is the second phase plane area 2; For each axis of the three-axis attitude control thruster, based on the first phase plane, the following operations are performed: The attitude angle control amount in the direction of the axis is set as the horizontal coordinate, and the attitude angular velocity control amount in the direction of the axis is set as the vertical coordinate. The phase plane variable θ in the first expression is c , are respectively taken as attitude angular velocity and attitude angular velocity control quantity, K J and θ D is an empirical value, the calculated satellite target attitude angular velocity and the satellite attitude angular velocity control amount in the direction of the axis are substituted into the first phase plane, and the area in which they fall is observed. When they fall into area 1 of the first phase plane, the attitude control thrusters in the negative direction of the axis are turned on; when they fall into area 2 of the first phase plane, the attitude control thrusters in the positive direction of the axis are turned on; when they fall into area 3 of the first phase plane, both the attitude control thrusters in the positive and negative directions of the axis are turned off; In the Y-axis and Z-axis directions of the orbital control thruster, based on the first phase plane, the following operations are performed: The position control amount in the direction of the axis is set as the horizontal coordinate, and the speed control amount in the direction of the axis is set as the horizontal coordinate. The phase plane variable θ in the first expression is c , Take them as relative position control quantity and relative speed control quantity respectively, K J and θ D is an empirical value, and the calculated position control value in the direction of the axis is substituted into the first phase plane to observe the area in which it falls. When it falls into area 1 of the first phase plane, the orbit control thrusters in the positive direction of the axis are turned on; when it falls into area 2 of the first phase plane, the orbit control thrusters in the negative direction of the axis are turned on; when it falls into area 3 of the first phase plane, both the orbit control thrusters in the positive and negative directions of the axis are turned off; In the x-axis direction of the orbit control thruster, based on the second phase plane, the following operations are performed: The position control amount in the direction of the axis is set as the horizontal coordinate, and the speed control amount in the direction of the axis is set as the horizontal coordinate. The phase plane variable θ in the first expression is c , Take them as relative position control quantity and relative speed control quantity respectively, K J and θ D The position control value in the direction of the axis obtained by calculation is substituted into the second phase plane to observe the area in which it falls. When it falls into area 1 of the second phase plane, both the positive and negative direction orbit control thrusters of the axis are shut down. When it falls into area 2 of the second phase plane, the negative direction orbit control thrusters of the axis are turned on.

7. A fixed-point tracking and aiming control device for a high-area-to-mass ratio space target, characterized in that: For implementing the method according to any one of claims 1 to 6, the apparatus comprises: The first unit is configured to obtain a relative state of a space target in a satellite orbital system; wherein the relative state includes a relative position and relative velocity of the space target relative to the satellite, wherein the satellite orbital system includes X, Y, and Z axes, wherein the +Z axis points toward the center of the Earth, the +X axis is located in the orbital plane and points in the direction of flight, and the +Y axis is determined by the right-hand rule; The second unit is configured to calculate a satellite attitude control variable based on the relative position and the current attitude of the satellite; wherein the satellite attitude control variable includes a satellite attitude angle control variable and a satellite attitude angular velocity control variable; A third unit is configured to calculate a relative orbit control amount of the satellite based on the relative state of the space target and the satellite fixed point maintenance relative position; wherein the satellite orbit control amount includes a position control amount and a speed control amount of the satellite relative orbit; A fourth unit is configured to determine the on / off status of the attitude control and orbit control thrusters using a phase plane algorithm according to the satellite attitude control variable and the relative orbit control variable; The fifth unit is used to continuously determine the current state of the attitude control and orbit control thrusters to perform fixed-point tracking and aiming control of the space target.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method according to any one of claims 1 to 6.

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