Earth-moon space target tracking attitude guiding method, electronic device and storage medium

Abstract

The application provides a lunar space target tracking attitude guiding method, an electronic device and a storage medium. The method comprises the following steps: in response to the singularity point identified by the current star, sequentially switching the current attitude Euler angle rotation sequence used for describing the attitude of the current star; taking the unit vector of the current star pointing to the lunar space target in the inertial system as a target vector, and according to the load pointing constraint axis, obtaining a target rotation angle by using the current attitude Euler angle rotation sequence; according to the current attitude Euler angle rotation sequence, constructing a guiding target inertial system attitude matrix corresponding to the target rotation angle; according to the guiding target inertial system attitude matrix and the transfer matrix from the inertial system to the current system, calculating the transition attitude and the guiding angular velocity of the current star relative to the lunar space target in the target reference system; and controlling the current star to adjust the attitude according to the transition attitude and the guiding angular velocity, so that the current star continuously tracks the target. Based on the above method, the tracking can be continuous during large-angle attitude maneuvering, and the pointing requirement of the satellite to the load in any axial direction can be adapted.

Description

Technical Field

[0001] This application mainly relates to the field of satellite control technology, and in particular to a method for tracking attitude guidance of a lunar target, an electronic device, and a storage medium. Background Technology

[0002] For satellites tracking targets in the Earth-Moon space, the target orientation guidance law based on Euler angles can meet their attitude control requirements. However, the attitude changes a lot during the satellite's operation in orbit, and the target attitude has singular positions, which leads to attitude control failure. Moreover, it is only applicable to the single axis pointing guidance requirement and cannot be adapted to the tracking requirements of other axial loads at the same time. Summary of the Invention

[0003] The purpose of this application is to overcome the problem that current control algorithms are prone to failure at singular positions and cannot adapt to other axial load tracking requirements.

[0004] In a first aspect, this application provides an attitude guidance method for tracking a lunar target, comprising: in response to the local satellite identifying a singularity, sequentially switching the current attitude Euler angle transposition used to describe the attitude of the local satellite; taking the unit vector of the local satellite pointing to the lunar target in the inertial frame as the target vector, and obtaining the target rotation angle using the current attitude Euler angle transposition according to the load pointing to the constraint axis, wherein the target rotation angle includes the target vector in the X-axis of the inertial frame. i OZ i The angle between the projection of the plane and the target vector, wherein the target vector is located in the X plane. i OZ i The projection of the plane and the X-axis of the inertial frame i The angle between the axes, and the target vector in the X i OZ i The projection of the plane and the Z-axis of the inertial frame i The angle between axes; based on the Euler angle transformation of the current attitude, construct the attitude matrix of the guiding target inertial frame corresponding to the target rotation angle; based on the attitude matrix of the guiding target inertial frame and the transfer matrix from the inertial frame to the home frame, calculate the transition attitude and guiding angular velocity of the home satellite relative to the Earth-Moon space target in the target reference frame; and control the home satellite to adjust its attitude according to the transition attitude and the guiding angular velocity so that the home satellite continuously tracks the Earth-Moon space target.

[0005] In some embodiments, the sequential switching of the attitude Euler angle transposition used to describe the local star's attitude includes: when abs(sqrt(x) is satisfied... 2 +y 2When )) > 1, the Euler angle transposition of the current attitude is switched from 3-1-2 to 2-1-3; when abs(y) > 1, the Euler angle transposition of the current attitude is switched from 2-1-3 to 3-1-2; where x and y are the components of the target vector in the x and y directions, respectively, sqart() is the square root function, and abs() is the absolute value function.

[0006] In some embodiments, where the load pointing constraint axis is the Z-axis, obtaining the target rotation angle based on the load pointing constraint axis using the current attitude Euler angle rotation sequence includes: If the current attitude Euler angle rotation order is 2-1-3, the target rotation angle is obtained using the following formula:

[0007] If the current attitude Euler angle transformation sequence is 3-1-2, the target rotation angle is obtained using the following formula:

[0008] in, For the target vector in The angle between the projection of the plane and the target vector. For the target vector in Projection of a plane and The angle between the axes, For the target vector in The projection of the plane and the X i The angle between the axes, , , These are the components of the target vector in the x, y, and z directions.

[0009] In some embodiments, constructing the target inertial frame attitude matrix corresponding to the target rotation angle based on the current attitude Euler angle transformation includes: If the current attitude Euler angle transformation is 2-1-3, the attitude matrix of the guided target inertial frame is obtained using the following formula:

[0010] If the current attitude Euler angle transformation is 3-1-2, the attitude matrix of the guided target inertial frame is obtained using the following formula:

[0011] in, Let be the attitude matrix of the inertial frame of the guided target.

[0012] In some embodiments, where the load pointing constraint axis is the X-axis, obtaining the target rotation angle based on the load pointing constraint axis using the current attitude Euler angle rotation sequence includes: If the current attitude Euler angle rotation order is 2-1-3, the target rotation angle is obtained using the following formula:

[0013] If the current attitude Euler angle transformation sequence is 3-1-2, the target rotation angle is obtained using the following formula:

[0014] in, For the target vector in The angle between the projection of the plane and the target vector. For the target vector in Projection of a plane and The angle between the axes, For the target vector in The projection of the plane and the X i The angle between the axes, , , These are the components of the target vector in the x, y, and z directions.

[0015] In some embodiments, constructing the target inertial frame attitude matrix corresponding to the target rotation angle based on the current attitude Euler angle transformation includes: If the current attitude Euler angle transformation is 2-1-3, the attitude matrix of the guided target inertial frame is obtained using the following formula:

[0016] If the current attitude Euler angle transformation is 3-1-2, the attitude matrix of the guided target inertial frame is obtained using the following formula:

[0017] in, Let be the attitude matrix of the inertial frame of the guided target.

[0018] In some embodiments, the transition attitude of the local satellite relative to the Earth-Moon space target is calculated using the following formula:

[0019] in, This refers to the transition posture. Let be the transfer matrix from the inertial frame to the home system, which is calculated from the inertial frame quaternions. Let be the attitude matrix of the inertial frame of the guided target.

[0020] In some embodiments, the guiding angular velocity of the local satellite relative to the Earth-Moon space target is calculated using the following formula:

[0021] in, hour, , hour, , The guiding angular velocity, This refers to the transition posture. To control the cycle, For Euler rotation angle, Euler axis, For the target vector in The angle between the projection of the plane and the target vector; The Euler rotation angle and the Euler axis are calculated using the following formulas:

[0022] in, , , This is the transpose of the target inertial frame attitude matrix at the time corresponding to the current time in the previous cycle. Let be the attitude matrix of the inertial frame of the guided target at the current moment. t For the current moment, t -1 represents the time in the previous cycle corresponding to the current time. for t -1 hour arrives t The transition matrix at time step, The angular velocity from the inertial frame to the system itself. R 11 , R 12 , R 13 , R 21 , R 22 , R 23 , R 31 , R 32 , R 33 For the t -1 hour arrives t The nine components of the transition matrix at time step.

[0023] In a second aspect, an electronic device is provided. The electronic device includes: one or more processors; and one or more memories coupled to the one or more processors and storing instructions thereon. When the instructions are executed individually or jointly by the one or more processors, the electronic device performs the aforementioned attitude guidance method for tracking a lunar target.

[0024] In a third aspect, a non-transitory computer-readable storage medium is provided that stores machine-executable instructions. When executed by one or more processors of a machine, the machine-executable instructions cause the machine to perform any of the methods described above.

[0025] Compared with the prior art, this application has the following advantages: This application provides a method, electronic device, and storage medium for attitude guidance in tracking lunisolar targets. By establishing an attitude determination mechanism based on a reference frame of a specific space target, the method guides the satellite's attitude to smoothly transition to the target's reference frame. Furthermore, it identifies and utilizes a sequence switching mechanism to handle Euler angle singularities during guidance, ensuring continuous tracking during large-angle attitude maneuvers and enabling rapid convergence to the target, thus avoiding attitude control failure. This method is adaptable to the pointing requirements of satellites with arbitrary axial loads. The entire guidance process is computationally simple and efficient, meeting the requirements of real-time onboard processing and suitable for rapid acquisition and stable tracking of lunisolar targets by orbiting satellites.

[0026] It should be understood that the summary section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0027] The accompanying drawings are included to provide a further understanding of this application; they are incorporated into and constitute a part of this application. The drawings illustrate embodiments of this application and, together with this specification, serve to explain the principles of this application. In the drawings: Figure 1 A flowchart of an attitude guidance method for tracking a lunar target in Earth-Moon space, provided in this application, is shown. Figure 2 A logical schematic diagram of constructing the attitude matrix of the inertial frame of the guided target is shown; Figure 3a , Figure 3b , Figure 3c A schematic diagram illustrating the verification results of a numerical simulation provided in this application is shown. Figure 4 A schematic diagram of an electronic device provided in this application is shown. Detailed Implementation

[0028] The principles of this disclosure will now be described with reference to some embodiments. It should be understood that these embodiments are described for illustrative purposes only and to assist those skilled in the art in understanding and implementing this disclosure, and do not impose any limitation on the scope of this disclosure. The disclosure described herein may be implemented in ways other than those described below.

[0029] In the following description and claims, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0030] References to "an embodiment," "embodiment," "exemplary embodiment," etc., in this disclosure indicate that the described embodiments may include specific features, structures, or characteristics, but not every embodiment needs to include specific features, structures, or characteristics. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an exemplary embodiment, whether explicitly described or not, those skilled in the art will recognize that such a feature, structure, or characteristic affects its connection to other embodiments.

[0031] It should be understood that while the terms “first” and “second”, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the scope of the exemplary embodiments, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element. The term “and / or” as used herein includes any and all combinations of one or more of the listed terms.

[0032] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments. The singular forms “a,” “an,” and “the” used herein also include the plural forms unless the context clearly indicates otherwise. The terms “a group of elements” or “a collection of elements” as used herein are intended to include one or more elements. It should also be understood that the terms “comprising,” “including,” “having,” “possessing,” “including,” and / or “comprising,” when used herein, specify the presence of the stated features, elements, and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0033] Figure 1 A flowchart of an attitude guidance method for tracking a lunar target in Earth-Moon space, as provided in this application, is shown. As can be seen from the figure, it includes the following steps: S101, in response to the identification of singularities by the local star, sequentially switches the attitude Euler angle transposition used to describe the attitude of the local star.

[0034] In the specific embodiments of this application, the satellite attitude is described using Euler angles, with the numbers 1, 2, and 3 representing the x-axis, y-axis, and z-axis of the local satellite system, respectively. The term "local satellite" refers to the satellite used to perform... Figure 1 The flowchart shown illustrates a satellite. For example, it could be a DRO orbit satellite or a low Earth orbit satellite.

[0035] In some embodiments, step S101, sequentially switching the attitude Euler angle transposition used to describe the local satellite's attitude, includes: When abs(sqrt(x) is satisfied 2 +y 2 When )) > 1, switch the current attitude Euler angle transposition from 3-1-2 to 2-1-3.

[0036] When abs(y) > 1, the Euler angle transposition of the current attitude is switched from 2-1-3 to 3-1-2.

[0037] Where x and y are the components of the target vector in the x and y directions, respectively, sqart() is the square root function, and abs() is the absolute value function.

[0038] Specifically, assuming the current pose Euler angle transformation is 3-1-2, then when abs(sqrt(x) is satisfied... 2 +y 2 When abs(y) > 1, the local star will experience an attitude rotation singularity. To avoid this singularity, the current attitude Euler angle transposition is switched from 3-1-2 to 2-1-3. Assuming the current attitude Euler angle transposition is 2-1-3, then when abs(y) > 1, the local star will experience an attitude rotation singularity. To avoid this singularity, the current attitude Euler angle transposition is switched from 3-1-2 to 2-1-3. It is worth noting that in practice, other methods can also be used to determine singularities, and there are no restrictions on this.

[0039] S102, take the unit vector of the local satellite pointing to the Earth-Moon space target in the inertial frame as the target vector, and obtain the target rotation angle by using the Euler angle sequence of the current attitude according to the load pointing to the constraint axis.

[0040] Let the unit vector pointing from the local star to the target in the inertial frame be... It can be calculated using the following formula: ,in, The position of the local star in the inertial frame. For the target trajectory.

[0041] The target rotation angle includes the target vector in the X-axis of the inertial frame. i OZ i The angle between the projection of the plane and the target vector, where the target vector is in the X-axis.i OZ i Projection of a plane and the X-axis of an inertial frame i The angle between the axes, and the target vector in the X-axis. i OZ i Projection of a plane and the Z-axis of an inertial frame i The angle between axes; based on the Euler angles of the current attitude, construct the attitude matrix of the guiding target inertial system corresponding to the target rotation angle.

[0042] Specifically, in practice, the load pointing constraint axis can be either the X-axis or the Z-axis of the local satellite. The following section will elaborate on these two types of load pointing constraint axes.

[0043] In some embodiments, for a load pointing towards the constraint axis being the Z-axis, step S102 involves obtaining the target rotation angle using the current attitude Euler angle rotation sequence based on the load pointing towards the constraint axis, including: If the current attitude Euler angle rotation order is 2-1-3, the target rotation angle can be obtained using the following formula (1): (1) If the current attitude Euler angle rotation order is 3-1-2, the target rotation angle can be obtained using the following formula (2): (2) in, For the target vector in The angle between the projection of the plane and the target vector. For the target vector in Projection of a plane and The angle between the axes, For the target vector in Projection of a plane and X i The angle between the axes, , , These are the components of the target vector in the x, y, and z directions.

[0044] Based on the above method, for a load pointing constraint axis of Z-axis, the local satellite uses Z-axis to track the target. In the current attitude Euler angle rotation mode of 2-1-3, the target rotation angle calculated based on formula (1) can be smoothly transitioned to the target reference frame after rotation. In the current attitude Euler angle rotation mode of 3-1-2, the target rotation angle calculated based on formula (2) can be smoothly transitioned to the target reference frame after rotation.

[0045] In some embodiments, for a load pointing towards the constraint axis as the X-axis, in step S102, the target rotation angle is obtained using the current attitude Euler angle rotation sequence based on the load pointing towards the constraint axis, including: If the current attitude Euler angle rotation order is 2-1-3, the target rotation angle can be obtained using the following formula (3): (3) If the current attitude Euler angle rotation order is 3-1-2, the target rotation angle is obtained by the following formula (4): (4) in, For the target vector in The angle between the projection of the plane and the target vector. For the target vector in Projection of a plane and The angle between the axes, For the target vector in Projection of a plane and X i The angle between the axes, , , These are the components of the target vector in the x, y, and z directions.

[0046] Based on the above method, for the load pointing constraint axis as the X-axis, the local satellite uses the X-axis to track the target. In the current attitude Euler angle rotation mode of 2-1-3, the target rotation angle calculated based on formula (1) can be smoothly transitioned to the target reference frame after rotation. In the current attitude Euler angle rotation mode of 3-1-2, the target rotation angle calculated based on formula (2) can be smoothly transitioned to the target reference frame after rotation.

[0047] S103, based on the current attitude Euler angles, construct the target inertial system attitude matrix corresponding to the target rotation angle.

[0048] Figure 2 A logical diagram illustrating the construction of the attitude matrix of the guiding target's inertial frame is shown. The following discussion will focus on the two types of loads pointing towards the constraint axes.

[0049] In some embodiments, for a load pointing to a constraint axis of the Z-axis, in step S103, the attitude matrix of the guiding target inertial system corresponding to the target rotation angle is constructed according to the current attitude Euler angle rotation order, including: If the current attitude Euler angles are converted to 2-1-3, the attitude matrix of the guided target inertial system can be obtained by the following formula (5): (5) If the current attitude Euler angles are converted to 3-1-2, the attitude matrix of the guided target inertial system can be obtained by the following formula (6): (6) in, The attitude matrix of the target inertial frame is used to guide the target.

[0050] Specifically, see Figure 2 For load pointing to constraint axis Z, if the current attitude Euler angle rotation sequence is 2-1-3, the satellite obtains the target rotation angle through formula (1) and constructs the corresponding guide target inertial system attitude matrix through formula (5). If the current attitude Euler angle rotation sequence is 3-1-2, the satellite obtains the target rotation angle through formula (2) and constructs the corresponding guide target inertial system attitude matrix through formula (6).

[0051] In some embodiments, for a load pointing to the constraint axis as the X-axis, in step S103, the attitude matrix of the guiding target inertial system corresponding to the target rotation angle is constructed according to the current attitude Euler angle rotation order, including: If the current attitude Euler angle transformation is 2-1-3, the attitude matrix of the guided target inertial frame can be obtained using the following formula: (7) If the current attitude Euler angle transformation is 3-1-2, the attitude matrix of the guided target inertial frame can be obtained using the following formula: (8) in, The attitude matrix of the target inertial frame is used to guide the target.

[0052] See also Figure 2 For load pointing to constraint axis X, if the current attitude Euler angle rotation sequence is 2-1-3, the satellite obtains the target rotation angle through formula (3) and constructs the corresponding guide target inertial system attitude matrix through formula (7). If the current attitude Euler angle rotation sequence is 3-1-2, the satellite obtains the target rotation angle through formula (4) and constructs the corresponding guide target inertial system attitude matrix through formula (8).

[0053] S104. Based on the attitude matrix of the target's inertial frame and the transfer matrix from the inertial frame to the local frame, calculate the transition attitude and guidance angular velocity of the local satellite relative to the Earth-Moon space target in the target reference frame.

[0054] From the quaternion Q of the inertial frame bi Calculate the transfer matrix from the inertial frame to the system. As shown in the following formula (9): (9) in, , , q1, q2, q3, and q4 are scalars in the quaternion [q1 q2q3 q4].

[0055] Let the attitude matrix of the inertial frame of the guided target be... According to the transition matrix and the attitude matrix of the inertial frame of the guided target The transition attitude of the local satellite relative to the Earth-Moon space target can be calculated, or it can be obtained by the following formula (10): (10) in, As a transitional posture, Let be the transfer matrix from the inertial frame to the home frame, which is calculated from the quaternions of the inertial frame. The attitude matrix of the target inertial frame is used to guide the target.

[0056] Furthermore, let the attitude matrix of the guided target's inertial frame at the current time t be... The transition matrix from the inertial frame to the target reference frame at the current time t, corresponding to the time t-1 in the previous cycle. The transition matrix from time t-1 to time t is calculated using the following formula (11). : (11) in, .

[0057] The Euler angle is calculated using the following formula (12). : (12) in, .

[0058] The Euler axis is calculated using the following formula (13). : (13) in, R 11 , R 12 , R 13 , R 21 , R 22 , R 23 , R 31 , R 32 , R 33 for t -1 hour arrives t Transition matrix at time step The nine components.

[0059] Finally, let the guiding angular velocity of this satellite relative to the Earth-Moon space target be... It can be calculated using the following formula (14): (11) in, hour, , hour, , The angular velocity of the inertial frame to the system itself.

[0060] S105 controls the satellite to adjust its attitude according to the transition attitude and guidance angular velocity, so that the satellite can continuously track targets in the Earth-Moon space.

[0061] At the start of attitude adjustment, the calculated transition attitude is used to describe the satellite's attitude relative to the target reference frame. The satellite's three-axis target attitude is set to 0, and the calculated guidance angular velocity is used to control the satellite's transition attitude and guide the guidance angular velocity to transition, so that the satellite can continuously track the Earth-Moon space target.

[0062] Based on the above approach, this application establishes a reference frame attitude determination mechanism based on a specific space target to guide the satellite's attitude smoothly to the target reference frame. Furthermore, it identifies and utilizes a sequence switching mechanism to handle Euler angle singularities during guidance, ensuring continuous tracking during large-angle attitude maneuvers and enabling rapid convergence to the target, thus avoiding attitude control failure. This method is adaptable to the pointing requirements of satellites with arbitrary axial loads. The entire guidance process is computationally simple and efficient, meeting the requirements for real-time onboard processing and is suitable for rapid acquisition and stable tracking of Earth-Moon space targets by DRO orbit satellites.

[0063] The following verification is performed using numerical simulation: Assuming the load pointing towards the constraint axis is the Z-axis, the DRP orbiting satellite enters a state to track a stellar target in the Earth-Moon space. The tracking process is as follows: Figure 3a , Figure 3b , Figure 3c As shown. Among them, Figure 3a The three curves a1, a2, and a3 in the figure, from top to bottom, represent the changes in the closed-loop attitude angles of the satellite in the Z, X, and Y directions over time during the tracking process; Figure 3b The three curves b1, b2, and b3 in the figure, from top to bottom, represent the changes in the closed-loop attitude angular velocity of the satellite in the Y, Z, and X directions over time during the tracking process; Figure 3c The curve in the figure represents the change of the tracking angle difference over time during the tracking process.

[0064] The verification results show that throughout the tracking process, the DRO satellite is able to quickly acquire stellar targets and complete continuous tracking of those targets.

[0065] Furthermore, such as Figure 4An exemplary embodiment of this application also provides an electronic device including one or more memories 401 and one or more processors 402, wherein the one or more memories 401 are coupled to and store instructions thereon on the one or more processors 402, the instructions being executable individually or jointly by the one or more processors 402, causing the electronic device to perform the method as described in any of the first aspects.

[0066] It should be understood that the processor mentioned in the embodiments of this application can be a CPU, or other general-purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0067] It should also be understood that the memory mentioned in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, or flash memory. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory, dynamic random access memory, synchronous dynamic random access memory, double data rate synchronous dynamic random access memory, enhanced synchronous dynamic random access memory, synchronous linked dynamic random access memory, and direct memory bus random access memory.

[0068] This application also provides a non-transitory computer-readable storage medium storing machine-executable instructions that can be executed by one or more processors of a machine. The machine may include electronic devices as mentioned above. When the machine-executable instructions are executed by one or more processors, the machine performs any of the methods mentioned above.

[0069] Computer-readable storage media may contain a propagated data signal containing computer program code, for example, on baseband or as part of a carrier wave. This propagated signal may take various forms, including electromagnetic, optical, and so on, or suitable combinations thereof. The computer-readable storage medium can be connected to an instruction execution system, apparatus, or device to enable communication, propagation, or transmission of a program for use. The program code located on the computer-readable storage medium can be propagated through any suitable medium, including radio, cable, fiber optic cable, radio frequency signals, or similar media, or any combination of the above media.

[0070] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0071] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0072] Some aspects of this application can be executed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The aforementioned hardware or software may be referred to as a "data block," "module," "engine," "unit," "component," or "system." The processor may be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. Furthermore, aspects of this application may manifest as computer products residing in one or more computer-readable media, including computer-readable program code. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic tapes, etc.), optical discs (e.g., compressed CDs, digital multifunction DVDs, etc.), smart cards, and flash memory devices (e.g., cards, sticks, key drives, etc.).

[0073] A computer-readable medium may contain a propagated data signal containing computer program code, for example, on baseband or as part of a carrier wave. This propagated signal may take various forms, including electromagnetic, optical, and so on, or suitable combinations thereof. A computer-readable medium can be any computer-readable medium other than a computer-readable storage medium, which can be connected to an instruction execution system, apparatus, or device to enable communication, propagation, or transmission of a program for use. The program code located on the computer-readable medium can be propagated through any suitable medium, including radio, cable, fiber optic cable, radio frequency signals, or similar media, or any combination of the above media.

[0074] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0075] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of scope in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0076] Although this application has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are only used to illustrate this application, and various equivalent changes or substitutions can be made without departing from the spirit of this application. Therefore, any changes or modifications to the above embodiments within the essential spirit of this application will fall within the scope of the claims of this application.

Claims

1. A method for attitude guidance in tracking a target in the Earth-Moon space, characterized in that, include: In response to the identification of singularities by the local satellite, the current attitude Euler angle transposition used to describe the attitude of the local satellite is switched sequentially; Using the unit vector pointing from the local satellite to the Earth-Moon space target in the inertial frame as the target vector, and based on the load pointing towards the constraint axis, the target rotation angle is obtained using the Euler angle transformation sequence of the current attitude. The target rotation angle includes the target vector in the X-axis of the inertial frame. i OZ i The angle between the projection of the plane and the target vector, wherein the target vector is located in the X plane. i OZ i The projection of the plane and the X-axis of the inertial frame i The angle between the axes, and the target vector in the X i OZ i The projection of the plane and the Z-axis of the inertial frame i The angle between the axes; Based on the current attitude Euler angle transformation, construct the target inertial frame attitude matrix corresponding to the target rotation angle; Based on the attitude matrix of the target inertial frame and the transfer matrix from the inertial frame to the local frame, calculate the transition attitude and guidance angular velocity of the local satellite relative to the Earth-Moon space target in the target reference frame; and, The local satellite is controlled to adjust its attitude according to the transition attitude and the guidance angular velocity, so that the local satellite can continuously track the Earth-Moon space target.

2. The method as described in claim 1, characterized in that, The sequential switching of the current attitude Euler angles used to describe the local star's attitude includes: When abs(sqrt(x) is satisfied 2 +y 2 When )) > 1, the Euler angle transposition of the current attitude is switched from 3-1-2 to 2-1-3; When abs(y) > 1, the Euler angle transposition of the current attitude is switched from 2-1-3 to 3-1-2; Where x and y are the components of the target vector in the x and y directions, respectively, sqart() is the square root function, and abs() is the absolute value function.

3. The method as described in claim 2, characterized in that, For a load pointing towards the constraint axis being the Z-axis, the step of obtaining the target rotation angle based on the load pointing towards the constraint axis using the current attitude Euler angle rotation sequence includes: If the current attitude Euler angle rotation order is 2-1-3, the target rotation angle is obtained using the following formula: If the current attitude Euler angle transformation sequence is 3-1-2, the target rotation angle is obtained using the following formula: in, For the target vector in The angle between the projection of the plane and the target vector. For the target vector in Projection of a plane and The angle between the axes, For the target vector in The projection of the plane and the X i The angle between the axes, , , These are the components of the target vector in the x, y, and z directions.

4. The method as described in claim 3, characterized in that, The step of constructing the target inertial frame attitude matrix corresponding to the target rotation angle based on the current attitude Euler angle transformation includes: If the current attitude Euler angle transformation is 2-1-3, the attitude matrix of the guided target inertial frame is obtained using the following formula: If the current attitude Euler angle transformation is 3-1-2, the attitude matrix of the guided target inertial frame is obtained using the following formula: in, Let be the attitude matrix of the inertial frame of the guided target.

5. The method as described in claim 2, characterized in that, For a load pointing towards the constraint axis as the X-axis, the step of obtaining the target rotation angle based on the load pointing towards the constraint axis using the current attitude Euler angle rotation sequence includes: If the current attitude Euler angle rotation order is 2-1-3, the target rotation angle is obtained using the following formula: If the current attitude Euler angle transformation sequence is 3-1-2, the target rotation angle is obtained using the following formula: in, For the target vector in The angle between the projection of the plane and the target vector. For the target vector in Projection of a plane and The angle between the axes, For the target vector in The projection of the plane and the X i The angle between the axes, , , These are the components of the target vector in the x, y, and z directions.

6. The method as described in claim 5, characterized in that, The step of constructing the target inertial frame attitude matrix corresponding to the target rotation angle based on the current attitude Euler angle transformation includes: If the current attitude Euler angle transformation is 2-1-3, the attitude matrix of the guided target inertial frame is obtained using the following formula: If the current attitude Euler angle transformation is 3-1-2, the attitude matrix of the guided target inertial frame is obtained using the following formula: in, Let be the attitude matrix of the inertial frame of the guided target.

7. The method according to any one of claims 1-6, characterized in that, The transition attitude of the local satellite relative to the Earth-Moon space target is calculated using the following formula: in, This refers to the transition posture. Let be the transfer matrix from the inertial frame to the home system, which is calculated from the inertial frame quaternions. Let be the attitude matrix of the inertial frame of the guided target.

8. The method according to any one of claims 1-6, characterized in that, The guiding angular velocity of the local satellite relative to the Earth-Moon space target is calculated using the following formula: in, hour, , hour, , The guiding angular velocity, This refers to the transition posture. To control the cycle, For Euler rotation angle, Euler axis, For the target vector in The angle between the projection of the plane and the target vector; The Euler rotation angle and the Euler axis are calculated using the following formulas: in, , , t For the current moment, t -1 represents the time in the previous cycle corresponding to the current time. This is the transpose of the target inertial frame attitude matrix at the time corresponding to the current time in the previous cycle. Let be the attitude matrix of the inertial frame of the guided target at the current moment. for t -1 hour arrives t The transition matrix at time step, The angular velocity from the inertial frame to the system itself. R 11 , R 12 , R 13 , R 21 , R 22 , R 23 , R 31 , R 32 , R 33 For the t -1 hour arrives t The nine components of the transition matrix at time step.

9. An electronic device, comprising: One or more processors; as well as One or more memories coupled to the one or more processors and storing instructions thereon, which, when executed individually or jointly by the one or more processors, cause the electronic device to perform the method according to any one of claims 1-8.

10. A non-transitory computer-readable storage medium storing machine-executable instructions, which, when executed by one or more processors of the machine, cause the machine to perform the method of any one of claims 1-8.

Images