A fast approach high-precision guidance control method and system suitable for pinas satellite autonomous solution

Abstract

The application provides a fast approaching high-precision guidance control method and system suitable for autonomous solving of a Pina satellite. The method comprises: performing first two-point transfer to complete long-distance approaching of a space target, the first two-point transfer comprising first approaching planning guidance, first correction planning guidance and first residence planning guidance; and performing second two-point transfer to complete high-precision approaching and error correction of the space target, the second two-point transfer comprising second approaching planning guidance, second correction planning guidance and second residence planning guidance. The guidance control method provided by the application can efficiently and accurately complete fast approaching and stable residence of a long-distance target on the same orbit under the premise of ensuring task autonomy.

Description

Technical Field

[0001] This invention relates to the field of spacecraft guidance and control technology, specifically to a rapid approach high-precision guidance and control method and system suitable for autonomous solution of picosatellites. Background Technology

[0002] With the rapid development of microelectronics and microelectromechanical systems (MEMS), picosatellites have been widely used in space science experiments, Earth observation, and on-orbit technology verification missions due to their significant advantages such as small size, light weight, low cost, and short development cycle. However, the inherent platform resource limitations of picosatellites, especially the scarcity of energy supply and the low specific impulse of the propulsion system, pose significant challenges to their performance in complex space rendezvous and docking, close formation flying, and long-range close-range reconnaissance missions. The autonomous control capability of picosatellites is a key factor determining the success or failure of future space missions; they must autonomously complete the entire process from long-range relative state detection to close-range precision guidance operations with minimal ground-based telemetry and control intervention.

[0003] Given the practical engineering bottlenecks faced by Pinasatellar satellites in performing long-distance approach missions to co-orbital targets, existing guidance and control schemes have the following three inherent defects: Defect 1: Traditional multi-point pulse guidance algorithms rely on ground stations to upload high-precision orbit perturbation models and target ephemeris data in real time. Due to the extremely limited uplink communication bandwidth of the Pinasatellar satellite, the ground intervention link is easily constrained by space weather and the visible arc of the ground station, resulting in a delay in orbit data updates. Although the ground can provide accurate calculation results, the delayed data cannot match the real-time evolution of the relative motion in orbit, thus causing a mismatch between guidance commands and the current dynamic state of the satellite, resulting in deviation from the approach trajectory.

[0004] Defect 2: Existing open-source CW (Clohessy-Wiltshire) equation guidance models mostly adopt constant thrust or pure pulse approximation assumptions. Due to the low specific impulse and narrow thrust modulation range of the Pinasat propulsion system, once the thrust command exceeds the physical boundary of the actuator, it will cause thrust saturation and accumulation of integral errors. Conversely, if a complex optimal control algorithm is used for full trajectory planning, it will exceed the computing power threshold of the Pinasat onboard computer. Therefore, it is difficult to balance real-time computation and control accuracy with limited resources.

[0005] Defect 3: Traditional phased guidance schemes typically use fixed time windows and static error tolerances to connect phases. Even if the expected position is reached in the first approach phase, the correction phase often lacks a dynamic optimization mechanism for dwell time and lateral acceleration constraints due to the coupling effects of orbital perturbations, sensor measurement noise, and attitude maneuver delays. This results in large fluctuations in the radial position of the satellite at the dwell point, which not only fails to eliminate residual relative motion but also requires additional propellant consumption for a second compensation, severely weakening the on-orbit endurance of the Pinasat satellite.

[0006] In summary, there is an urgent need in this field for an autonomous guidance and control method that can break free from dependence on high-frequency ground interaction, adapt to low computing power and weak thrust constraints, and possess dynamic error convergence capability. Summary of the Invention

[0007] The objective of this invention is to provide a rapid approach and high-precision guidance and control method and system suitable for PINAS satellites to autonomously solve problems. Through the method and / or system, the problems of poor real-time performance, low terminal accuracy, and weak autonomy of long-distance rendezvous and approach caused by insufficient onboard computing power, accumulated pulse assumption deviations, and passive correction mechanisms in existing technologies are solved. Under resource-constrained conditions, PINAS satellites can efficiently and accurately complete rapid approach and stable residence of distant targets in the same orbit, achieving close escort of the target.

[0008] In a first aspect of the invention, the aforementioned task is solved by a rapid approach high-precision guidance and control method suitable for autonomous solution by a Pinasatellite satellite, the method comprising the following steps: The first two-point transfer is executed to complete the long-range approach to the space target. This first two-point transfer includes the first approach planning guidance, the first revised planning guidance, and the first dwell planning guidance; and The second two-point transfer is performed to complete the high-precision approach and error correction of the space target. The second two-point transfer includes the second approach planning guidance, the second correction planning guidance, and the second dwell planning guidance.

[0009] In one embodiment of the present invention, the first approach planning guidance includes: based on the target relative orbit at the current moment. First approach to the nominal position Attitude maneuver reserve time and the first nominal guidance transfer time Calculate the first approach control sequence and the moment of the first stay Specifically, it includes the following steps: Based on the target's relative orbit at the current moment Extrapolating the finite thrust model using the CW equations to The satellite's relative orbit to the target ,in, Indicates the time allotted for attitude maneuvering; Reference value of the relative position of the stationing point Set as the first approach to the nominal position The initial iteration conditions are: the minimum relative position of the dwell point target is 5000, the iteration number j is 1, and the iteration entry flag Per is 1; and When the iteration reaches a flag Per of 1, the following operation is performed: According to relative orbit Reference values ​​for the relative positions of the outposts and the first nominal guidance transfer time The first approach control sequence was calculated. ,in, , Indicates the moment when the approach control sequence is applied. , , These refer to the three-axis velocity increment components in the VVLH coordinate system; The relative orbit after the end of control is obtained by extrapolating using the CW equation finite thrust model. Based on this relative orbit, the relative orbit of the satellite to the target at the first dwell time is obtained. Among them, the first stay for, Based on proximity to the nominal location Relative orbit of the satellite to the target at the first dwell time The difference is used to calculate the dwell error. , The absolute value is less than the minimum relative position of the target at the station point. At that time, the minimum relative position of the stationed target will be determined. Set as And store the current dwell point relative to the orbit as The current dwell point is used as the guidance planning dwell point output; When the iteration number j is less than the maximum iteration number, and the dwell error The modulus is greater than the guidance and approach control accuracy. Then, execute the next iteration, increment the iteration number j by 1, and update the relative position reference value of the dwell point to... Otherwise, terminate the iteration, set the iteration entry flag Per to 0, and the iteration convergence flag... =1; and When the iteration number j is greater than the maximum iteration number, the iteration ends and the iteration entry flag Per is set to 0.

[0010] In one embodiment of the present invention, the first corrected planning guidance includes: based on the target relative orbit at the current moment. First approach to the nominal position Attitude maneuver reserve time and guidance transfer time Calculate the first corrected control sequence The guidance transfer time is calculated according to the following formula. , .

[0011] In one embodiment of the present invention, the first dwell planning guidance includes: based on the target relative orbit at the current moment. Nominal dwell time search upper and lower limits lateral acceleration Calculate the first residency control sequence Specifically, it includes the following steps: The possible dwell time can be calculated using the following formula. in, Indicates the most recent possible moment of stay. Indicates the furthest possible dwell time; floor indicates rounding down; ceil indicates rounding up. Indicates the time of the first stay; When the target is in a relative orbit, then let ,in, This indicates the current target's relative orbital time, and the possible dwell time interval is... ,make , At that time, the current target relative orbit is extrapolated using the CW equation. Get the moment relative orbit ; For the possible time range of stay The satellite and target orbits within the system perform relative orbit calculations, and the point with the smallest radial position is determined as the dwell point. And obtain the relative velocity at that moment, that is, the dwell velocity increment is The dwell time control period is ,in, ,in, , , , , , These refer to the satellite's three-axis position and velocity during its dwell time; among them, in, This indicates the thrust provided by the satellite's thrusters. Indicates satellite mass; Where t represents the start time of dwell; ,in, , , These refer to the three-axis components of velocity increment in the VVLH coordinate system.

[0012] In one embodiment of the present invention, the second approach planning guidance includes: based on the target relative orbit at the current moment. Second approach to the nominal position Attitude maneuver reserve time and the second nominal guidance transfer time Calculate the second approach control sequence and the second stay .

[0013] In one embodiment of the present invention, the second corrected planning guidance includes: based on the target relative orbit at the current moment. Second approach to the nominal position Attitude maneuver reserve time and the second guidance transfer time Calculate the second corrected control sequence The second guidance transfer time is calculated according to the following formula. , .

[0014] In one embodiment of the present invention, the second dwell planning guidance includes: based on the target relative orbit at the current moment. Nominal dwell time search upper and lower limits lateral acceleration Calculate the second residency control sequence .

[0015] In a second aspect of the invention, the aforementioned task is further addressed by a rapid approach high-precision guidance and control system suitable for autonomous solution by a Pinasatellar satellite. This system is used in the aforementioned rapid approach high-precision guidance and control method suitable for autonomous solution by a Pinasatellar satellite, and includes: The first two-point transfer module is configured to perform the first two-point transfer to complete a long-range approach to the space target. This first two-point transfer module includes a first approach planning and guidance submodule, a first corrected planning and guidance submodule, and a first dwelling planning and guidance submodule; and The second two-point transfer module is configured to perform a second two-point transfer to complete a high-precision approach and error correction of the space target. The second two-point transfer module includes a second approach planning guidance submodule, a second correction planning guidance submodule, and a second dwelling planning guidance module.

[0016] In a third aspect, the present invention also provides an electronic device comprising: A processor, configured to execute machine-readable instructions; A graphics card configured to train a rapid approach high-precision guidance and control method suitable for autonomous solving of the Pinasatell satellite; and A memory configured to store machine-readable instructions that, when executed by a processor and / or graphics card, perform the steps of the rapid approach high-precision guidance and control method applicable to autonomous solutions for Pinasatell satellites.

[0017] In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon computer-readable instructions, which, when executed by a processor, perform the steps of the rapid approach high-precision guidance and control method applicable to autonomous solution for Pinasatell satellites.

[0018] The technical solution provided by this invention has the following advantages: 1. The proposed method for rapid approach and high-precision guidance and control suitable for autonomous solution of PINAS satellites calculates the approach velocity increment by combining CW pulse calculation velocity increment and CW finite thrust extrapolation iteration, thereby achieving rapid approach, significantly reducing the onboard computational load, shortening the guidance sequence solution time, and effectively matching the limited onboard processing capabilities of PINAS satellites to achieve fully autonomous rapid planning.

[0019] 2. The fast approach high-precision guidance and control method proposed in this invention, which is suitable for autonomous solution of PINa satellites, introduces a second two-point transfer correction mechanism. The system can actively capture relative state deviation after the first approach and dynamically reconstruct the correction trajectory based on the remaining time window and attitude maneuver reserve time. Since the closed-loop compensation of this mechanism under the condition of limited thrust, the terminal relative position control accuracy is stably improved, which significantly improves the safety of close-range escort flight. Attached Figure Description

[0020] To further illustrate the above and other advantages and features of the various embodiments of the present invention, a more specific description of the various embodiments of the present invention will be presented with reference to the accompanying drawings. It is to be understood that these drawings depict only typical embodiments of the invention and are therefore not intended to limit its scope. In the drawings, identical or corresponding parts will be indicated by identical or similar reference numerals for clarity.

[0021] Figure 1 A flowchart illustrating a rapid approach high-precision guidance and control method for autonomous solution of a Pinasatell satellite, according to an embodiment of the present invention, is shown. Figure 2 This diagram illustrates the relative position change of the guidance plan according to an embodiment of the present invention. Figure 3 A schematic diagram illustrating the relative velocity variation of the guidance planning according to an embodiment of the present invention is shown; and Figure 4 A schematic diagram of a rapid approach high-precision guidance and control system for autonomous solving of picosatellites, according to an embodiment of the present invention, is shown. Detailed Implementation

[0022] In the following description, the invention is described with reference to various embodiments. However, those skilled in the art will recognize that the embodiments may be practiced without one or more specific details or with other alternatives and / or additional methods or components. In other instances, well-known structures or operations are not shown or described in detail so as not to obscure the inventive points of the invention. Similarly, for illustrative purposes, specific numbers and configurations are set forth to provide a comprehensive understanding of the embodiments of the invention. However, the invention is not limited to these specific details.

[0023] In this specification, references to "an embodiment" or "this embodiment" mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment of the invention. The phrase "in one embodiment" appearing throughout this specification does not necessarily refer to the same embodiment in all instances.

[0024] It should be noted that the embodiments of the present invention describe the method steps in a specific order; however, this is only for illustrating the specific embodiment and not for limiting the order of the steps. On the contrary, in different embodiments of the present invention, the order of the steps can be adjusted according to actual needs.

[0025] In this invention, the various networks, modules, or units of the system according to the invention can be implemented using software, hardware, firmware, or a combination thereof. When a module is implemented using software, its function can be implemented through computer program flow. For example, the module can be implemented using code segments (such as code segments in languages ​​like C and C++) stored in a storage device (such as a hard disk, memory, etc.), wherein the corresponding function of the module can be implemented when the code segment is executed by a processor. When a module is implemented using hardware, its function can be implemented by setting a corresponding hardware structure. For example, the module's function can be implemented by hardware programming a programmable device such as a field-programmable gate array (FPGA), or by designing an application-specific integrated circuit (ASIC) that includes multiple transistors, resistors, capacitors, and other electronic devices. When a module is implemented using firmware, the module's function can be written in the form of program code into a read-only memory such as an EPROM or EEPROM of the device, and the corresponding function of the module can be implemented when the program code is executed by a processor. In addition, some functions of the module may need to be implemented by separate hardware or by working in cooperation with the hardware. For example, the detection function is implemented by a corresponding sensor (such as a proximity sensor, accelerometer, gyroscope, etc.), the signal transmission function is implemented by a corresponding communication device (such as a Bluetooth device, infrared communication device, baseband communication device, Wi-Fi communication device, etc.), the output function is implemented by a corresponding output device (such as a display, speaker, etc.), and so on.

[0026] To address the problems of poor real-time performance, low terminal accuracy, and weak autonomy in long-distance rendezvous and approach for picosatellites under resource-constrained conditions, caused by insufficient onboard computing power, accumulated pulse assumption bias, and passive correction mechanisms, this invention proposes a rapid, high-precision approach guidance and control method suitable for autonomous solution by picosatellites. This method achieves long-distance, high-precision approach control of co-orbital targets within a given time range through two fixed-time CW guidance point transfers.

[0027] Figure 1 A flowchart illustrating a rapid approach high-precision guidance and control method for autonomous solution of picosatellites, according to an embodiment of the present invention, is shown. Figure 1 As shown, the rapid approach high-precision guidance and control method for autonomous solution of picosatellites provided by this invention includes the following steps: Step 101: Perform the first two-point transfer to complete the long-distance approach to the space target. The first two-point transfer includes the first approach planning guidance, the first corrected planning guidance, and the first dwell planning guidance.

[0028] The first approach planning guidance includes: based on the target's relative orbit at the current moment. First approach to the nominal position Attitude maneuver reserve time and the first nominal guidance transfer time Calculate the first approach control sequence and the moment of the first stay It should be noted that the first stop... This is a global variable, calculated during the initial approach planning phase and remains unchanged thereafter. Specifically, the initial approach planning guidance includes the following steps: Step 1011, based on the target's relative orbit at the current moment Extrapolation using the CW equation finite thrust model yields The satellite's relative orbit to the target ,in, This indicates the time allotted for attitude maneuvers.

[0029] Step 1012, set the relative position reference value of the dwelling point Set as the first approach to the nominal position The initial iteration condition is: the minimum relative position of the target at the station point. The value is 5000, the number of iterations j is 1, and the iteration entry flag Per is 1.

[0030] Step 1013: When the iteration enters the flag Per as 1, perform the following operation: According to relative orbit Reference values ​​for the relative positions of the outposts and the first nominal guidance transfer time The first approach control sequence (i.e., the two-point transfer velocity increment) is calculated. ,in, , This indicates the moment when the approach control sequence is applied; specifically, at time t0, the initial relative orbital state is... The relative positions of the ends are ,in, , , , , , They represent in The satellite's position and velocity along the three axes in the VVLH coordinate system at any given time; The coordinates in the text refer to... The satellite's three-axis position in the VVLH coordinate system at any given time; the approach control pulse velocity increment is calculated using the CW equation. ,in, , , These refer to the three-axis velocity increment components in the VVLH coordinate system.

[0031] The relative orbit after the end of control is obtained by extrapolating using the CW equation finite thrust model. Based on this relative orbit, the relative orbit of the satellite to the target at the first dwell time is obtained. Among them, the first stay for, in, Indicates the current moment.

[0032] Based on proximity to the nominal location Relative orbit of the satellite to the target at the first dwell time The difference is used to calculate the dwell error. , The absolute value is less than the minimum relative position of the target at the station point. At that time, the minimum relative position of the stationed target will be determined. Set as And store the current dwell point relative to the orbit as The current dwell point is used as the guidance planning dwell point output, and the control sequence is the two-point transfer velocity increment. .

[0033] The iteration number j is less than the maximum iteration number, and the dwell error The modulus is greater than the guidance and approach control accuracy. If the iteration fails, the next iteration is executed, the iteration number j is incremented by 1, and the relative position reference value of the dwell point is updated to... Otherwise, terminate the iteration, set the iteration entry flag Per to 0, and the iteration convergence flag... =1; and When the iteration number j is greater than the maximum iteration number, the iteration ends and the iteration entry flag Per is set to 0.

[0034] The first correction of the planning guidance includes: based on the target's relative orbit at the current moment. First approach to the nominal position Attitude maneuver reserve time and guidance transfer time Calculate the first corrected control sequence The specific steps for the first revised planning guidance are the same as those for the first approach planning guidance described above.

[0035] The guidance transfer time is calculated according to the following formula. , .

[0036] in, Indicates the time of the first stay. Indicates the time allotted for attitude maneuvering. Indicates the current moment.

[0037] The first stay planning guidance includes: based on the target relative orbit at the current moment. Nominal dwell time search upper and lower limits lateral acceleration Calculate the first residency control sequence Specifically, it includes the following steps: Calculate the possible stay time using the following formula. , in, Indicates the most recent possible moment of stay. Indicates the furthest possible dwell time; floor indicates rounding down; ceil indicates rounding up. Indicates the first time spent in the area.

[0038] When the target is in a relative orbit, then let ,in, This indicates the current target's relative orbital time, and the possible dwell time interval, i.e., the search time interval. ,make , At that time, the current target relative orbit is extrapolated using the CW equation. Get the moment relative orbit .

[0039] Let the radial minimum position be For the possible time range of stay Relative orbit calculations are performed on all satellites and target orbits within the area, and the point with the smallest radial position is determined as the dwell point. And obtain the relative velocity at that moment, that is, the dwell velocity increment is... The dwell time control period is .in, in, This indicates the thrust provided by the satellite's thrusters. Indicates the weight of the satellite.

[0040] in, .

[0041] in, , , , , , These refer to the satellite's three-axis position and velocity during its dwell time.

[0042] Where t represents the start time of dwell; ,in, , , These refer to the three-axis components of velocity increment in the VVLH coordinate system.

[0043] It should be noted that the point with the smallest radial position ensures that after the satellite maneuvers, the relative position difference between the satellite and the target in the radial direction is minimized, that is, the satellite is closest in the orbital altitude direction, and the satellite can achieve stable stationary position.

[0044] Step 102: Perform the second two-point transfer to complete the high-precision approach and error correction of the space target. The second two-point transfer includes the second approach planning guidance, the second correction planning guidance, and the second dwell planning guidance.

[0045] The second approach planning guidance includes: based on the target's relative orbit at the current moment. Second approach to the nominal position Attitude maneuver reserve time and the second nominal guidance transfer time Calculate the second approach control sequence and the second stay It should be noted that the second stay... This is a global variable, calculated during the second approach mission planning, and remains unchanged thereafter. The specific steps for the second approach planning and guidance are the same as those for the first approach planning and guidance.

[0046] The second revised planning guidance includes: based on the target's relative orbit at the current moment. Second approach to the nominal position Attitude maneuver reserve time and the second guidance transfer time Calculate the second corrected control sequence The second guidance transfer time is calculated according to the following formula. , in, Indicates the time of the second stay. Indicates the time allotted for attitude maneuvering. Indicates the current moment.

[0047] It should be noted that the specific steps of the second revised planning guidance are the same as those of the first approach planning guidance.

[0048] The second stay planning guidance includes: based on the target relative orbit at the current moment. Nominal dwell time search upper and lower limits lateral acceleration Calculate the second residency control sequence It should be noted that the specific steps for the second deployment planning guidance are the same as those for the first deployment planning guidance.

[0049] In one embodiment of the present invention, the rapid approach high-precision guidance and control method for autonomous solution of picosatellites provided by the present invention is applicable not only to circular orbit targets, but also to near-circular orbit targets.

[0050] It should be noted that the purpose of the second two-point transfer is to correct the error, and the error correction will not affect the execution of subsequent tasks.

[0051] The following example illustrates the effectiveness of the rapid approach high-precision guidance and control method for autonomous solution of picosatellites provided by this invention.

[0052] The scenario is set as follows: the satellite (spacecraft or aircraft) is initially located 100 km behind the space debris and needs to reach a position 50 km behind the target within 90-120 minutes. Table 1 shows the parameters for the space debris rendezvous mission.

[0053] Table 1 Parameters for Space Debris Rendezvous Mission Applying the rapid approach high-precision guidance and control method for autonomous solution of picosatellites provided by this invention, according to step 101, the first approach planning guidance is performed: based on the target's relative orbit at the current moment... First approach to the nominal position Attitude maneuver reserve time and the first nominal guidance transfer time Calculate the first approach control sequence and the moment of the first stay Next, the first corrective planning and guidance will be performed: based on the target's relative orbit at the current moment. First approach to the nominal position Attitude maneuver reserve time and guidance transfer time Calculate the first corrected control sequence Next, the first stay planning guidance will be conducted: based on the target's relative orbit at the current moment. Nominal dwell time search upper and lower limits lateral acceleration Calculate the first residency control sequence According to step 102, the second approach planning guidance is first performed: based on the target's relative orbit at the current moment. Second approach to the nominal position Attitude maneuver reserve time and the second nominal guidance transfer time Calculate the second approach control sequence and the second stay Next, a second corrective planning and guidance process will be conducted: based on the target's relative orbit at the current moment. Second approach to the nominal position Attitude maneuver reserve time and the second guidance transfer time Calculate the second corrected control sequence Next, a second stay planning and guidance process will be conducted: based on the target's relative orbit at the current moment. Nominal dwell time search upper and lower limits lateral acceleration Calculate the second residency control sequence .

[0054] The planning point locations and control sequences for the above six planning processes are shown in Tables 2 and 3. Table 2 shows the planning time and the location of the dwell point obtained by extrapolation based on the nominal speed increment after planning. Table 3 shows the actual approach control time and speed increment control quantity.

[0055] Table 2. Locations of the stopping points in each stage of the guidance planning. Table 3. Control sequence results for each stage of guidance planning. The final results of this autonomous approach and rendezvous guidance planning mission are as follows: Target radial position Rx: 75.2317m, lateral position Ry: 49893.30m, normal position Rz: 250.1004m, radial velocity Vx: -0.0604m / s, lateral velocity Vy: -0.1092m / s, normal velocity Vx: -0.1740m / s. The changes in the relative position and velocity of the target and satellite in the LVLH coordinate system during this mission are as follows: Figure 2 and Figure 3 As shown.

[0056] The proposed method for rapid approach and high-precision guidance and control suitable for PINAS satellite autonomous solution calculates the approach velocity increment by combining CW pulse calculation velocity increment and CW finite thrust extrapolation iteration, achieving rapid approach, significantly reducing the onboard computational load, and shortening the guidance sequence solution time. This effectively matches the limited onboard processing capabilities of PINAS satellites, enabling fully autonomous rapid planning. By introducing a second two-point transfer correction mechanism, the system can actively capture relative state deviations after the first approach and dynamically reconstruct and correct the trajectory based on the remaining time window and attitude maneuver reserve time. Since this mechanism compensates for the accumulated error under finite thrust conditions in a closed loop, the terminal relative position control accuracy is stably improved, significantly enhancing the safety of close-range escort flight.

[0057] This invention also provides a rapid approach high-precision guidance and control system suitable for autonomous solution by picosatellites. This system can be used in the aforementioned rapid approach high-precision guidance and control method suitable for autonomous solution by picosatellites, such as... Figure 4 As shown, the system includes: The first two-point transfer module 201 is configured to perform a first two-point transfer to complete a long-range approach to a space target. The first two-point transfer module includes a first approach planning and guidance submodule, a first revised planning and guidance submodule, and a first dwelling planning and guidance submodule. The first approach planning and guidance submodule executes the steps of the first approach planning and guidance. The first revised planning and guidance submodule executes the steps of the first revised planning and guidance. The first dwelling planning and guidance submodule executes the steps of the first dwelling planning and guidance.

[0058] The second two-point transfer module 202 is configured to perform a second two-point transfer to achieve high-precision approach and error correction to the space target. The second two-point transfer module includes a second approach planning and guidance submodule, a second correction planning and guidance submodule, and a second dwell planning and guidance submodule. The second approach planning and guidance submodule executes the steps of the second approach planning and guidance. The second correction planning and guidance submodule executes the steps of the second correction planning and guidance. The second dwell planning and guidance submodule executes the steps of the second dwell planning and guidance.

[0059] In one embodiment of the present invention, an electronic device is also provided, comprising a processor, a graphics card, and a memory. The memory is configured to store machine-readable instructions, the graphics card is configured to train the rapid approach high-precision guidance and control method suitable for autonomous solution of the Pinasatellite satellite, and the processor is configured to execute the machine-readable instructions. When the processor and / or graphics card executes the machine-readable instructions, the following processing steps are implemented: performing a first two-point transfer to complete a long-range approach to the space target, the first two-point transfer including a first approach planning guidance, a first corrected planning guidance, and a first dwell planning guidance; and performing a second two-point transfer to complete a high-precision approach and error correction to the space target, the second two-point transfer including a second approach planning guidance, a second corrected planning guidance, and a second dwell planning guidance.

[0060] The graphics card used can preferably be a model with a GPU computing power higher than 5.0. Since the amount of data to be trained is large, providing a graphics card configuration can significantly improve the training speed.

[0061] The memory includes various media capable of storing machine-readable instructions, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0062] It is understood that, in addition to the memory and processor mentioned above, the computer system described above also includes other hardware and software components not listed in this specification. The specific components can be determined according to the model of the specific data processing equipment in different application scenarios, and will not be listed and described in detail in this specification.

[0063] In one embodiment of the present invention, a computer-readable storage medium is also provided, on which machine-readable instructions are stored. When executed by a processor, the machine-readable instructions perform the following processing steps: performing a first two-point transfer to complete a long-range approach to a space target, the first two-point transfer including a first approach planning guidance, a first corrected planning guidance, and a first dwell planning guidance; and performing a second two-point transfer to complete a high-precision approach and error correction to the space target, the second two-point transfer including a second approach planning guidance, a second corrected planning guidance, and a second dwell planning guidance.

[0064] Although various embodiments of the present invention have been described above, it should be understood that they are presented by way of example only and not as limitations. It will be apparent to those skilled in the art that various combinations, modifications, and alterations can be made without departing from the spirit and scope of the invention. Therefore, the breadth and scope of the invention disclosed herein should not be limited by the exemplary embodiments disclosed above, but should be defined according to the technical solutions of the invention and their equivalents.

Claims

1. A rapid approach high-precision guidance and control method suitable for autonomous solution of Pinasatell satellites, characterized in that, Includes the following steps: The first two-point transfer is performed to complete the long-distance approach to the space target. The first two-point transfer includes the first approach planning guidance, the first revised planning guidance, and the first dwell planning guidance. as well as The second two-point transfer is performed to complete the high-precision approach and error correction of the space target. The second two-point transfer includes the second approach planning guidance, the second correction planning guidance, and the second dwell planning guidance.

2. The rapid approach high-precision guidance and control method for autonomous solution of picosatellites according to claim 1, characterized in that, The first approach planning guidance includes: based on the target's relative orbit at the current moment. First approach to the nominal position Attitude maneuver reserve time and the first nominal guidance transfer time Calculate the first approach control sequence and the moment of the first stay Specifically, it includes the following steps: Based on the target's relative orbit at the current moment Extrapolating the finite thrust model using the CW equations to The satellite's relative orbit to the target ,in, Indicates the time allotted for attitude maneuvering; Reference value of the relative position of the stationing point Set as the first approach to the nominal position The initial iteration conditions are: the minimum relative position of the dwell point target is 5000, the iteration number j is 1, and the iteration entry flag Per is 1; and When the iteration reaches a flag Per of 1, the following operation is performed: According to relative orbit Reference values ​​for the relative positions of the outposts and the first nominal guidance transfer time The first approach control sequence was calculated. ,in, , Indicates the moment when the approach control sequence is applied. , , These refer to the three-axis velocity increment components in the VVLH coordinate system; The relative orbit after the end of control is obtained by extrapolating using the CW equation finite thrust model. Based on this relative orbit, the relative orbit of the satellite to the target at the first dwell time is obtained. Among them, the first stay for, Based on proximity to the nominal location Relative orbit of the satellite to the target at the first dwell time The difference is used to calculate the dwell error. , The absolute value is less than the minimum relative position of the target at the station point. At that time, the minimum relative position of the stationed target will be determined. Set as And store the current dwell point relative to the orbit as The current dwell point is used as the guidance planning dwell point output; When the iteration number j is less than the maximum iteration number, and the dwell error The modulus is greater than the guidance and approach control accuracy. If the iteration continues, the iteration number j is incremented by 1, and the relative position reference value of the dwell point is updated to... Otherwise, end the iteration, set the iteration entry flag Per to 0, and the iteration convergence flag... =1; and When the iteration number j is greater than the maximum iteration number, the iteration ends and the iteration entry flag Per is set to 0.

3. The rapid approach high-precision guidance and control method for autonomous solution of picosatellites according to claim 1, characterized in that, The first corrective planning guidance includes: based on the target's relative orbit at the current moment. First approach to the nominal position Attitude maneuver reserve time and guidance transfer time Calculate the first corrected control sequence The guidance transfer time is calculated according to the following formula. , 。 4. The rapid approach high-precision guidance and control method for autonomous solution of picosatellites according to claim 1, characterized in that, The first stay planning guidance includes: based on the target's relative orbit at the current moment. Nominal dwell time search upper and lower limits lateral acceleration Calculate the first residency control sequence Specifically, it includes the following steps: The possible dwell time can be calculated using the following formula. in, Indicates the most recent possible moment of stay. Indicates the furthest possible dwell time; floor indicates rounding down; ceil indicates rounding up. Indicates the time of the first stay; When the target is in a relative orbit, then let ,in, This indicates the current target's relative orbital time, and the possible dwell time interval is... ,make , At that time, the current target relative orbit is extrapolated using the CW equation. Get the moment relative orbit ; For the possible time range of stay The satellite and target orbits within the system perform relative orbit calculations, and the point with the smallest radial position is determined as the dwell point. And obtain the relative velocity at that moment, that is, the dwell velocity increment is The dwell time control period is ,in, ,in, , , , , , These refer to the satellite's three-axis position and velocity during its dwell time; among them, in, This indicates the thrust provided by the satellite's thrusters. Indicates satellite mass; Where t represents the start time of dwell; ,in, , , These refer to the three-axis components of velocity increment in the VVLH coordinate system.

5. The rapid approach high-precision guidance and control method for autonomous solution of picosatellites according to claim 1, characterized in that, The second approach planning guidance includes: based on the target's relative orbit at the current moment. Second approach to the nominal position Attitude maneuver reserve time and the second nominal guidance transfer time Calculate the second approach control sequence and the second stay .

6. The rapid approach high-precision guidance and control method for autonomous solution of picosatellites according to claim 1, characterized in that, The second revised planning guidance includes: based on the target relative orbit at the current moment. Second approach to the nominal position Attitude maneuver reserve time and the second guidance transfer time Calculate the second corrected control sequence The second guidance transfer time is calculated according to the following formula. , 。 7. The rapid approach high-precision guidance and control method for autonomous solution of picosatellites according to claim 1, characterized in that, The second dwell planning guidance includes: based on the target relative orbit at the current moment. Nominal dwell time search upper and lower limits lateral acceleration Calculate the second residency control sequence .

8. A rapid approach high-precision guidance and control system suitable for autonomous solution of picosatellites, used in accordance with any one of claims 1 to 7 for the rapid approach high-precision guidance and control method suitable for autonomous solution of picosatellites, characterized in that, include: The first two-point transfer module is configured to perform the first two-point transfer to complete the long-distance approach to the space target. The first two-point transfer module includes a first approach planning guidance submodule, a first corrected planning guidance submodule, and a first dwelling planning guidance submodule. as well as The second two-point transfer module is configured to perform a second two-point transfer to complete a high-precision approach and error correction of the space target. The second two-point transfer module includes a second approach planning guidance submodule, a second correction planning guidance submodule, and a second dwelling planning guidance module.

9. An electronic device, characterized in that, include: A processor, configured to execute machine-readable instructions; A graphics card configured to train the rapid approach high-precision guidance and control method for autonomous solution of Pinasat satellites as described in any one of claims 1 to 7; as well as A memory configured to store machine-readable instructions that, when executed by a processor and / or graphics card, perform the steps of the rapid approach high-precision guidance and control method for autonomous solution of the Pinasatellar satellite according to any one of claims 1 to 7.

10. A computer-readable storage medium storing computer-readable instructions thereon, characterized in that, When the computer-readable instructions are executed by the processor, they perform the steps of the rapid approach high-precision guidance and control method applicable to autonomous solution of Pinasatell satellites as described in any one of claims 1 to 7.

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