A high-precision error correction method and system for most fuel-efficient large dynamic orbit transfer

Abstract

The application provides a high-precision error correction method and system with the least fuel consumption and large dynamic orbit transfer. The method comprises the following steps: calculating the impulse maneuver speed increment through the Hohmann transfer, combining a high-precision orbit propagation model to extrapolate, and iteratively calculating the approaching speed increment; applying the approaching speed increment to the satellite, calculating the residence speed increment application time and the residence maneuver speed increment based on the CW equation, combining the transverse drift speed control and the elliptical short semi-axis convergence condition; extrapolating the expected residence point position according to the residence speed increment application time, iteratively calculating, and obtaining the final correction speed increment; applying the final correction speed increment to the satellite, recalculating the residence speed increment application time and the residence maneuver speed increment, and completing the residence maneuver at the residence speed increment application time. The correction method provided by the application not only consumes the least fuel, but also stably controls the end approaching precision within the preset threshold range.

Description

Technical Field

[0001] This invention relates to the field of spacecraft control technology, specifically to a high-precision error correction method and system for fuel-efficient large dynamic orbit changes, which is particularly suitable for spacecraft performing large orbital altitude difference transfer maneuvers under limited thrust conditions. It achieves high-precision and rapid approach and dwell control of the target orbit through a closed-loop correction mechanism. Background Technology

[0002] In current spacecraft rendezvous and formation flying missions, large-scale coplanar orbital transfer is one of the core fundamental aspects. In traditional engineering practice, considering the limited thrust of thrusters, it is difficult to achieve high-precision and rapid approach to targets when spacecraft perform large dynamic orbital changes (i.e., large maneuver orbital transfers).

[0003] Traditional coplanar orbit transfers are typically based on the Hohmann transfer as their theoretical framework. The Hohmann transfer, grounded in an idealized two-body dynamics model, employs two instantaneous pulse maneuvers to switch the orbit's semi-major axis. Because it theoretically minimizes velocity increment consumption, it has long been considered the most fuel-efficient transfer scheme. However, with the increasing complexity of on-orbit servicing, debris removal, and high-precision rendezvous missions, the traditional open-loop Hohmann transfer strategy has gradually revealed inherent limitations in practical engineering applications, failing to meet the dual demands of modern spacecraft for terminal accuracy and autonomous solution efficiency.

[0004] First, traditional Hohmann transfer is essentially an open-loop control strategy, lacking a closed-loop correction mechanism, and accumulated errors cannot be compensated for in real time. In the real space environment, spacecraft are not only affected by the gravitational pull of the central celestial body, but also inevitably subjected to multiple environmental factors such as the non-spherical perturbation of the Earth, the gravitational perturbation of the Sun, the drag of the thin atmosphere, and solar radiation pressure. Since open-loop control relies solely on theoretical pulse calculations based on initial orbital parameters, the dynamic perturbations generated during flight and the deviations from the initial state measurements accumulate over time, causing a significant deviation between the actual transfer trajectory and the theoretically predicted trajectory, resulting in a severe deterioration in terminal approach accuracy.

[0005] Secondly, the ideal two-body dynamics model does not consider the continuous orbital evolution characteristics under sustained finite thrust, leading to a mismatch between theoretical pulses and actual control quantities. The Hohmann transfer assumption is that the maneuver is instantaneous, but actual spacecraft thrusters typically have finite thrust and long burn times. During finite thrust, spacecraft orbital elements are in a state of continuous dynamic change, resulting in a fundamental model difference between the instantaneous pulse assumption and the reality of sustained thrust. Due to the lack of real-time feedback and compensation for the finite thrust evolution process, traditional methods often result in significant wasted control margins or transfer failures due to insufficient thrust when directly mapping theoretical pulse quantities to finite thrust sequences.

[0006] Furthermore, traditional trajectory change guidance methods struggle to balance fuel optimization and high-precision terminal dwell during large-scale maneuver orbit transfers, exhibiting high computational complexity and failing to meet the rapid solution requirements under limited onboard resources. Existing methods typically employ numerical optimization or iterative filtering algorithms for trajectory correction, which, while improving accuracy, incurs heavy computational loads and slow iterative convergence, making real-time autonomous solutions difficult to achieve under the stringent conditions of limited computing power and power consumption onboard spacecraft. Although some literature proposes methods based on constraint-based velocity increment selection, their core focus is on solution set construction and adaptation to specific mission scenarios, failing to provide an efficient and low-power closed-loop guidance architecture for real-time error correction and dwell control during large-altitude-difference trajectory changes.

[0007] Given the aforementioned technical bottlenecks, there is an urgent need in this field for an autonomous orbital error correction method that can deeply integrate the principles of fuel optimization and high-precision control under limited thrust constraints, so as to achieve rapid compensation of accumulated errors and high-precision end-of-course dwell during large-scale maneuver orbital transfer. Summary of the Invention

[0008] The objective of this invention is to provide a high-precision error correction method and system for large dynamic orbit changes with minimal fuel consumption. Through the method and / or system, the problem in the prior art of performing large orbital altitude difference transfers under limited thrust is that the lack of a closed-loop correction mechanism in open-loop control, the mismatch of continuous thrust characteristics, and the limited computing resources make it difficult to balance optimal fuel consumption and high-precision rapid approach at the end of the orbit. This ensures that the spacecraft can accurately and reliably reach the predetermined high-precision dwell point with the lowest fuel cost.

[0009] In a first aspect of the invention, the aforementioned task is achieved by a high-precision error correction method for large dynamic orbital maneuvers with minimal fuel consumption, the method comprising the following steps: The approach velocity increment is obtained by calculating the pulse maneuver velocity increment through Hohmann transfer, extrapolating it using a high-precision orbital propagation model, and iteratively calculating the approach velocity increment. By applying the aforementioned approach velocity increment to the satellite, and based on the CW equation, combined with lateral drift velocity control and the convergence condition of the minor semi-axis of the ellipse, the application time of the dwell velocity increment and the dwell maneuver velocity increment are calculated. The expected residence point position is obtained by extrapolating the time of application of the residence velocity increment, and the final corrected velocity increment is obtained through iterative calculation; and Apply the final corrected velocity increment to the satellite, recalculate the application time of the dwell velocity increment and the dwell maneuver velocity increment, and complete the dwell maneuver at the application time of the dwell velocity increment.

[0010] In one embodiment of the present invention, the approach velocity increment is obtained by calculating the pulse maneuver velocity increment through Hohmann transfer, extrapolating it using a high-precision orbital propagation model, and iteratively calculating the following: Based on the satellite's initial perigee apogee Target proximity apogee The pulse maneuver speed increment for the most fuel-efficient transfer in the VVLH coordinate system was calculated using the Hohmann transfer. ,in, ,in, A scalar representing control quantities along the direction of satellite velocity; According to satellite mass and thrust ,Will Substituting into the high-precision orbital propagation model, the relative position of the target in the VVLH coordinate system is obtained by extrapolation. ,in, ,in, , , These represent the X, Y, and Z axis position component sequences of the satellite in the VVLH coordinate system obtained by extrapolating the CW equations; the calculated values ​​are... extreme values ,in, ;as well as according to Iterative update or When adjusting the perimeter, When adjusting the apogee, Repeat the above steps until ,in, This represents the altitude error threshold for the orbital change, and the approach speed increment is obtained. .

[0011] In one embodiment of the present invention, the approach velocity increment is applied to the satellite, and based on the CW equation, combined with lateral drift velocity control and the convergence condition of the minor semi-axis of the ellipse, the timing of the application of the dwell velocity increment and the dwell maneuver velocity increment are calculated, including: Apply the aforementioned approach velocity increment to the satellite ,get corresponding time Position of the three axes in the VVLH coordinate system and three-axis speed ,in, in, They represent the extrapolation results obtained from the CW equation. corresponding time The X, Y, and Z axis position components in the VVLH coordinate system; , , They represent the extrapolation results obtained from the CW equation. corresponding time The velocity components of the X, Y, and Z axes in the VVLH coordinate system; Set extrapolation duration boundaries Using a high-precision orbit propagation model with step size Extrapolation yields [ - , + The absolute orbits of the satellite and the target within the interval are determined and converted into the satellite's relative orbit to the target in the VVLH coordinate system. The nominal speed increment of the second stationary maneuver Set as According to satellite mass and thrust Calculate the maneuver time for nominal finite thrust. ,in, by[ - , + Starting from the time interval, the step size is... Extrapolation using the finite thrust model based on the CW equations [ - , + [Within the interval with acceleration] After the action, the relative position of the satellite with respect to the target in the LVLH coordinate system and relative velocity ,in, ; calculate[ - , + Lateral drift speed after the second maneuver within the section , the minor semi-axis b of the ellipse Where n represents the orbital angular velocity; exist[ - , + Within the interval, determine Minimum value corresponding minimum value of b corresponding ; exist[ - , + Within the interval, determine minimum value min( ) corresponding , The starting time of the CW equation extrapolation ,Sure minimum value min( ) corresponding , The starting time of the CW equation extrapolation ,in, , , , [ - , + ] , [ - , + ] calculate and ,in, according to and The relationship determines the timing of applying the dwell velocity increment. Incremental speed of stationary maneuver .

[0012] In one embodiment of the present invention, according to and The relationship determines the timing of applying the dwell velocity increment. Incremental speed of stationary maneuver include: The timing for applying the residence velocity increment is determined by the following formula. Incremental speed of stationary maneuver , .

[0013] In one embodiment of the present invention, the expected residence point position is obtained by extrapolating the residence velocity increment application time, and the final corrected velocity increment is obtained by iterative calculation, including: exist[ - , + Extrapolate the satellite's relative orbit to the target orbit within and outside the interval to obtain... corresponding time Three-axis position ,in, ; Extrapolated from a high-precision orbital propagation model to... At any given moment, the target trajectory is obtained and the incremental velocity of the stationary maneuver is applied. The satellite's orbit was then used to calculate its relative position in the target VVLH coordinate system. The nominal dwell time of the satellite ,in, The lateral position correction is calculated using the following formula. , ; The nominal correction transfer time is calculated using the following formula. , in, This indicates the time when the approach velocity increment was applied to the satellite or the last time the velocity increment was corrected. This indicates the interval between applying the satellite approach velocity increment and applying the corrected velocity increment; The satellite's orbital propagation was extrapolated using a high-precision orbital propagation model. At what moment, the position and velocity of the three axes in the target VVLH coordinate system ; Combined with nominal correction position and nominal correction transfer time The initial corrected velocity increment was calculated based on the CW equation. ,in, ,0,0]; The initial correction velocity increment is calculated using a high-precision orbital propagation model. Substitution r Extrapolation At time 1, the relative position in the target VVLH coordinate system is obtained. ,in, Calculate the corrected position offset ,in, Update the nominal correction location to ,in, The nominal corrected transfer time is calculated based on the CW equation. The corresponding update speed increment ;as well as Repeat the two steps above until... < ,in, This indicates the threshold for correcting the position offset, resulting in the final corrected velocity increment. .

[0014] In one embodiment of the invention, the interval between applying the satellite approach velocity increment and applying the corrected velocity increment is... Different values ​​are used to calculate different final correction rate increments. .

[0015] In one embodiment of the present invention, applying the final corrected velocity increment to the satellite, recalculating the time of application of the dwell velocity increment and the dwell maneuver velocity increment, and completing the dwell maneuver at the time of application of the dwell velocity increment includes: exist At that moment, the final corrected velocity increment is applied to the satellite. ,in, This indicates the time when the approach velocity increment was applied to the satellite or the last time the velocity increment was corrected. This indicates the interval between applying the satellite approach velocity increment and applying the correction velocity increment; and Recalculate the time of application of dwell velocity increment and the incremental speed of stationary maneuver At the moment when the dwell velocity increment is applied Completed stationary maneuvers and large-scale dynamic orbit changes.

[0016] In a second aspect of the invention, the aforementioned task is further addressed by a high-precision error correction system for the most fuel-efficient large dynamic orbit change, the system being used in the aforementioned high-precision error correction method for the most fuel-efficient large dynamic orbit change, the system comprising: The Hohmann transfer iterative extrapolation module is configured to calculate the pulse maneuver velocity increment through Hohmann transfer, perform extrapolation by combining a high-precision orbital propagation model, and iteratively calculate the approach velocity increment. The dwelling maneuver optimization module is configured to apply the approach velocity increment to the satellite and calculate the dwelling velocity increment application time and dwelling maneuver velocity increment based on the CW equation, combined with lateral drift velocity control and elliptical semi-axis convergence condition. The velocity increment correction module is configured to extrapolate the expected dwell point position based on the dwell velocity increment application time, iteratively calculate, and obtain the final corrected velocity increment; and The dwell maneuver completion module is configured to apply the final corrected velocity increment to the satellite, recalculate the dwell velocity increment application time and the dwell maneuver velocity increment, and complete the dwell maneuver at the dwell velocity increment application time.

[0017] In a third aspect, the present invention also provides an electronic device comprising: A processor, configured to execute machine-readable instructions; The graphics card is configured to train the high-precision error correction method for the most fuel-efficient large dynamic trajectory change described above; and A memory configured to store machine-readable instructions that, when executed by a processor and / or graphics card, perform the steps of the high-precision error correction method for the most fuel-efficient large dynamic trajectory change.

[0018] 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 high-precision error correction method for the most fuel-efficient large dynamic orbit change.

[0019] The technical solution provided by this invention has the following advantages: 1. The high-precision error correction method for the most fuel-efficient large dynamic orbit change proposed in this invention creatively combines the theoretically most fuel-efficient Hohmann transfer with high-precision CW equation closed-loop correction. During the large dynamic orbit change process, the spacecraft can achieve high-precision terminal approach with extremely low fuel cost, solving the technical problem that traditional methods cannot balance fuel efficiency and approach accuracy under limited thrust.

[0020] 2. The high-precision error correction method for the most fuel-efficient large dynamic orbit change proposed in this invention calculates the approach velocity increment through extrapolation iteration and optimizes the braking time and velocity increment using the CW equation. This method can effectively compensate for the cumulative error caused by the finite thrust action mode and spatial perturbation, ensuring that the relative position drift is always under control.

[0021] 3. The high-precision error correction method for the most fuel-efficient large dynamic orbit change proposed in this invention not only maintains the optimality of fuel consumption, i.e., the most fuel-efficient, but also stably controls the terminal approach accuracy within a preset threshold range. Moreover, the algorithm logic is simple, the numerical iteration converges rapidly, and it is fully adapted to the need for rapid autonomous solution under the condition of limited airborne computing resources.

[0022] 4. The high-precision error correction method for the most fuel-efficient large dynamic orbit change proposed in this invention has been verified by simulation. It shows that after two interval corrections, the satellite can accurately reach the expected dwell point. The position deviation and velocity residual both meet the high-precision escort index, thus achieving an organic unity of engineering feasibility and theoretical optimality. Attached Figure Description

[0023] 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.

[0024] Figure 1 A flowchart illustrating a high-precision error correction method for the most fuel-efficient large dynamic trajectory change according to an embodiment of the present invention is shown; and Figure 2 A schematic diagram of a high-precision error correction system for the most fuel-efficient large dynamic orbit change according to an embodiment of the present invention is shown. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] To address the challenges in existing technologies for large-altitude-difference orbital transfers under limited thrust, where the lack of a closed-loop correction mechanism in open-loop control, mismatch with sustained thrust characteristics, and limited computational resources make it difficult to simultaneously achieve optimal fuel consumption and high-precision, rapid terminal approach, this invention proposes a high-precision error correction method for large-dynamic orbital transfers with minimal fuel consumption. This method integrates the principles of optimal fuel consumption with the requirements of high-precision control within the framework of large-dynamic orbital transfers. The method should be able to autonomously calculate the correction timing and amount, effectively compensating for accumulated errors caused by limited thrust and space perturbations, ensuring that the spacecraft can accurately and reliably reach the predetermined high-precision dwell point with minimal fuel cost.

[0030] This invention proposes a high-precision error correction method for the most fuel-efficient large dynamic orbit change, specifically addressing the need for orbit changes with large orbital altitude differences, i.e., large dynamic orbit change requirements. It provides a method for the most fuel-efficient high-precision error correction for targets on the same plane, enabling satellites to achieve high-precision, large dynamic approach to targets on the same orbit. In one embodiment of this invention, the proposed method for the most fuel-efficient large dynamic orbit change is applicable to satellites or other spacecraft, aircraft, etc.

[0031] Figure 1A flowchart illustrating a high-precision error correction method for the most fuel-efficient large dynamic trajectory change according to an embodiment of the present invention is shown. Figure 1 As shown, the high-precision error correction method for the most fuel-efficient large dynamic orbit change provided by the present invention includes the following steps: Step 101: Calculate the pulse maneuver velocity increment through Hohmann transfer, extrapolate using a high-precision orbital propagation model, and iteratively calculate the approach velocity increment.

[0032] Based on the satellite's initial perigee apogee Target proximity apogee The pulse maneuver velocity increment for the most fuel-efficient transfer in the VVLH (Vehicle Velocity Local Horizontal) coordinate system was calculated using Hohmann transfer. ,in, ,in, This represents a control scalar along the velocity direction of the satellite (i.e., the spacecraft), with the control time being when the satellite is at its perigee or apogee.

[0033] According to satellite mass and thrust ,Will Substituting the high-precision orbital propagator (HPOP) model, the relative position of the target in the VVLH coordinate system is extrapolated. ,in, ,in, , , These represent the X, Y, and Z axis position component sequences of the satellite in the VVLH coordinate system obtained by extrapolating the CW equations; The extreme value is the altitude difference between the satellite and the target orbit after applying a limited thrust to change the satellite's orbit. The calculation yields... extreme values ,in, .

[0034] according to Iterative update or The adjustment of the perigee or apogee is determined based on the applied velocity increment. When adjusting the perigee, When adjusting the apogee, Repeat the above steps until... ,in, This represents the altitude error threshold for the orbital change, and the approach speed increment is obtained. .in, ,in, This represents the velocity increment in the velocity direction obtained from the Hohmann transfer calculation.

[0035] It should be noted that in step 101, the Hohmann transfer is mainly used to adjust the orbital height, so the height difference is the main focus during iteration, and subsequent steps will correct the lateral deviation.

[0036] Step 102: Apply the approach velocity increment to the satellite. Based on the CW equation, and combined with the lateral drift velocity control and the convergence condition of the minor semi-axis of the ellipse, calculate the application time of the dwell velocity increment and the dwell maneuver velocity increment.

[0037] Apply the aforementioned approach velocity increment to the satellite After obtaining actual maneuverability corresponding time Position of the three axes in the VVLH coordinate system and three-axis speed ,in, in, They represent the extrapolation results obtained from the CW equation. corresponding time The X, Y, and Z axis position components in the VVLH coordinate system; , , They represent the extrapolation results obtained from the CW equation. corresponding time The velocity components of the X, Y, and Z axes in the VVLH coordinate system.

[0038] Set extrapolation duration boundaries Using a high-precision orbit propagation model with step size Extrapolation yields [ - , + The absolute orbits of the satellite and the target within the interval are determined and converted into the satellite's relative orbit to the target in the VVLH coordinate system. The nominal speed increment of the second stationary maneuver Set as ,Right now According to satellite mass and thrust Calculate the maneuver time for nominal finite thrust. ,in, by[ - , + Taking any time point within the interval as the starting point, with Extrapolation using the finite thrust model based on the CW equations [ - , + [Within the interval, constant acceleration] After the action, the relative position of the satellite with respect to the target in the LVLH coordinate system and relative velocity ,in, , They respectively represent the results obtained by extrapolating the finite thrust model of the CW equations using [ - , + [Within the interval with acceleration] After the action, push it outward to [ - , + The sequence of X, Y, and Z position components in the VVLH coordinate system of the interval.

[0039] calculate[ - , + Lateral drift speed after the second maneuver within the section , the minor semi-axis b of the ellipse Where n represents the orbital angular velocity.

[0040] The control of lateral drift velocity and the convergence condition of the minor semi-axis of the ellipse are used to determine the lateral drift velocity. The time corresponding to the minimum value of the minor semi-axis b of the ellipse is determined. Specifically, as follows: exist[ - , + Within the interval, determine Minimum value corresponding minimum value of b corresponding ; exist[ - , + Within the interval, determine minimum value min( ) corresponding , The starting time of the CW equation extrapolation ,Sure minimum value min( ) corresponding , The starting time of the CW equation extrapolation ,in, , , , [ - , + ] , [ - , + ] Next, calculate and ,in, according to and The relationship determines the timing of applying the dwell velocity increment. Incremental speed of stationary maneuver .

[0041] Specifically, the timing of applying the residence velocity increment is determined according to the following formula. Incremental speed of stationary maneuver , Step 103: Extrapolate the expected residence point position based on the residence velocity increment application time, and iteratively calculate to obtain the final corrected velocity increment.

[0042] exist[ - , + Extrapolate the satellite's relative orbit to the target orbit within and outside the interval to obtain... corresponding time Three-axis position ,in, .

[0043] Extrapolated from a high-precision orbital propagation model to... At any given moment, the target trajectory is obtained and the incremental velocity of the stationary maneuver is applied. The satellite's orbit was then used to calculate its relative position in the target VVLH coordinate system. The nominal dwell distance of the satellite ,in, The lateral position correction is calculated using the following formula. , .

[0044] The nominal correction transfer time is calculated using the following formula. , in, This indicates the time when the approach velocity increment was applied to the satellite or the last time the velocity increment was corrected. This indicates the interval between applying the satellite approach velocity increment and applying the corrected velocity increment.

[0045] The satellite's orbital propagation was extrapolated using a high-precision orbital propagation model. At what moment, the position and velocity of the three axes in the target VVLH coordinate system .

[0046] Combined with nominal correction position and nominal correction transfer time The initial corrected velocity increment was calculated based on the CW equation. ,in, ,0,0]; The initial correction velocity increment is calculated using a high-precision orbital propagation model. Substitution r Extrapolation At time 1, the relative position in the target VVLH coordinate system is obtained. ,in, Calculate the corrected position offset ,in, Update the nominal correction location to ,in, The nominal corrected transfer time is calculated based on the CW equation. The corresponding update speed increment .

[0047] Repeat the above two calculations and The steps, until < ,in, This indicates the threshold for correcting the position offset, resulting in the final corrected velocity increment. .

[0048] In one embodiment of the invention, the interval between applying the satellite approach velocity increment and applying the corrected velocity increment is... Different values ​​are used to calculate different final correction rate increments. .

[0049] Step 104: Apply the final corrected velocity increment to the satellite, recalculate the application time of the dwell velocity increment and the dwell maneuver velocity increment, and complete the dwell maneuver at the application time of the dwell velocity increment.

[0050] exist At that moment, the final corrected velocity increment is applied to the satellite. ,in, This indicates the time when the approach velocity increment was applied to the satellite or the last time the velocity increment was corrected. This indicates the interval between applying the satellite approach velocity increment and applying the corrected velocity increment.

[0051] Recalculate the time of application of dwell velocity increment and the incremental speed of stationary maneuver At the moment when the dwell velocity increment is applied Completed stationary maneuvers and large-scale dynamic orbit changes.

[0052] In one embodiment of the present invention, the high-precision error correction method for the most fuel-efficient large dynamic orbit change provided by the present invention is applicable not only to circular orbit targets, but also to near-circular orbit targets.

[0053] The following example illustrates the effectiveness of the high-precision error correction method for the most fuel-efficient large dynamic orbit change provided by this invention.

[0054] Table 1 shows the initial orbital parameters of the satellite and the target. The satellite weighs 9 kg, has 0.95 kg of fuel, and generates 1 N of thrust.

[0055] Table 1 Initial orbital parameters of the satellite and the target The mission requirements are as follows: the approach parameters are: the satellite's final approach position relative to the target is [-4000m, 0m, 0m] in the VVLH coordinate system, and the approach accuracy is [2000m, 100m, 100m]; the correction parameters are: two orbit corrections are set, with the interval between the first correction and the previous maneuver being 60s and the interval between the second correction and the previous maneuver being 600s.

[0056] Applying the high-precision error correction method for the most fuel-efficient large dynamic trajectory change provided by this invention, according to step 101, the approach speed increment is calculated as [-34.6851 m / s, 0, 0], and the approach speed increment is applied starting at 0s. The expected dwell maneuver speed increment and the application time of the dwell speed increment after applying the approach speed increment: According to step 102, the dwell maneuver speed increment is calculated as [-34.6567 m / s, -0.0798 m / s, -0.0306 m / s], and the dwell speed increment application time is 2907s. The first corrected speed increment and correction time: According to step 103, the corrected speed increment is calculated as [-0.0403 m / s, 2.1071 m / s, -0.6414 m / s], and the correction time is 416s. The expected dwell speed increment and application time after applying the first corrective control variable: According to step 102, the dwell speed increment is calculated to be [-34.5996 m / s, 1.9910 m / s, 0.0020 m / s], and the application time is 2916 s. The second corrective speed increment and application time: According to step 103, the corrected speed increment is calculated to be [-0.0040 m / s, 0.0516 m / s, -0.0942 m / s], and the application time is 1039 s. The dwell speed increment and application time: According to step 102, the dwell speed increment is calculated to be [-34.5966 m / s, 2.0427 m / s, -0.0166 m / s], and the application time is 2945 s. The location of the rendezvous point is [-3081.2m, -52.5m, 36.7m], which meets the requirements of the escort position being [-4000m, 0m, 0m] in the VVLH coordinate system and the escort accuracy being [2000m, 100m, 100m].

[0057] The results show that the high-precision error correction method for the most fuel-efficient large dynamic orbit change provided by this invention demonstrates excellent correction capability and final accuracy. Simulation data shows that after two orbit corrections (performed 60s and 600s after the maneuver, respectively), the satellite successfully eliminated the deviation caused by the initial large dynamic orbit change. Finally, the satellite completed the dwell maneuver at 2945s, with the velocity increment controlled within [-34.5966m / s, 2.0427m / s, -0.0166m / s], and accurately reached the expected dwell point [-3081.2m, -52.5m, 36.7m]. This position fully meets the preset rendezvous position requirements ([-4000m, 0m, 0m] in the VVLH coordinate system) and rendezvous accuracy indicators ([2000m, 100m, 100m]), proving the feasibility and effectiveness of the high-precision error correction method for the most fuel-efficient large dynamic orbit change provided by this invention in achieving high-precision approach in large altitude difference orbit change scenarios.

[0058] The high-precision error correction method for the most fuel-efficient dynamic orbit change proposed in this invention creatively combines the theoretically most fuel-efficient Hohmann transfer with high-precision CW equation closed-loop correction. During the dynamic orbit change process, the spacecraft can achieve high-precision terminal approach with extremely low fuel cost, solving the technical problem that traditional methods cannot balance fuel efficiency and approach accuracy under limited thrust. It not only maintains the optimality of fuel consumption, i.e., the most fuel-efficient, but also stably controls the terminal approach accuracy within a preset threshold range. Moreover, the algorithm logic is simple, the numerical iteration converges rapidly, and it is fully adapted to the need for rapid autonomous solution under the condition of limited airborne computing resources.

[0059] This invention also provides a high-precision error correction system for the most fuel-efficient large dynamic orbit change, which can be used in the aforementioned high-precision error correction method for the most fuel-efficient large dynamic orbit change, such as... Figure 2 As shown, the system includes: The Hohmann transfer iterative extrapolation module 201 is configured to calculate the pulse maneuver velocity increment through Hohmann transfer, perform extrapolation by combining a high-precision orbit propagation model, and iteratively calculate the approach velocity increment. The dwelling maneuver optimization module 202 is configured to apply the approach velocity increment to the satellite and calculate the dwelling velocity increment application time and dwelling maneuver velocity increment based on the CW equation, combined with the lateral drift velocity control and the convergence condition of the minor semi-axis of the ellipse. The velocity increment correction module 203 is configured to extrapolate the expected dwell point position based on the dwell velocity increment application time, iteratively calculate, and obtain the final corrected velocity increment; and The dwell maneuver completion module 204 is configured to apply the final corrected velocity increment to the satellite, recalculate the dwell velocity increment application time and the dwell maneuver velocity increment, and complete the dwell maneuver at the dwell velocity increment application time.

[0060] 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 high-precision error correction method for the most fuel-efficient large dynamic orbit change, 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: calculating the pulse maneuver velocity increment through Hohmann transfer, extrapolating using a high-precision orbit propagation model, and iteratively calculating the approach velocity increment; applying the approach velocity increment to the satellite, and calculating the dwell velocity increment application time and dwell maneuver velocity increment based on the CW equation, combined with lateral drift velocity control and the convergence condition of the elliptical semi-axis; extrapolating the expected dwell point position based on the dwell velocity increment application time, iteratively calculating the final corrected velocity increment; applying the final corrected velocity increment to the satellite, recalculating the dwell velocity increment application time and dwell maneuver velocity increment, and completing the dwell maneuver at the dwell velocity increment application time.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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: calculating the pulse maneuver velocity increment through Hohmann transfer, extrapolating using a high-precision orbital propagation model, and iteratively calculating the approach velocity increment; applying the approach velocity increment to the satellite, and calculating the dwell velocity increment application time and dwell maneuver velocity increment based on the CW equation, combined with lateral drift velocity control and elliptical semi-axis convergence conditions; extrapolating the expected dwell point position based on the dwell velocity increment application time, iteratively calculating the final corrected velocity increment; applying the final corrected velocity increment to the satellite, recalculating the dwell velocity increment application time and dwell maneuver velocity increment, and completing the dwell maneuver at the dwell velocity increment application time.

[0065] 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 high-precision error correction method for large dynamic orbit change with minimal fuel consumption, characterized in that, Includes the following steps: The approach velocity increment is obtained by calculating the pulse maneuver velocity increment through Hohmann transfer and extrapolating it using a high-precision orbit propagation model. The iterative calculation is based on the orbit change altitude error threshold as the convergence condition. By applying the aforementioned approach velocity increment to the satellite, and based on the CW equation, combined with lateral drift velocity control and the convergence condition of the minor semi-axis of the ellipse, the timing of the application of the dwell velocity increment and the dwell maneuver velocity increment are calculated within the set extrapolation time boundary. The expected residence point position is obtained by extrapolating the time of application of the residence velocity increment, and the final corrected velocity increment is obtained through iterative calculation; and The final corrected velocity increment is applied to the satellite, the application time of the dwell velocity increment and the dwell maneuver velocity increment are recalculated, and the dwell maneuver is completed at the application time of the recalculated dwell velocity increment, so as to achieve high-precision dwelling of the satellite after large dynamic orbit change of the target. Among them, the approach velocity increment is obtained by calculating the pulse maneuver velocity increment through Hohmann transfer, extrapolating it using a high-precision orbit propagation model, and iteratively calculating the following: Based on the satellite's initial perigee apogee Target proximity apogee The pulse maneuver speed increment for the most fuel-efficient transfer in the VVLH coordinate system was calculated using the Hohmann transfer. ,in, ,in, A scalar representing control quantities along the direction of satellite velocity; According to satellite mass and thrust ,Will Substituting into the high-precision orbital propagation model, the relative position of the target in the VVLH coordinate system is obtained by extrapolation. ,in, ,in, , , These represent the X, Y, and Z axis position component sequences of the satellite in the VVLH coordinate system obtained by extrapolating the CW equations; the calculated values ​​are... extreme values ,in, ;as well as according to Iterative update or When adjusting the perimeter, When adjusting the apogee, Repeat the above steps until ,in, This represents the altitude error threshold for the orbital change, and the approach speed increment is obtained. .

2. The high-precision error correction method for the most fuel-efficient large dynamic orbit change according to claim 1, characterized in that, Applying the aforementioned approach velocity increment to the satellite, based on the CW equations and combining lateral drift velocity control with the convergence condition of the minor semi-axis of the ellipse, the dwell velocity increment application time and dwell maneuver velocity increment are calculated within the set extrapolation time boundary, including: Apply the aforementioned approach velocity increment to the satellite ,get corresponding time Position of the three axes in the VVLH coordinate system and three-axis speed ,in, in, They represent the extrapolation results obtained from the CW equation. corresponding time The X, Y, and Z axis position components in the VVLH coordinate system; , , They represent the extrapolation results obtained from the CW equation. corresponding time The velocity components of the X, Y, and Z axes in the VVLH coordinate system; Set extrapolation duration boundaries Using a high-precision orbit propagation model with step size Extrapolation yields [ - , + The absolute orbits of the satellite and the target within the interval are determined and converted into the satellite's relative orbit to the target in the VVLH coordinate system. The nominal speed increment of the second stationary maneuver Set as According to satellite mass and thrust Calculate the maneuver time for nominal finite thrust. ,in, by[ - , + Starting from the time interval, the step size is... Extrapolation using the finite thrust model based on the CW equations [ - , + [Within the interval with acceleration] After the action, the relative position of the satellite with respect to the target in the LVLH coordinate system and relative velocity ,in, ; calculate[ - , + Lateral drift speed after the second stop maneuver within the section , the minor semi-axis b of the ellipse Where n represents the orbital angular velocity; exist[ - , + Within the interval, determine Minimum value corresponding minimum value of b corresponding ; exist[ - , + Within the interval, determine The minimum value in min( ) corresponding , The starting time of the CW equation extrapolation ,Sure The minimum value in min( ) corresponding , The starting time of the CW equation extrapolation ,in, 、 、 、 [ - , + ] 、 [ - , + ] calculate and ,in, according to and The relationship determines the timing of applying the dwell velocity increment. Incremental speed of stationary maneuver .

3. The high-precision error correction method for the most fuel-efficient large dynamic orbit change according to claim 2, characterized in that, according to and The relationship determines the timing of applying the dwell velocity increment. Incremental speed of stationary maneuver include: The timing for applying the residence velocity increment is determined according to the following formula. Incremental speed of stationary maneuver , 。 4. The high-precision error correction method for the most fuel-efficient large dynamic orbit change according to claim 3, characterized in that, The expected residence point position is obtained by extrapolating the time of application of the residence velocity increment, and the final corrected velocity increment is obtained by iterative calculation, including: exist[ - , + Extrapolate the satellite's relative target orbit within and outside the interval to obtain... corresponding time Three-axis position ,in, ; Extrapolated from a high-precision orbital propagation model At any given moment, the target trajectory is obtained and the incremental velocity of the stationary maneuver is applied. The satellite's orbit was then used to calculate its relative position in the target VVLH coordinate system. The nominal dwell distance of the satellite ,in, The lateral position correction is calculated using the following formula. , ; The nominal correction transfer time is calculated using the following formula. , in, This indicates the time when the approach velocity increment was applied to the satellite or the last time the velocity increment was corrected. This indicates the interval between applying the satellite approach velocity increment and applying the corrected velocity increment; The satellite's orbital propagation was extrapolated using a high-precision orbital propagation model. At what moment, the position and velocity of the three axes in the target VVLH coordinate system ; Combined with nominal correction position and nominal correction transfer time The initial corrected velocity increment was calculated based on the CW equation. ,in, ,0,0]; The initial correction velocity increment is calculated using a high-precision orbital propagation model. Substitution r Extrapolation At time 1, the relative position in the target VVLH coordinate system is obtained. ,in, Calculate the corrected position offset ,in, Update the nominal correction location to ,in, The nominal corrected transfer time is calculated based on the CW equation. The corresponding update speed increment ;as well as Repeat the above two steps until... < ,in, This indicates the threshold for correcting the position offset, resulting in the final corrected velocity increment. .

5. The high-precision error correction method for the most fuel-efficient large dynamic orbit change according to claim 4, characterized in that, The interval between applying the satellite approach velocity increment and applying the correction velocity increment Different values ​​yield different final correction rate increments. .

6. The high-precision error correction method for the most fuel-efficient large dynamic orbit change according to claim 5, characterized in that, Apply the final corrected velocity increment to the satellite, recalculate the application time of the dwell velocity increment and the dwell maneuver velocity increment, and complete the dwell maneuver at the recalculated application time of the dwell velocity increment, including: exist At that moment, the final corrected velocity increment is applied to the satellite. ,in, This indicates the time when the approach velocity increment was applied to the satellite or the last time the velocity increment was corrected. This indicates the interval between applying the satellite approach velocity increment and applying the correction velocity increment; and Recalculate the time of application of dwell velocity increment and the incremental speed of stationary maneuver At the moment when the dwell velocity increment is applied Completed stationary maneuvers and large-scale dynamic orbit changes.

7. A high-precision error correction system for maximum fuel efficiency and large dynamic orbit change, used in the high-precision error correction method for maximum fuel efficiency and large dynamic orbit change according to any one of claims 1 to 6, characterized in that, include: The Hohmann transfer iterative extrapolation module is configured to calculate the pulse maneuver velocity increment through Hohmann transfer, perform extrapolation using a high-precision orbit propagation model, and iteratively calculate the approach velocity increment, wherein the iterative calculation uses the orbit change altitude error threshold as the convergence condition. The dwelling maneuver optimization module is configured to apply the approach velocity increment to the satellite. Based on the CW equation, combined with lateral drift velocity control and elliptical semi-axis convergence condition, it calculates the dwelling velocity increment application time and dwelling maneuver velocity increment within the set extrapolation time boundary. The velocity increment correction module is configured to extrapolate the expected dwell point position based on the dwell velocity increment application time, iteratively calculate, and obtain the final corrected velocity increment; and The dwell maneuver completion module is configured to apply the final corrected velocity increment to the satellite, recalculate the dwell velocity increment application time and dwell maneuver velocity increment, and complete the dwell maneuver at the recalculated dwell velocity increment application time, thereby achieving high-precision dwelling of the satellite after large dynamic orbit change of the target.

8. An electronic device, characterized in that, include: A processor, configured to execute machine-readable instructions; A graphics card configured to train the most fuel-efficient, high-precision error correction method for large dynamic orbit changes as described in any one of claims 1 to 6; 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 high-precision error correction method for the most fuel-efficient large dynamic orbit change according to any one of claims 1 to 6.

9. 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 high-precision error correction method for the most fuel-efficient large dynamic orbit change as described in any one of claims 1 to 6.

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