CN-117842387-B - Semi-autonomous orbit maintenance task planning method and system using electric propulsion

CN117842387BCN 117842387 BCN117842387 BCN 117842387BCN-117842387-B

Abstract

The invention provides a semi-autonomous orbit maintenance task planning method and system using electric propulsion, wherein the method comprises the steps of autonomously calculating the total working duration and working times of a thruster on a satellite and generating a continuous multi-orbit maintenance task sequence when the thruster works each time after the ground starts autonomous orbit maintenance task planning, inserting the continuous multi-orbit maintenance task sequence into a task queue of the whole satellite, and sequentially executing the continuous multi-orbit maintenance task sequence according to time. The invention solves the problem of planning the autonomous orbit maintenance task under the condition of configuring the electric thruster by the satellite.

Inventors

ZHANG JIAN
WANG JINGSHI
RAO QILONG
LIU MINGXING
SHEN YUHAO
Zhao Xunyou

Assignees

上海卫星工程研究所

Dates

Publication Date: 20260508
Application Date: 20231208

Claims (3)

1. A semi-autonomous orbit maintenance task planning method using electric propulsion is characterized by comprising the steps of generating a continuous multi-orbit maintenance task sequence by autonomously calculating the total working duration, the working times and the working time of a thruster on a satellite after the ground starts autonomous orbit maintenance task planning, inserting the continuous multi-orbit maintenance task sequence into a task queue of the whole satellite and sequentially executing the continuous multi-orbit maintenance task sequence according to time; the method comprises the following steps: Step S1, after a ground surface injection instruction starts on-board autonomous orbit maintenance task planning, calculating an average orbit number at a corresponding moment according to the current orbit number, and recursively obtaining the last star reaching a remote place; S2, calculating a difference value between a horizontal semi-long axis of an orbit and a horizontal semi-long axis of a nominal orbit at the current moment, and combining the satellite mass and an orbit height value of unit time lifting obtained by the characteristics of an electric thruster, and dividing and upwards rounding the two values to obtain the total air injection duration; S3, calculating the allowable working time length of the electric push monorail according to satellite energy; Step S4, calculating the number of times of electric propulsion required work according to the total air injection time and the work time allowed by the monorail; s5, generating a continuous multi-track maintenance task sequence according to the moment of the nearest remote place, the frequency of electric propulsion work and the time length of single track work, and inserting the continuous multi-track maintenance task sequence into a task queue of the whole star; in the step S1, the average number of tracks at the current moment is calculated, and the expression of the time of the last star reaching the distant and near points in turn is calculated as follows: (1) Wherein: when the number of the current track corresponds to the number of the satellites, the unit s; The gravitational constant is 3.98600436 X10 14 m 3 /s 2 ; a. M is the average semi-long axis and the average near point angle of the track at the current moment, and the units are M and rad respectively; in the step S2, the expression for calculating the total jet duration is as follows: (2) Wherein: the unit is m, which is the nominal orbit semi-long axis and the average semi-long axis of the current orbit respectively; controlling the lifting amount relative to the nominal track for each track by a unit of m; the method is characterized in that the track height (m/s) of the ground, which can be lifted in unit time according to the thrust and specific impulse of a thruster and the mass calibration of a satellite, is measured; In the step S3, the ground calculates the maximum time length T c of the allowable single-rail operation of the electric thruster according to the capacity of the storage battery on the satellite, the solar wing area, the power consumption of the satellite platform, the power consumption of the electric propulsion operation, the illumination of the satellite orbit and the ground shadow time; in the step S4 of the above-mentioned process, According to the total working time of the thruster and the allowable working time of the monorail, the number of times of the thruster working is calculated: (3) Wherein: to allow for a number of consecutive openings; in the step S5, the generated track maintenance sequence is as follows: t 1 -Tc/2-T1+Tc/2, 1 st ignition; T2-Tc/2-T2+Tc/2, igniting for the 2 nd time; T3-Tc/2-T3+Tc/2, and igniting for the 3 rd time; Tn-Tc/2 to Tn+Tc/2, and igniting for the nth time; Wherein, T 1 =Ta is the star time corresponding to the nearest track remote point in turn; t 2 =T 1 +m×T is the middle star time corresponding to the 2 nd ignition; t 3 =T 2 +m×T is the middle star time corresponding to the 3 rd ignition; T n =T n-1 +m×T is the middle star time corresponding to the nth ignition; T is the track period, with ; M is the number of orbit turns which need to be spaced between two adjacent ignition steps and is related to satellite energy balance; Based on the energy balance of the electric propulsion track maintenance process, collision judgment is required to be carried out on ground injection and autonomous planning electric propulsion tasks and business tasks when the autonomous generated electric propulsion tasks are inserted into a task queue of the whole satellite; The judgment rule comprises: front and rear of electric pushing task No imaging, data transmission or other track maintenance tasks exist in the track period, and then an instruction queue is inserted; -if front and back Other business or track maintenance tasks exist in the track period, and the current task is abandoned.
2. The semi-autonomous orbit maintenance task planning method using electric propulsion according to claim 1, wherein the expression of the total number of times of the electric thruster switch for orbit maintenance in the whole life cycle of the satellite is calculated according to the orbit height to be lifted and the single working time during the whole life cycle of the satellite: (4) Wherein: the track height attenuation values corresponding to the high, middle and low years of solar activity are respectively given in units of m; the times of solar activity in the high, middle and low years are respectively in the whole design life of the satellite.
3. A semi-autonomous orbit maintenance task planning system using electric propulsion, which system, when running, performs the semi-autonomous orbit maintenance task planning method using electric propulsion according to claim 1 or 2, comprising: the module M1 is used for calculating the average track number at the corresponding moment according to the current track number after the on-board autonomous track maintenance task planning is started by the ground on-board injection command, and recursively obtaining the last satellite reaching the remote site; The module M2 is used for calculating the difference value between the orbit flat half long axis at the current moment and the nominal orbit flat half long axis, and obtaining the orbit height value which is obtained by combining the satellite mass and the electric thruster characteristic and is lifted in unit time, and dividing and upwards rounding the two values to obtain the total air injection duration; The module M3 calculates the allowable working time length of the electric push monorail according to satellite energy; The module M4 calculates the number of times of electric propulsion required work according to the total air injection time length and the work time length allowed by the monorail; and a module M5, generating a continuous multi-track maintenance task sequence according to the moment of the nearest remote place, the frequency of electric propulsion work and the time length of single track work, and inserting the continuous multi-track maintenance task sequence into a task queue of the whole satellite.

Description

Semi-autonomous orbit maintenance task planning method and system using electric propulsion Technical Field The invention relates to the field of satellite autonomous mission planning, in particular to a semi-autonomous orbit maintenance mission planning method and system using electric propulsion. Background With the increasing frequency of aerospace activities, satellite constellation emission often requires one arrow with multiple satellites, strict requirements are put on the weight of a single satellite of a satellite, meanwhile, requirements on the service life of the satellite are also longer and longer, and more fuel needs to be filled in traditional chemical propulsion to meet the requirement of long service life. In order to improve the satellite load ratio, meet the long service life and the emission requirement of one arrow with multiple satellites, electric propulsion gradually becomes a satellite preference. Compared with chemical propulsion, the electric propulsion ratio is high, but the electric propulsion ratio is low, the power consumption is high, and the track maintenance task can be realized by multiple times of starting. The ground control is adopted only, so that the workload is large, the occupied measurement and control resources are large, and an autonomous orbit maintenance task planning function on the satellite needs to be designed. In the chinese patent document with publication number CN201710179460.9, a method for autonomous orbit control of a low-orbit remote sensing satellite is disclosed, which does not need to consider the problems of multiple times, multiple orbits and task conflict, and is not suitable for long-term orbit maintenance based on electric propulsion. In chinese patent publication CN201610898405.0, a method for controlling the maintenance of a track based on a chemical thruster is disclosed, which is based on the deviation of a semi-long axis, and the track lifting is realized by single thruster opening, which is greatly different from the electric propulsion control strategy. In the Chinese patent document with the publication number of CN2015110836995. X, a combined control method for maintaining synchronous orbit electric propulsion and unloading angular momentum is disclosed, and an autonomous orbit maintenance calculation method suitable for a plurality of electric thrusters of an angle adjustment mechanism is designed. In the Chinese patent document with the publication number of CN201410190625.9, a position maintaining method of an electric propulsion stationary orbit satellite is disclosed, and a control method for realizing the control of orbit inclination angle, eccentricity and flat longitude drift rate by using four thrusters is disclosed. Liu Ji et al in paper "a low orbit constellation high precision phase holding method" (astronomy report, 2021,42 (11)) disclose a high precision phase holding technique based on limit cycles, which can realize the control of satellite orbit height and eccentricity, but the influence of atmospheric resistance on satellite orbit height needs to be estimated, so as to obtain the corresponding relation of latitude amplitude angle and semi-long axis change. Meanwhile, an electric push track maintenance planning strategy under the condition of energy limitation is not given in the paper. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide a semi-autonomous orbit maintenance task planning method and system using electric propulsion. The semi-autonomous orbit maintenance task planning method using electric propulsion comprises the steps of autonomously calculating the total working duration and working times of a thruster on a satellite and generating a continuous multi-orbit maintenance task sequence when the thruster works each time after the ground starts autonomous orbit maintenance task planning, inserting the continuous multi-orbit maintenance task sequence into a task queue of the whole satellite, and sequentially executing the continuous multi-orbit maintenance task sequence according to time. Preferably, the method comprises the steps of: Step S1, after a ground surface injection instruction starts on-board autonomous orbit maintenance task planning, calculating an average orbit number at a corresponding moment according to the current orbit number, and recursively obtaining the last star reaching a remote place; S2, calculating a difference value between a horizontal semi-long axis of an orbit and a horizontal semi-long axis of a nominal orbit at the current moment, and combining the satellite mass and an orbit height value of unit time lifting obtained by the characteristics of an electric thruster, and dividing and upwards rounding the two values to obtain the total air injection duration; S3, calculating the allowable working time length of the electric push monorail according to satellite energy; Step S4, calculating the number of times of electric propulsion requ