CN-121158254-B - Spacecraft intersection butt joint method and device based on step-by-step track lifting phase modulation control

CN121158254BCN 121158254 BCN121158254 BCN 121158254BCN-121158254-B

Abstract

The invention discloses a spacecraft rendezvous and docking method and device based on step-by-step track lifting phase modulation control, and relates to the technical field of spaceflight, wherein the spacecraft rendezvous and docking method comprises the following steps: the method comprises the steps of determining a coplanar phase difference between a target spacecraft corresponding to each emission window and a visiting spacecraft based on a preset emission window range, determining a phase error reference based on a determined date, determining a target emission window from the preset emission window range based on the coplanar phase difference, the phase error reference and the target phase difference, and emitting the visiting spacecraft in the target emission window based on a step-by-step track lifting phase modulation control strategy. The invention solves the technical problem of lower phase modulation control efficiency caused by the fact that a transmitting window cannot be accurately determined in the aerospace vehicle intersection butt joint task in the related art.

Inventors

HAO DAGONG
LI BIN
CHEN MING
LI GEFEI
SHENG QINGXUAN
CHEN LIDAN
LIU CHENGJUN
MA CHUANLING
XU HAITAO
YE KAI
WANG JIAYU

Assignees

北京航天飞行控制中心

Dates

Publication Date: 20260512
Application Date: 20250828

Claims (10)

1. The spacecraft rendezvous and docking method based on the step-by-step track lifting phase modulation control is characterized by comprising the following steps of: Determining a coplanar phase difference between a target spacecraft and a visiting spacecraft corresponding to each emission window based on a preset emission window range, wherein the preset emission window range comprises a plurality of emission windows, the emission windows are dates on which the visiting spacecraft is emitted, and the visiting spacecraft is a spacecraft which is in intersection butt joint with the target spacecraft; Determining a phase error reference based on a determination date, wherein the determination date is used for determining the time of launching the visiting spacecraft, and the phase error reference at least comprises a forecast error and a collision avoidance impact quantity; Determining a target emission window from the preset emission window range based on the coplanar phase difference, the phase error reference and a target phase difference, wherein the target phase difference is a phase difference when the visiting spacecraft is in intersection butt joint with the target spacecraft; And transmitting the visiting spacecraft in the target transmitting window based on a step-by-step track lifting phase modulation control strategy, wherein the step-by-step track lifting phase modulation control strategy is used for controlling the orbit parameters of the target spacecraft so as to enable the visiting spacecraft to be in intersection and butt joint with the target transmitting window.
2. The spacecraft rendezvous and docking method according to claim 1, wherein the step of determining a coplanar phase difference between the target spacecraft and the visiting spacecraft corresponding to each emission window based on a preset emission window range comprises: Determining a coplanar moment, wherein the coplanar moment is a moment of launching the visiting spacecraft; For each of the emission windows, determining a first phase of the visiting spacecraft at the coplanar time instants of the emission windows and a second phase of the target spacecraft at the coplanar time instants of the emission windows; the coplanar phase difference corresponding to each emission window is determined based on the first phase and the second phase.
3. The spacecraft rendezvous and docking method according to claim 2, wherein the step of determining the coplanar moments comprises: determining the right ascent and descent of a first ascent intersection point of the visiting spacecraft on an instantaneous true equator coordinate system; transforming the first intersection point right ascent and descent to obtain a second intersection point right ascent and descent of the visiting spacecraft on an inertial coordinate system; Determining a virtual coplanarity condition, wherein the virtual coplanarity condition refers to a condition that a virtual target plane of the target spacecraft orbit is coplanar with an orbit plane of the visiting spacecraft orbit, and the virtual target plane refers to a plane considering a rising intersection point drift difference; and determining the coplanarity moment based on the virtual coplanarity condition and the right ascent and descent of the second intersection point.
4. The spacecraft rendezvous docking method according to claim 1, wherein the step of determining a phase error reference based on a determination date comprises: Determining a preset range in which the determined date is located, and determining the avoidance control times based on the preset range; determining the collision avoidance impact quantity during each avoidance control based on the average number of turns per day of the target spacecraft and the running speed of the target spacecraft; and determining the phase error reference based on the prediction error and the collision avoidance impact quantity during each avoidance control.
5. The spacecraft rendezvous and docking method according to claim 4, wherein before determining the phase error reference based on the prediction error and the collision avoidance impact amount at each avoidance control, further comprising: constructing an atmosphere resistance model, wherein the atmosphere resistance model at least comprises an atmosphere density variable, an atmosphere resistance coefficient, an equivalent area variable and a spacecraft motion vector; and determining the forecast error by adopting the atmospheric resistance model based on the perturbation factor magnitude of the spacecraft.
6. The spacecraft rendezvous docking method according to claim 1, wherein the step of determining a target emission window from within the preset emission window range based on the coplanar phase difference, the phase error reference and a target phase difference, comprises: Determining the sum of the phase error reference and the target phase difference to obtain a comparison phase difference; screening candidate coplane phase differences larger than the comparison phase difference from all the coplane phase differences to obtain a candidate coplane phase difference set; determining an absolute difference between each of the candidate coplanar phase differences and the comparison phase difference; determining the candidate coplanar phase difference indicated by the minimum absolute difference as a target coplanar phase difference, and determining the emission window indicated by the target coplanar phase difference as the target emission window.
7. The spacecraft rendezvous docking method according to claim 1, further comprising, prior to transmitting the visiting spacecraft in the target transmission window based on a step-by-step elevation phasing control strategy: determining a first relationship between the orbital phase and the orbital angular velocity and time of flight, wherein the orbital phase is determined based on the orbit semi-major axis; determining a second relationship between the track phase change and the track semi-major axis change based on the first relationship; determining a third relationship between the track phase change and the velocity delta based on the second relationship and the relationship between the track semi-major axis change and the velocity delta; and constructing a phase modulation control model based on the first relation, the second relation and the third relation.
8. The spacecraft rendezvous and docking method of claim 7 wherein the step of launching the visiting spacecraft at the target launch window based on a step-wise elevation phasing control strategy comprises: Determining a phase modulation control multi-constraint condition, wherein the phase modulation control multi-constraint condition at least comprises a phase difference constraint condition, an eccentricity constraint condition and a semi-long axis constraint condition; determining a nonlinear programming variable based on the phase modulation control model, wherein the nonlinear programming variable comprises a plurality of the orbit parameters; And adjusting the orbit parameters based on the phase modulation control multi-constraint condition so that the phase difference when the visiting spacecraft is intersected and butted with the target emission window is equal to the target phase difference.
9. Spacecraft rendezvous and docking device based on step-by-step track lifting phase modulation control, and is characterized by comprising: The system comprises a first determining unit, a second determining unit and a third determining unit, wherein the first determining unit is used for determining the coplanarity phase difference between a target spacecraft and a visiting spacecraft corresponding to each emission window based on a preset emission window range, and the preset emission window range comprises a plurality of emission windows, wherein the emission windows are dates for emitting the visiting spacecraft; The second determining unit is used for determining a phase error reference based on a determining date, wherein the determining date is used for determining the time for transmitting the visiting spacecraft; A third determining unit, configured to determine a target emission window from the preset emission window range based on the coplanar phase difference, the phase error reference, and a target phase difference, where the target phase difference is a phase difference when the visiting spacecraft is in intersection and butt joint with the target spacecraft; The transmitting unit is used for transmitting the visiting spacecraft in the target transmitting window based on a step-by-step track lifting phase modulation control strategy, wherein the step-by-step track lifting phase modulation control strategy is used for controlling the orbit parameters of the target spacecraft so as to enable the visiting spacecraft to be in intersection butt joint with the target transmitting window.
10. An electronic device comprising one or more processors and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the step-by-step elevated rail phasing control-based spacecraft interfacing method of any one of claims 1 to 8.

Description

Spacecraft intersection butt joint method and device based on step-by-step track lifting phase modulation control Technical Field The invention relates to the technical field of aerospace, in particular to a spacecraft rendezvous and docking method and device based on progressive track lifting phase modulation control. Background In the meeting butt joint task, after the visiting spacecraft is separated from the rocket under the limitation of rocket carrying capacity, the visiting spacecraft is positioned on a lower orbit relative to the target spacecraft. The visiting spacecraft operates on a lower orbit, the angular speed of the orbit is far greater than that of the target spacecraft, and the visiting spacecraft gradually approaches the target spacecraft in the long-distance guiding process after orbit entering, and enters a catching process. Aiming at different long-distance guiding processes, firstly, a suitable phase difference is needed to provide a space for the ascending track long-distance guiding of a visiting spacecraft, secondly, the phase difference is tightly coupled with the orbit height and the intersection butt joint time of a target spacecraft, the phase difference matched with a long-distance guiding strategy is needed on the premise of defining the intersection butt joint time, and finally, the uncertainty of the intersection time is considered, the target spacecraft is needed to be on an absolute circular orbit to deal with the conditions of deferring intersection butt joint and the like. Therefore, aiming at the current various meeting butt joint modes, the orbit height, the eccentricity and the phase difference of the target spacecraft are required to be strictly matched at the orbit entering moment of the visiting spacecraft. In order to meet the requirements of the visiting spacecraft on the target orbit, a phase modulation control strategy is generally designed for the transmitting window of the visiting spacecraft before transmitting. In the related art, a transmitting window is generally planned according to orbit parameters of a target spacecraft and predicted space environment conditions before transmitting, so as to achieve an expected phase difference, thereby realizing phase modulation control in subsequent orbit adjustment. However, the related art has difficulty in sufficiently considering factors such as uncertainty of a space environment, influence of collision avoidance, requirement of long-term track maintenance, and the like, so that an emission window cannot be accurately determined, and thus efficiency and effect of phase modulation control are low, resulting in unnecessary consumption of propellant. In view of the above problems, no effective solution has been proposed at present. Disclosure of Invention The embodiment of the invention provides a spacecraft rendezvous and docking method and device based on gradual track lifting phase modulation control, which at least solve the technical problem that the phase modulation control efficiency is low because a transmitting window cannot be accurately determined in a spacecraft rendezvous and docking task in the related art. According to one aspect of the embodiment of the invention, a spacecraft intersection butt joint method based on step-by-step track lifting phase modulation control is provided, and the method comprises the steps of determining a coplanar phase difference between a target spacecraft corresponding to each emission window and a visiting spacecraft based on a preset emission window range, wherein the preset emission window range comprises a plurality of emission windows, the emission windows are dates for emitting the visiting spacecraft, the visiting spacecraft is a spacecraft which is in intersection butt joint with the target spacecraft, determining a phase error reference based on the determined dates, wherein the determined dates are dates for determining the time of emitting the visiting spacecraft, the phase error reference at least comprises a prediction error and a collision avoidance influence amount, determining a target emission window from the preset emission window range based on the coplanar phase difference, the phase error reference and the target phase difference, and emitting the visiting spacecraft in the target emission window range based on a step-by-step track lifting phase modulation control strategy, and emitting the visiting spacecraft in the target emission window, wherein the step-by-step track lifting phase modulation control strategy is used for controlling orbit parameters of the target spacecraft so that the visiting spacecraft is in intersection butt joint with the target emission window. Further, the step of determining the coplanar phase difference between the target spacecraft and the visiting spacecraft corresponding to each emission window based on the preset emission window range comprises the steps of determining the coplanar moment, wherein the coplanar moment i