CN-121430588-B - On-orbit establishment method and device for initial value of spacecraft attitude orbit navigation

CN121430588BCN 121430588 BCN121430588 BCN 121430588BCN-121430588-B

Abstract

The invention provides an on-orbit establishing method and device for a spacecraft attitude orbit navigation initial value, which belong to the technical field of spacecraft navigation and comprise the steps of designing a single product configuration scheme and a single installation layout scheme of a navigation system, judging whether the single product configuration scheme and the single installation layout scheme are successfully separated from a parent platform, damping self angular velocity, carrying out slow rotation search around two axes of a body to initially establish an inertial system attitude initial value, carrying out slow rotation search around the two axes of the body to initially establish an earth fixed connection position velocity initial value, carrying out attitude maneuver based on the inertial system attitude initial value and the earth fixed connection position velocity initial value, adjusting the attitude to a final stable direction capable of capturing the attitude and the position velocity simultaneously, and calculating the position velocity and the attitude result under an expected reference system according to the attitude and the position velocity result to serve as the final inertial navigation initial value. The invention can realize the capability of automatically establishing inertial navigation attitude, position and speed initial values on orbit without providing a software and hardware interface for information transmission between the spacecraft and the release parent platform.

Inventors

HUANG XINGHONG
SONG YUQI
WEI DONGHUA
WANG FEIYANG
FANG ZHEN
CAO KAI
YANG WEIQI

Assignees

深空探测实验室(天都实验室)

Dates

Publication Date: 20260512
Application Date: 20251230

Claims (7)

1. The on-orbit establishing method for the initial value of the attitude orbit navigation of the spacecraft is characterized by comprising the following steps: Step S110, designing a single product configuration scheme of the navigation system; step S120, designing a single-machine installation layout scheme of the navigation system; Step S130, after finishing the configuration and layout of the single machine, the spacecraft judges whether the spacecraft is successfully separated from the mother platform or not; step 140, after confirming separation, damping the angular velocity of the spacecraft; Step S150, slowly rotating the spacecraft around two axes of the body to search, and initially establishing an initial value of the inertial system posture; step 160, slowly rotating the spacecraft around two axes of the body to search, and initially establishing an initial value of the position and speed of the earth fixedly connected system; Step S170, performing attitude maneuver based on the inertial system attitude navigation calculation result at the current moment and the initial value of the earth fixed connection position speed, and adjusting the attitude to a final stable orientation capable of capturing the attitude and the position speed at the same time; Step S180, calculating the position speed and the attitude result under the expected reference frame according to the attitude and the position speed result in the step S170, and taking the position speed and the attitude result as a final inertial navigation initial value; wherein, step S110 includes: Step S110-1, configuring an inertial measurement device consisting of a gyroscope with triaxial angle increment measurement capability for realizing an inertial attitude navigation function; step S110-2, configuring a star sensor for realizing the gesture searching function; Step S110-3, configuring a GNSS navigation receiver for realizing a position and speed searching function, wherein the configured navigation receiver has receiving sensitivity corresponding to the navigation signal intensity of the track height when released; Step S110-4, configuring a low-speed gesture control executing mechanism for realizing gesture and position and speed signal searching function, wherein the configured executing mechanism has three-axis gesture maneuvering control capability; Step S150 includes: step S150-1, designing a rotation axis, namely recording unit direction vector of the optical axis of the star sensor as The +X axis direction vector of the spacecraft system is Design the rotation axis 、 The following are provided: ; Step S150-2, designing the slow rotation angular velocity, namely designing the rotation angular velocity of the space search to be as follows ; Step S150-3, performing slow rotation search, namely taking the current gesture as an initial state, and sequentially winding according to the designed angular speed under the action of a gesture maneuvering control law 、 Slowly rotating for one circle, completing and immediately exiting the current step when the star sensor outputs the effective gesture in the rotating process, and when the star sensor winds 、 After the slow rotation is completed for one circle, the star sensor still does not output the effective gesture, and then the slow rotation search is continuously executed in the same rotation direction and angular speed until the effective gesture is successfully output; winding machine 、 The attitude control law of the axial slow rotation maneuver is designed as follows: ; Wherein, the For spacecraft attitude angular velocity calculated from gyroscopic measurements, 、、 Is a proportional control coefficient; s150-4, calculating the relative inertial system attitude of the spacecraft according to the attitude output by the star sensor and the relative spacecraft installation matrix of the star sensor; s150-5, performing inertial attitude navigation calculation by taking the relative inertial system attitude of the spacecraft calculated by the star sensor output as an initial value; Step S160 includes: step S160-1, designing rotation axis, namely, respectively performing full rotation along two axes perpendicular to the central direction of the GNSS navigation receiver antenna beam during position and speed searching, and designing rotation axis 、 The +Y and +X axes of the spacecraft system are respectively: ; Wherein, the Is the +X axis direction vector of the spacecraft system, Is the +Y axis direction vector of the spacecraft system; Step S160-2, designing the slow rotation angular velocity, namely designing the rotation angular velocity of navigation signal search to be as follows ; Step S160-3, performing slow rotation search.
2. The method for establishing the initial value of the orbit navigation for the attitude of the spacecraft according to claim 1, wherein the step S120 comprises: Step S120-1, designing the installation layout of an inertial measurement device, namely installing and laying out a three-axis gyroscope in a conventional manner to enable all axes of the gyroscope to be parallel to all axes of a spacecraft system correspondingly; Step S120-2, designing the installation layout of the star sensor, namely designing the installation direction of the star sensor to enable an optical axis to deviate to the direction of minus Z along an included angle of 45 degrees with the XOY plane of the spacecraft system; s120-3, installing and layout design of a GNSS navigation receiver, namely, when only one antenna is configured, enabling the beam center of the antenna of the GNSS navigation receiver to point to the-Z direction of a spacecraft system, and when a plurality of antennas are configured, enabling the beam center of one antenna to point to the-Z direction of the spacecraft system; and step 120-4, designing the installation layout of the low-speed gesture control executing mechanism, wherein the installation layout of the low-speed gesture control executing mechanism is provided with the three-axis gesture control capability.
3. The method for establishing the initial value of the attitude orbit navigation of the spacecraft according to claim 2, wherein the step S130 comprises the steps of directly giving a separation signal by a travel switch when the spacecraft is provided with the travel switch, otherwise, if the attitude control engine is provided, performing judgment by adopting the attitude control engine to start the pilot injection and measuring the angular velocity increment generated by the excitation, and when the attitude control engine is not provided, performing the angular velocity excitation by adopting an attitude control executing mechanism and completing the separation judgment according to the measured actual angular velocity increment.
4. The method for on-orbit establishment of an initial value for orbit navigation in attitude of a spacecraft according to claim 3, wherein step S140 comprises: Method for completing three-axis angle increment measurement of spacecraft by using gyroscope And calculate the corresponding triaxial angular velocity : ; Wherein, the Sampling period for gyroscopic measurement; the angular increment of the spacecraft about the axis of the body X, Y, Z, The angular velocity of the spacecraft around the axis X, Y, Z of the body is respectively the following proportional control law about the angular velocity is adopted to carry out the command moment And (3) calculating: ; Wherein, the 、、 And finally, the low-speed attitude control executing mechanism configured by the system finishes the actual control moment output and finally finishes the angular velocity rate damping task.
5. The on-orbit establishing device for the initial value of the attitude orbit navigation of the spacecraft is characterized by comprising the following modules: the inertial attitude navigation module is used for measuring the triaxial angle increment and performing inertial attitude navigation calculation; the starlight attitude capturing and measuring module is used for capturing and identifying fixed stars and calculating the relative inertial system attitude of the spacecraft; the satellite navigation module is used for receiving satellite navigation signals and calculating the position and speed of the spacecraft; The control module is used for controlling the spacecraft to realize angular rate damping, slow rotation of the body around a designated axis or pointing to a desired gesture direction based on the execution result of the calculation module; A calculation module for executing the spacecraft attitude orbit navigation initial value on-orbit establishment method according to any one of claims 1-4.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the spacecraft attitude orbit navigation initial value on-orbit establishment method according to any one of claims 1-4 when executing the program.
7. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements the spacecraft attitude orbit navigation initial value on-orbit establishment method according to any one of claims 1-4.

Description

On-orbit establishment method and device for initial value of spacecraft attitude orbit navigation Technical Field The invention belongs to the technical field of spacecraft navigation, and particularly relates to an on-orbit establishment method and device for initial value of spacecraft attitude orbit navigation. Background Acquiring the attitude and orbit navigation information of the spacecraft through the navigation technology and the system is a basic precondition for controlling the flight of the spacecraft, and inertial navigation is the most widely applied navigation technology in the current engineering, and almost all the spacecraft uses the inertial navigation as the basic configuration of the spacecraft. The measurement mode of inertial navigation has important advantages of not depending on an external artificial information source, but because the measurement mode is used for navigation by measuring angle increment and speed increment and then integrating and accumulating, the acquisition of initial values of angle and position speed is a necessary condition for the navigation calculation. How to acquire the initial navigation state is called initial alignment in the technical field of inertial navigation, and is one of important research contents of inertial navigation. The traditional initial value establishment of the spacecraft inertial navigation mainly comprises two modes, namely, a ground measurement and initiation control system obtains initial values of the attitude through a third party measurement means or the measurement and calculation of the spacecraft based on a ground static state through a sensor thereof before the spacecraft takes off along with a carrier, the initial values of the position and the speed are calculated by combining accurate geographic position information, time setting information and the like of a launching field, the initial values are bound to a spacecraft navigation system, the whole spacecraft in the whole carrier flight section after taking off is powered on and continuously navigated, then the attitude and the position and the speed of the spacecraft are recorded at the moment of separating a satellite and an arrow and used as initial values of the on-orbit navigation, and the other mode is a method of transmitting the initial values of the attitude and the position and the speed to the spacecraft navigation system through a navigation reference, namely, when the satellite and the arrow are separated, the spacecraft receives the initial values of the motion and takes the initial values of the attitude and the initial values of the position and starts the on-orbit navigation. In the method, the first method needs to be in a power-on state before the spacecraft takes off and keeps continuous power-on and navigation calculation in a carrier flight section, and the second method needs to carry out data interaction between the spacecraft and the carrier, and needs to have software and hardware interface support between the spacecraft and the carrier, so that the weight, the cost and the complexity of the whole system are increased, and the reliability of the system is reduced. For a spacecraft which is only in mechanical interface with a carrier or a releasing mother platform (hereinafter referred to as a mother platform), the spacecraft is powered on after being separated from the mother platform, no prior information exists on the spacecraft during power-on, the spacecraft belongs to the cold start category, and under the condition, the prior art scheme cannot realize the establishment of initial values of gestures and orbits. A potential approach is to perform navigation initial value self-search by configuring products such as astronomical navigation equipment and GNSS navigation receivers for a spacecraft, however, due to the influence of separation interference, the spacecraft is always in an unstable and uncertain state of rolling at a larger angular speed after being released, and each navigation product needs a stable working environment and certain conditions such as a certain pointing requirement for normal operation and outputting navigation information, so that how to design a set of navigation system with reasonable configuration and design a navigation initial value establishment algorithm with clear logic and high reliability for the navigation system is an important practical significance for improving the autonomy and the reliability of a space mission. Disclosure of Invention In order to solve the technical problems, the invention provides the on-orbit establishing method and the device for the initial value of the attitude orbit navigation of the low-orbit spacecraft, and by adopting the device and the method, the capability of automatically establishing the initial value of the inertial navigation attitude, the position and the speed on the orbit can be realized without providing a software and hardware interface for information transm