CN112572836A - Method for selecting net capture load emission window based on discarded satellite attitude nutation characteristic - Google Patents

Abstract

The invention relates to a method for selecting a net capture load emission window based on the attitude nutation characteristic of a waste satellite, belonging to the technical field of satellite net capture waste satellites; step one, extracting a maximum nutation angle theta_maxMinimum nutation angle theta_minAnd a nutation period T; step two, acquiring the launching time t of the net capture load_intWith a target time t_inf(ii) a Calculating the time width T_net＝t_inf‑t_int(ii) a Step three, setting a nutation angle adaptive threshold theta for directly transmitting net capture load without selecting a window_net(ii) a Fourthly, calculating to obtain a nutation angle satisfying theta not more than theta in a single period_netTime width T of_θ＝t_θs‑t_θj(ii) a Step five, determining the time width delta T and the emission time T of the emission window of the net capture load_intAnd a satisfaction condition of the nutation angle theta at the time of emission; the invention provides a method for selecting a launching window according to the attitude nutation rule of the abandoned satellite, the adaptability of the nutation angle of the net-caught load and the time width from the launching moment to the capturing of the net-caught load, and realizes the reliable capturing of the large-attitude nutation abandoned satellite.

Description

Method for selecting net capture load emission window based on discarded satellite attitude nutation characteristic

Technical Field

The invention belongs to the technical field of satellite net-capture waste satellites, and relates to a net-capture load emission window selection method based on the nutation characteristic of the attitude of a waste satellite.

Background

The method for cleaning the track environment is safe and effective by capturing the abandoned satellites by using the net-capture load and dragging the abandoned satellites to the track of the grave. The abandoned satellite in-orbit attitude generally rotates around the axis of maximum inertia thereof and is accompanied by varying degrees of attitude nutation, and the nutation angle is periodically varied, with a maximum nutation angle and a minimum nutation angle. The attitude nutation of the abandoned satellite makes the large-size accessories of the body, such as the tail end position of the solar sailboard, change constantly in space.

According to published data, the current net capture load adopts a direct transmission mode, namely, after the net capture load carried by a satellite approaches to a waste satellite to reach a proper distance, the net capture load is directly transmitted to capture a target, and the problem of transmission window selection is not considered. The direct launching mode can realize reliable capture for the abandoned satellite with stable posture or small posture nutation, but when the posture nutation of the abandoned satellite is large, the nutation of the abandoned satellite can lead the net body to contact the tail end of the large-size accessory of the abandoned satellite body in advance for a period of time during capture, and the net body is wound due to nutation motion, so that the net body configuration is disordered, and the net capture fails. And in addition, due to engineering constraints, the size of the net capture load cannot be infinite, so that the net capture load adopting a direct transmission mode inevitably has a certain nutation angle capture adaptive range, and the direct transmission mode aiming at the abandoned satellite with a large attitude nutation cannot realize capture. Therefore, the emission window needs to be selected according to parameters such as the attitude nutation rule of the abandoned satellite, the nutation angle adaptive capacity of the net-caught load, the time width from the emission moment to the capture of the net-caught load and the like, and the problem that the reliable capture of the abandoned satellite with large attitude nutation cannot be realized due to the direct emission of the net-caught load is solved.

No description or report of related technologies similar to the invention is found at present, and similar data in China are not collected.

Disclosure of Invention

The technical problem solved by the invention is as follows: the method for selecting the emission window of the net capture load overcomes the defects of the prior art, provides a method for selecting the emission window of the net capture load based on the posture nutation characteristic of the abandoned satellite, and realizes the reliable capture of the abandoned satellite in large posture nutation according to the posture nutation rule of the abandoned satellite, the adaptability of the nutation angle of the net capture load and the time width from the emission moment to the capture of the net capture load.

The technical scheme of the invention is as follows:

the method for selecting the net capture load emission window based on the attitude nutation characteristic of the abandoned satellite comprises the following steps:

step one, acquiring a historical attitude nutation rule curve of a waste satellite, and extracting nutation characteristic parameters including a maximum nutation angle theta_maxMinimum nutation angle theta_minAnd a nutation period T;

step two, acquiring the emission time t of the net capture load according to the historical data of the abandoned satellite_intWith a target time t_inf(ii) a Calculating the time width T from the self-emission moment of the net-captured load to the captured target_net＝t_inf-t_int；

Step three, setting a nutation angle adaptive threshold theta for directly transmitting net capture load without selecting a window_net；

Step four, nutating a rule curve according to the historical attitude of the abandoned satellite in the step one; let the nutation angle theta equal to theta in a single period_netWill nutate the angular rate of change

The time less than zero is denoted as t_θjWill nutate the angular rate of change

The time greater than zero is denoted t_θs(ii) a And will t_θsRecording as the end time of the single nutation period; the calculated nutation angle in the single period satisfies the condition that theta is less than or equal to theta_netTime width T of_θ＝t_θs-t_θj；

Step five, according to the nutation period T and the time width T from the self-emission moment of the net capture load to the capture target_netThe nutation angle in the sum single period satisfies that theta is less than or equal to theta_netTime width T of_θDetermining the time width delta T and the emission time T of the emission window of the net capture load_intAnd the satisfaction condition of the nutation angle theta at the time of emission.

In the method for selecting the net capture load emission window based on the attitude nutation characteristic of the waste satellite, in the first step, a historical attitude nutation rule curve of the waste satellite is obtained through a three-dimensional reconstruction and motion characteristic identification method; as known from satellite attitude momentum theory, the nutation angle is periodically changing, with a maximum nutation angle and a minimum nutation angle.

In the third step of the method for selecting the emission window of the net capture load based on the attitude nutation characteristic of the abandoned satellite, the adaptive nutation angle threshold theta for directly emitting the net capture load without selecting the window_netThe satisfying conditions are as follows:

θ_min≤θ_net≤θ_max

and sin (theta)_net+θ_ε)≤2×λ×V×T_s÷L

In the formula, lambda is a value safety coefficient, and lambda is 0.4-0.6;

l is the envelope size of the in-orbit abandoned satellite; l is less than or equal to 40 m;

v is the flying speed when the net-caught load contacts the waste satellite, and V is more than or equal to 6 m/s;

T_stime for closing net mouth for net catching load，T_sLess than or equal to 1.5 s;

θ_εan error is identified for the nutation angle, less than or equal to 3 °.

In the fifth step of the selection method of the net capture load emission window based on the discarded satellite attitude nutation characteristic, the time width delta T and the emission time T of the net capture load emission window are determined_intAnd the nutation angle theta during emission is as follows:

s1, when T_net≤T_θWhen, i.e. 1 emission window per nutation period, the time width of the emission window, Δ T, is T_θ-T_net(ii) a Emission time t_intSatisfies the condition t_θj≤t_int≤t_θj+T_θ-T_net(ii) a The nutation angle theta at the time of emission satisfies the condition theta (t)_θj+T_θ-T_net)≤θ≤θ_net(ii) a Wherein, θ (t)_θj+T_θ-T_net) Represents t_θj+T_θ-T_netA nutation angle of the obsolete satellite at time;

s2, when T_θ<T_net<0.5×(T_θ+ T), the emission window time width Δ T ═ T-T_netTime of transmission t_intSatisfies the condition 0. ltoreq. t_int≤t_θs-T_net(ii) a Nutation angle theta and rate of change of nutation angle at launch

Satisfies the conditions

S3, 0.5X (T)_θ+T)≤T_netWhen T is less than or equal to T, the time width Delta T of the emission window is T-T_netTime of transmission t_intSatisfies the condition 0. ltoreq. t_int≤t_θs-T_net(ii) a Nutation angle theta and rate of change of nutation angle at launch

Satisfies the conditions

S4, when T_net>At T, each fix (T)_netIntegrating the period by dividing T) +1, wherein each nutation period has 1 emission window; wherein, fix (T)_netDiv T) represents a pair T_netRounding off T, note Δ T_net＝T_net-fix(T_netDiv T) x T; when Δ T is reached_net≤T_θIf so, the judgment is continued by switching to the condition in S1; when T is_θ<ΔT_net<0.5×(T_θ+ T) is converted into the condition in S2, and the judgment is continued; when 0.5 × (T)_θ+T)≤ΔT_netWhen the value is less than or equal to T, the judgment is continued under the condition of S3.

Compared with the prior art, the invention has the beneficial effects that:

(1) the invention provides a method for selecting a net capture load emission window based on the attitude nutation characteristic of a waste satellite, which is provided according to the attitude nutation rule of the waste satellite, the adaptability of the nutation angle of the net capture load and the time width from the emission moment to the capture of the net capture load;

(2) the method provided by the invention solves the problem that the reliable capture of the large-attitude nutation waste satellite cannot be realized by directly launching the net capture load, and provides a prerequisite for the aircraft to remove the space waste satellite by using the net capture load.

Drawings

FIG. 1 is a flowchart of emission window selection in accordance with the present invention;

FIG. 2 shows that T is satisfied by the present invention_net≤T_θA conditional emission window schematic;

FIG. 3 shows that T is satisfied by the present invention_θ<T_net<0.5×(T_θ+ T) conditional emission window schematic;

FIG. 4 shows that the present invention satisfies 0.5 × (T)_θ+T)≤T_netSchematic diagram of emission window under ≦ T condition.

Detailed Description

The invention is further illustrated by the following examples.

The invention provides a method for selecting a net capture load transmitting window based on the attitude nutation characteristic of a waste satellite, which is used for realizing the reliable capture of a large-attitude nutation waste satellite according to the attitude nutation rule of the waste satellite, the adaptability of the nutation angle of the net capture load and the time width from the transmitting moment to the capturing of the net capture load.

The method for selecting the net capture load emission window based on the discarded satellite attitude nutation characteristic specifically comprises the following steps as shown in fig. 1:

step one, acquiring a historical attitude nutation rule curve of a waste satellite, and extracting nutation characteristic parameters including a maximum nutation angle theta_maxMinimum nutation angle theta_minAnd a nutation period T; generally, a three-dimensional reconstruction and motion characteristic identification method is used for obtaining a historical attitude nutation rule curve of a waste satellite; as known from satellite attitude momentum theory, the nutation angle is periodically changing, with a maximum nutation angle and a minimum nutation angle.

Step two, acquiring the emission time t of the net capture load according to the historical data of the abandoned satellite_intWith a target time t_inf(ii) a Calculating the time width T from the self-emission moment of the net-captured load to the captured target_net＝t_inf-t_int(ii) a The time width T is generally obtained by mathematical simulation of the launch and deployment process of the net-capture load_netThe intrinsic characteristic parameter belonging to the net capture load is a constant value.

Step three, setting a nutation angle adaptive threshold theta for directly transmitting net capture load without selecting a window_net(ii) a Adaptive nutation angle threshold theta for direct emission of net-caught loads without selecting windows_netThe satisfying conditions are as follows:

θ_min≤θ_net≤θ_max

and sin (theta)_net+θ_ε)≤2×λ×V×T_s÷L

In the formula, lambda is a value safety coefficient, and lambda is 0.4-0.6;

l is the envelope size of the in-orbit abandoned satellite; l is less than or equal to 40 m;

v is the flying speed when the net-caught load contacts the waste satellite, and V is more than or equal to 6 m/s;

T_stime for completion of closing up of net mouth for net-catching load, T_sLess than or equal to 1.5 s;

θ_εan error is identified for the nutation angle, less than or equal to 3 °.

Step four, nutating a rule curve according to the historical attitude of the abandoned satellite in the step one; let the nutation angle theta equal to theta in a single period_netWill nutate the angular rate of change

The time less than zero is denoted as t_θjWill nutate the angular rate of change

The time greater than zero is denoted t_θs(ii) a And will t_θsRecording as the end time of the single nutation period; the calculated nutation angle in the single period satisfies the condition that theta is less than or equal to theta_netTime width T of_θ＝t_θs-t_θj；

Step five, according to the nutation period T and the time width T from the self-emission moment of the net capture load to the capture target_netThe nutation angle in the sum single period satisfies that theta is less than or equal to theta_netTime width T of_θDetermining the time width delta T and the emission time T of the emission window of the net capture load_intAnd the satisfaction condition of the nutation angle theta at the time of emission.

Determining the time width delta T and the emission time T of the emission window of the net capture load_intAnd the nutation angle theta during emission is as follows:

s1, when T_net≤T_θWhen, i.e. 1 emission window per nutation period, the time width of the emission window, Δ T, is T_θ-T_net(ii) a Emission time t_intSatisfies the condition t_θj≤t_int≤t_θj+T_θ-T_net(ii) a The nutation angle theta at the time of emission satisfies the condition theta (t)_θj+T_θ-T_net)≤θ≤θ_net(ii) a Wherein, θ (t)_θj+T_θ-T_net) Represents t_θj+T_θ-T_netOf obsolete satellites at time of dayA nutation angle; as shown in fig. 2, the dotted line is located inside the emission window (window width), and the thick solid line is the time width from the emission time of the net capture load to the capture target.

S2, when T_θ<T_net<0.5×(T_θ+ T), the emission window time width Δ T ═ T-T_netTime of transmission t_intSatisfies the condition 0. ltoreq. t_int≤t_θs-T_net(ii) a Nutation angle theta and rate of change of nutation angle at launch

Satisfies the conditions

As shown in fig. 4, the dotted line in the figure is located inside the emission window, and the thick solid line is the time width from the emission time of the net capture load to the capture target.

S3, 0.5X (T)_θ+T)≤T_netWhen T is less than or equal to T, the time width Delta T of the emission window is T-T_netTime of transmission t_intSatisfies the condition 0. ltoreq. t_int≤t_θs-T_net(ii) a Nutation angle theta and rate of change of nutation angle at launch

Satisfies the conditions

As shown in fig. 3, the dotted line in the figure is located inside the emission window, and the thick solid line is the time width from the emission time of the net capture load to the capture target.

S4, when T_net>At T, each fix (T)_netIntegrating the period by dividing T) +1, wherein each nutation period has 1 emission window; wherein, fix (T)_netDiv T) represents a pair T_netRounding off T, note Δ T_net＝T_net-fix(T_netDiv T) x T; when Δ T is reached_net≤T_θIf so, the judgment is continued by switching to the condition in S1; when T is_θ<ΔT_net<0.5×(T_θ+ T) is converted into the condition in S2, and the judgment is continued; when 0.5 is produced(T_θ+T)≤ΔT_netWhen the value is less than or equal to T, the judgment is continued under the condition of S3.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.

Claims (4)

1. The method for selecting the net capture load emission window based on the attitude nutation characteristic of the abandoned satellite is characterized by comprising the following steps: the method comprises the following steps:

step one, acquiring a historical attitude nutation rule curve of a waste satellite, and extracting nutation characteristic parameters including a maximum nutation angle theta_maxMinimum nutation angle theta_minAnd a nutation period T;

step two, acquiring the emission time t of the net capture load according to the historical data of the abandoned satellite_intWith a target time t_inf(ii) a Calculating the time width T from the self-emission moment of the net-captured load to the captured target_net＝t_inf-t_int；

Step three, setting a nutation angle adaptive threshold theta for directly transmitting net capture load without selecting a window_net；

Step four, nutating a rule curve according to the historical attitude of the abandoned satellite in the step one; let the nutation angle theta equal to theta in a single period_netWill nutate the angular rate of change

The time less than zero is denoted as t_θjWill nutate the angular rate of change

The time greater than zero is denoted t_θs(ii) a And will t_θsRecording as the end time of the single nutation period; the calculated nutation angle in the single period satisfies the condition that theta is less than or equal to theta_netTime width T of_θ＝t_θs-t_θj；

Step five, according to the nutation period T and the time width T from the self-emission moment of the net capture load to the capture target_netThe nutation angle in the sum single period satisfies that theta is less than or equal to theta_netTime width T of_θDetermining the time width delta T and the emission time T of the emission window of the net capture load_intAnd the satisfaction condition of the nutation angle theta at the time of emission.

2. The method for selecting the net capture load emission window based on the attitude nutation characteristic of the abandoned satellite as claimed in claim 1, wherein: in the first step, a historical attitude nutation rule curve of the abandoned satellite is obtained through a three-dimensional reconstruction and motion characteristic identification method; as known from satellite attitude momentum theory, the nutation angle is periodically changing, with a maximum nutation angle and a minimum nutation angle.

3. The method for selecting the net capture load emission window based on the attitude nutation characteristic of the abandoned satellite as claimed in claim 2, wherein: in the third step, the net capture load is directly transmitted without selecting a window and is adaptive to the nutation angle threshold theta_netThe satisfying conditions are as follows:

θ_min≤θ_net≤θ_max

and sin (theta)_net+θ_ε)≤2×λ×V×T_s÷L

In the formula, lambda is a value safety coefficient, and lambda is 0.4-0.6;

l is the envelope size of the in-orbit abandoned satellite; l is less than or equal to 40 m;

v is the flying speed when the net-caught load contacts the waste satellite, and V is more than or equal to 6 m/s;

T_stime for completion of closing up of net mouth for net-catching load, T_sLess than or equal to 1.5 s;

θ_εan error is identified for the nutation angle, less than or equal to 3 °.

4. The method for selecting the net capture load emission window based on the attitude nutation characteristic of the abandoned satellite as claimed in claim 3, wherein: in the fifth step, the time width delta T and the emission time T of the emission window of the net capture load are determined_intAnd the nutation angle theta during emission is as follows:

s1, when T_net≤T_θWhen, i.e. 1 emission window per nutation period, the time width of the emission window, Δ T, is T_θ-T_net(ii) a Emission time t_intSatisfies the condition t_θj≤t_int≤t_θj+T_θ-T_net(ii) a The nutation angle theta at the time of emission satisfies the condition theta (t)_θj+T_θ-T_net)≤θ≤θ_net(ii) a Wherein, θ (t)_θj+T_θ-T_net) Represents t_θj+T_θ-T_netA nutation angle of the obsolete satellite at time;

s2, when T_θ<T_net<0.5×(T_θ+ T), the emission window time width Δ T ═ T-T_netTime of transmission t_intSatisfies the condition 0. ltoreq. t_int≤t_θs-T_net(ii) a Nutation angle theta and rate of change of nutation angle at launch

Satisfies the conditions

S3, 0.5X (T)_θ+T)≤T_netWhen T is less than or equal to T, the time width Delta T of the emission window is T-T_netTime of transmission t_intSatisfies the condition 0. ltoreq. t_int≤t_θs-T_net(ii) a Nutation angle theta and rate of change of nutation angle at launch

Satisfies the conditions

S4, when T_net>At T, each fix (T)_netIntegrating the period by dividing T) +1, wherein each nutation period has 1 emission window; wherein, fix (T)_netDiv T) represents a pair T_netRounding off T, note Δ T_net＝T_net-fix(T_netDiv T) x T; when Δ T is reached_net≤T_θIf so, the judgment is continued by switching to the condition in S1; when T is_θ<ΔT_net<0.5×(T_θ+ T) is converted into the condition in S2, and the judgment is continued; when 0.5 × (T)_θ+T)≤ΔT_netWhen the value is less than or equal to T, the judgment is continued under the condition of S3.

Images