阅读说明：本技术 一种sar卫星面内最优轨控确定方法、装置及相关设备 (Method, device and related equipment for determining optimal orbit control in SAR satellite plane ) 是由 廖祥 郑靖 许永生 丁强强 于 2021-08-26 设计创作，主要内容包括：本发明公开了一种SAR卫星面内最优轨控确定方法,应用于航空航天技术领域,用于确定SAR卫星面内最优轨控参数。本发明提供的方法包括：根据卫星实际运行轨迹数据和参考轨迹数据计算检核点处的相对轨道参数,计算卫星空间轨迹误差矢量；根据所述空间轨迹误差矢量,检核卫星是否触发管道边界；若触发,则输出管道边界触发结果；根据所述管道边界触发结果确定卫星是否需要执行面内轨道调整；若需执行面内轨道调整,则利用所述相对轨道参数和初始轨控半长轴确定执行轨控的截止历元、变轨点最优纬度幅角平根及变轨速度增量；使用迭代解算的方式计算出最优轨控速度增量。本申请解决了传统计算方法复杂、计算量大、计算效率低的问题。(The invention discloses a method for determining the optimal orbital control in an SAR satellite plane, which is applied to the technical field of aerospace and is used for determining the optimal orbital control parameters in the SAR satellite plane. The method provided by the invention comprises the following steps: calculating relative orbit parameters at the checking point according to the actual running track data and the reference track data of the satellite, and calculating a satellite space track error vector; checking whether the satellite triggers a pipeline boundary according to the space trajectory error vector; if so, outputting a pipeline boundary triggering result; determining whether the satellite needs to execute in-plane orbit adjustment according to the pipeline boundary triggering result; if the in-plane track adjustment needs to be executed, determining a cut-off epoch for executing the track control, an optimal latitude argument flat root of the track transfer point and a track transfer speed increment by using the relative track parameter and the initial track control semi-long axis; and calculating the optimal tracking speed increment by using an iterative solution mode. The method and the device solve the problems of complexity, large calculation amount and low calculation efficiency of the traditional calculation method.)

1. An optimal orbit control determination method in an SAR satellite plane is characterized by comprising the following steps:

calculating relative orbit parameters at the checking point according to the actual running track data and the reference track data of the satellite, and calculating a satellite space track error vector;

checking whether the satellite triggers a pipeline boundary according to the space trajectory error vector; if so, outputting a pipeline boundary triggering result;

determining whether the satellite needs to execute in-plane orbit adjustment according to the pipeline boundary triggering result; if the in-plane track adjustment needs to be executed, determining a cut-off epoch for executing the track control, an optimal latitude argument flat root of the track transfer point and a track transfer speed increment by using the relative track parameter and the initial track control semi-long axis;

judging whether the orbital transfer speed increment is the optimal orbital control speed increment or not according to the latest space track error vector and a preset condition;

if the orbital transfer speed increment is the optimal orbital control speed increment, determining the cut-off epoch, the optimal latitude argument flat root and the optimal orbital control speed increment as optimal in-plane orbital control parameters;

if the orbital transfer speed increment is not the optimal orbital control speed increment, updating the relative orbit parameter and the spatial trajectory error vector according to the orbital transfer speed increment, and determining iterative correction of the orbital transfer speed increment according to the orbital transfer speed increment;

updating the orbital transfer speed increment according to the iterative correction of the orbital transfer speed increment, determining a stop epoch for executing orbital control, an optimal latitude argument flat root of an orbital transfer point and the orbital transfer speed increment by using the relative orbit parameter and an initial orbital transfer semimajor axis according to the updated relative orbit parameter and the updated spatial track error vector, and judging whether the orbital transfer speed increment is the optimal orbital transfer speed increment according to the latest spatial track error vector and a preset condition until the updated orbital transfer speed increment is the optimal orbital transfer speed increment, and determining the corresponding stop epoch, the corresponding optimal latitude argument flat root and the optimal orbital transfer speed increment as the optimal in-plane orbital transfer parameter.

2. The SAR satellite in-plane optimal orbit control determination method of claim 1, wherein the spatial orbit error vector is established under an earth fixed reference frame, the relative orbit parameters include a relative semi-major axis flat root, a relative eccentricity flat root vector X component, a relative eccentricity flat root vector Y component, a relative inclination flat root and a relative geographical longitude, the spatial orbit error vector includes a normal error and a radial error, and is calculated by the following formula:

wherein the content of the first and second substances,representing the relative semi-major axis root,representing the relative eccentricity flat root vector X component,representing the relative eccentricity flat root vector Y component,represents the relative dip flat root, δ λ represents the relative geographic longitude; e represents the spatial trajectory error vector, r represents the distance between the satellite centroid and the earth centroid, γ represents the zero-offset Doppler yaw steering angle,the square root of the latitude argument is represented,indicating the dip flat root.

3. The method for determining the optimal orbital control in the SAR satellite plane according to claim 2, wherein the spatial trajectory error vector comprises a normal error and a radial error, and the normal error and the radial error are calculated by the following formula:

wherein EN represents the normal error and ER represents the radial error.

4. The SAR satellite in-plane optimal orbit control determination method of claim 2, characterized in that the orbital transfer point optimal latitude argument flat root is calculated by the following formula:

wherein arctan represents an arctangent function with a range of values of 0,2 π.

5. The method of claim 2, wherein the step of determining the initial value of the orbital transfer velocity increment comprises:

adjusting a multiplying power estimation value according to the relative orbit parameter and the initial orbit control semi-major axis;

calculating an initial value of the tracking speed increment by the following formula:

where v represents the velocity of the satellite centroid relative to the earth centroid,representing the flat root of the semimajor axis, N, at the point of orbital transfer_dsmaThe magnification estimation value is represented.

6. The method for determining the optimal orbital control in the SAR satellite plane according to claim 1, wherein the spatial trajectory error vector comprises a normal error recovery value and a radial error corresponding to the normal error recovery value, and the step of judging whether the orbital transfer speed increment is the optimal orbital control speed increment according to the latest spatial trajectory error vector and a preset condition further comprises:

the dynamic boundary is calculated according to the following formula:

wherein EN_dynRepresenting dynamic boundaries, B representing interference baseline, ER_maxRepresenting the radial error corresponding to the normal error recovery value;

judging whether the absolute value of the difference value between the direction error recovery value and the dynamic boundary is less than or equal to a preset compliant normal error deviation or not; and if so, determining that the track change speed increment is the optimal track control speed increment.

7. The method for determining optimal orbital control in the SAR satellite according to claim 6, wherein the step of determining the iterative correction of the orbital transfer speed increment according to the orbital transfer speed increment comprises:

taking the initial value of the orbital transfer speed increment as a first speed increment, calculating a first normal error recovery value and a first dynamic boundary, and calculating an absolute value of a difference value between the first normal error recovery value and the first dynamic boundary as a first absolute value;

taking the result obtained by multiplying the initial value of the orbital transfer speed increment by a preset speed increment multiplying factor estimation value as a second speed increment, calculating a second normal error recovery value and a second dynamic boundary, and then calculating the absolute value of the difference value between the second normal error recovery value and the second dynamic boundary as a second absolute value;

if the first absolute value is smaller than or equal to the second absolute value, taking the first speed increment as the orbital transfer speed increment, otherwise, taking the second speed increment as the orbital transfer speed increment;

calculating the iterative correction quantity of the orbital transfer speed increment for the first time according to the following formula:

where δ V represents the iterative correction amount, EN_dyn1Representing said first dynamic boundary, EN_dyn2Represents the second dynamic boundary, Δ V_nstIndicating said increase in tracking speed, EN_nstRepresenting the normal error recovery value, Δ V₁Representing said first speed increment, Δ V₂Indicating a second speed increment, EN₁Denotes the first dynamic boundary, EN₂Representing a second dynamic boundary;

calculating the iterative correction quantity according to the formula Nth time as follows:

δV＝(EN_dyn-EN_max)(ΔV_opt-ΔV_nst)/(EN_max-EN_nst)

wherein N is an integer of 2 or more and Δ V_optRepresenting the sum, EN, of said orbital transfer speed increment and said iterative correction_maxRepresenting a normal error recovery value;

the step of updating the orbital transfer speed increment according to the iterative correction of the orbital transfer speed increment further comprises:

and taking the sum of the orbital transfer speed increment and the iterative correction quantity as the updated orbital transfer speed increment.

8. An optimal orbital control determination device in a SAR satellite plane, comprising:

the space track error vector calculation module is used for calculating relative orbit parameters at the check point according to the actual running track data and the reference track data of the satellite and calculating a satellite space track error vector;

the pipeline boundary triggering and checking module is used for checking whether the satellite triggers the pipeline boundary according to the space track error vector; if so, outputting a pipeline boundary triggering result;

the in-plane orbit control parameter calculation module is used for determining whether the satellite needs to execute in-plane orbit adjustment according to the pipeline boundary triggering result; if in-plane track adjustment needs to be executed, determining a cut-off epoch for executing track control, an optimal latitude argument flat root of a track transfer point and a track transfer speed increment by using the relative track parameter and the initial track control semi-major axis regulation multiplying factor estimation value;

an iterative correction quantity calculation module of a speed increment, configured to update the orbital transfer speed increment according to an iterative correction quantity of the orbital transfer speed increment, according to the updated relative orbit parameter and the spatial trajectory error vector, and circulate the step of determining a stop epoch for performing orbital control, an optimal latitude argument square root of an orbital transfer point, and an orbital transfer speed increment by using the relative orbit parameter and an initial orbital transfer semimajor axis, until the step of determining whether the orbital transfer speed increment is the optimal orbital transfer speed increment according to the latest spatial trajectory error vector and a preset condition, and until the updated orbital transfer speed increment is the optimal orbital transfer speed increment, determining a corresponding stop epoch, a corresponding optimal latitude argument square root, and the optimal orbital transfer speed increment as optimal in-plane orbital transfer parameters;

the optimal tracking control speed judging module is used for judging whether the orbital transfer speed increment is the optimal tracking control speed increment or not according to the latest spatial track error vector and a preset condition; if the orbital transfer speed increment is the optimal orbital control speed increment, determining the cut-off epoch, the optimal latitude argument flat root and the optimal orbital control speed increment as optimal in-plane orbital control parameters; and if the orbital transfer speed increment is not the optimal orbital control speed increment, updating the relative orbit parameter and the spatial trajectory error vector according to the orbital transfer speed increment, and determining iterative correction of the orbital transfer speed increment according to the orbital transfer speed increment.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor when executing the computer program implements the steps of the method for determining optimal orbital control within an SAR satellite according to any of claims 1 to 7.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method for determining optimal orbital control in a SAR satellite according to any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of aerospace, in particular to a method and a device for determining optimal orbit control in an SAR satellite plane and related equipment.

Background

The SAR satellite interference baseline needs to be controlled within a range of about 50-1000 m, and in order to ensure the accuracy and stability of the baseline in a task period, a satellite operation orbit is designed to be a regression freezing orbit with the minimum height variation characteristic of an off-satellite revisit and a revisit. The close-range revisit of the orbit of the type needs to be precisely controlled so as to effectively control the running track of the satellite under the earth fixedly connected with a reference frame in a pipeline with the diameter taking the reference track as a center as an interference baseline.

The precise orbit control of the SAR satellite is in-plane parameter control and out-of-plane parameter control respectively. The in-plane parameter control frequency is high, the algorithm flow of the existing method is complex, the absolute orbit number of the check point is required to be calculated, and the engineering application difficulty is high. Therefore, it is particularly important to design an in-plane optimal orbit control engineering solution method which has a simple process and can avoid calculating an accurate absolute orbit number.

Disclosure of Invention

The embodiment of the invention provides a method and a device for determining optimal orbit control in an SAR satellite plane, computer equipment and a storage medium, and aims to solve the problems of complexity, large calculation amount and low calculation efficiency of the traditional calculation method.

An optimal orbit control determination method in an SAR satellite plane comprises the following steps:

calculating relative orbit parameters at the checking point according to the actual running track data and the reference track data of the satellite, and calculating a satellite space track error vector;

checking whether the satellite triggers a pipeline boundary according to the space trajectory error vector; if so, outputting a pipeline boundary triggering result;

determining whether the satellite needs to execute in-plane orbit adjustment according to the pipeline boundary triggering result; if the in-plane track adjustment needs to be executed, determining a cut-off epoch for executing the track control, an optimal latitude argument flat root of the track transfer point and a track transfer speed increment by using the relative track parameter and the initial track control semi-long axis;

judging whether the orbital transfer speed increment is the optimal orbital control speed increment or not according to the latest space track error vector and a preset condition;

if the orbital transfer speed increment is the optimal orbital control speed increment, determining the cut-off epoch, the optimal latitude argument flat root and the optimal orbital control speed increment as optimal in-plane orbital control parameters;

if the orbital transfer speed increment is not the optimal orbital control speed increment, updating the relative orbit parameter and the spatial trajectory error vector according to the orbital transfer speed increment, and determining iterative correction of the orbital transfer speed increment according to the orbital transfer speed increment;

updating the orbital transfer speed increment according to the iterative correction of the orbital transfer speed increment, determining a stop epoch for executing orbital control, an optimal latitude argument flat root of an orbital transfer point and the orbital transfer speed increment by using the relative orbit parameter and an initial orbital transfer semimajor axis according to the updated relative orbit parameter and the updated spatial track error vector, and judging whether the orbital transfer speed increment is the optimal orbital transfer speed increment according to the latest spatial track error vector and a preset condition until the updated orbital transfer speed increment is the optimal orbital transfer speed increment, and determining the corresponding stop epoch, the corresponding optimal latitude argument flat root and the optimal orbital transfer speed increment as the optimal in-plane orbital transfer parameter.

An in-plane optimal orbit control determination device for a SAR satellite, comprising:

the space track error vector calculation module is used for calculating relative orbit parameters at the check point according to the actual running track data and the reference track data of the satellite and calculating a satellite space track error vector;

the pipeline boundary triggering and checking module is used for checking whether the satellite triggers the pipeline boundary according to the space track error vector; if so, outputting a pipeline boundary triggering result;

the in-plane orbit control parameter calculation module is used for determining whether the satellite needs to execute in-plane orbit adjustment according to the pipeline boundary triggering result; if in-plane track adjustment needs to be executed, determining a cut-off epoch for executing track control, an optimal latitude argument flat root of a track transfer point and a track transfer speed increment by using the relative track parameter and the initial track control semi-major axis regulation multiplying factor estimation value;

an iterative correction quantity calculation module of a speed increment, configured to update the orbital transfer speed increment according to an iterative correction quantity of the orbital transfer speed increment, according to the updated relative orbit parameter and the spatial trajectory error vector, and circulate the step of determining a stop epoch for performing orbital control, an optimal latitude argument square root of an orbital transfer point, and an orbital transfer speed increment by using the relative orbit parameter and an initial orbital transfer semimajor axis, until the step of determining whether the orbital transfer speed increment is the optimal orbital transfer speed increment according to the latest spatial trajectory error vector and a preset condition, and until the updated orbital transfer speed increment is the optimal orbital transfer speed increment, determining a corresponding stop epoch, a corresponding optimal latitude argument square root, and the optimal orbital transfer speed increment as optimal in-plane orbital transfer parameters;

the optimal tracking control speed judging module is used for judging whether the orbital transfer speed increment is the optimal tracking control speed increment or not according to the latest spatial track error vector and a preset condition; if the orbital transfer speed increment is the optimal orbital control speed increment, determining the cut-off epoch, the optimal latitude argument flat root and the optimal orbital control speed increment as optimal in-plane orbital control parameters; and if the orbital transfer speed increment is not the optimal orbital control speed increment, updating the relative orbit parameter and the spatial trajectory error vector according to the orbital transfer speed increment, and determining iterative correction of the orbital transfer speed increment according to the orbital transfer speed increment.

A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above method for determining an optimal in-plane orbit control of a SAR satellite when executing the computer program.

A computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the steps of the above-described method for determining optimal orbital control in a SAR satellite plane.

Compared with the traditional method, the device, the computer equipment and the storage medium for determining the optimal orbit control in the SAR satellite plane have the advantages that the calculation amount is greatly reduced without calculating the accurate absolute orbit number, the algorithm flow is further simplified, the calculation complexity is reduced, and the calculation efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a flow chart of a method for determining optimal orbital control in an SAR satellite plane in an embodiment of the invention;

FIG. 2 is a flow chart of a method for determining optimal orbital control in a SAR satellite plane in another embodiment of the present invention;

fig. 3 is a schematic structural diagram of an in-plane optimal orbit control determination device for an SAR satellite according to an embodiment of the present invention;

FIG. 4 is a diagram of a normal error convergence process during iterative solution of the optimal trajectory control speed according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In an embodiment, as shown in fig. 1, a method for determining an optimal orbital control in a SAR satellite plane is provided, which includes the following steps S101 to S107:

s101, calculating relative orbit parameters at a check point according to actual running track data and reference track data of the satellite, and calculating a satellite space track error vector;

s102, checking whether the satellite triggers a pipeline boundary or not according to the space track error vector; if so, outputting a pipeline boundary triggering result;

s103, determining whether the satellite needs to execute in-plane orbit adjustment according to the pipeline boundary triggering result; if the in-plane track adjustment needs to be executed, determining a cut-off epoch for executing the track control, an optimal latitude argument flat root of the track transfer point and a track transfer speed increment by using the relative track parameter and the initial track control semi-long axis;

s104, judging whether the orbital transfer speed increment is the optimal orbital control speed increment or not according to the latest spatial track error vector and a preset condition;

s105, if the orbital transfer speed increment is the optimal orbital control speed increment, determining the cut-off epoch, the optimal latitude argument flat root and the optimal orbital control speed increment as optimal in-plane orbital control parameters;

s106, if the orbital transfer speed increment is not the optimal orbital control speed increment, updating the relative orbit parameter and the spatial trajectory error vector according to the orbital transfer speed increment, and determining iterative correction of the orbital transfer speed increment according to the orbital transfer speed increment;

s107, updating the orbital transfer speed increment according to the iterative correction quantity of the orbital transfer speed increment, determining a stop epoch for executing orbital control, an optimal latitude argument flat root of an orbital transfer point and the orbital transfer speed increment according to the updated relative orbit parameter and the updated spatial track error vector, and determining whether the orbital transfer speed increment is the optimal orbital transfer speed increment or not according to the latest spatial track error vector and a preset condition until the updated orbital transfer speed increment is the optimal orbital transfer speed increment, and determining the corresponding stop epoch, the corresponding optimal latitude argument flat root and the optimal orbital transfer speed increment as the optimal in-plane orbital transfer parameter.

As shown in fig. 2, under the condition that the in-plane orbit adjustment is not required, the subsequent steps are directly ended, that is, the current motion condition of the satellite is not adjusted; in the resolving process, a cut-off epoch and an optimal latitude argument flat root are determined, and then an optimal orbit control speed increment is resolved by using an iteration mode.

Optionally, the spatial trajectory error vector is established under an earth fixed reference frame, the relative orbit parameter includes a relative semi-major axis flat root, a relative eccentricity flat root vector X component, a relative eccentricity flat root vector Y component, a relative inclination flat root and a relative geographical longitude, and the spatial trajectory error vector includes a normal error and a radial error, and is calculated by the following formula:

wherein the content of the first and second substances,representing the relative semi-major axis root,representing the relative eccentricity flat root vector X component,representing the relative eccentricity flat root vector Y component,represents the relative dip flat root, δ λ represents the relative geographic longitude; e represents the spatial trajectory error vector, r represents the distance between the satellite centroid and the earth centroid, γ represents the zero-offset Doppler yaw steering angle,flat root for representing latitude argument，Indicating the dip flat root.

Optionally, the spatial trajectory error vector includes a normal error and a radial error, and the normal error and the radial error are calculated by the following formulas:

wherein EN represents the normal error and ER represents the radial error. The normal error and the radial error form a space trajectory error plane of the satellite at the checking point.

Wherein the pipeline refers to a three-dimensional space with the reference track as the center and the diameter not more than the interference baseline (for example 500 m). The triggering of the pipeline boundary can occur in any quadrant of a normal error plane and a radial error plane, and the triggering type is divided into a triggering left boundary and a triggering right boundary according to the negativity and the positivity of the normal error.

Wherein, the pipeline boundary triggering checking result is related to the normal error at the intersection point: when the ascending point is selected as the normal error reference point, the right boundary triggered by the check point is used as a criterion for executing the in-plane track adjustment; on the contrary, when the descending intersection point is selected as the normal error reference point, the checking point is used for triggering the left boundary to be used as a criterion for executing the in-plane track adjustment; and then taking the checking point epoch of the triggering boundary as a cut-off epoch for executing the orbit control, wherein the adjustment of the parameters in the satellite plane must be completed before the cut-off epoch, otherwise, the interference baseline of the satellite exceeds a threshold value.

Optionally, the orbital transfer point optimal latitude argument flat root is calculated by the following formula:

wherein arctan represents an arctangent function with a range of [0,2 π]. For calculatingIs/are as followsAndinstead of triggering the values at the checkpoints of the pipe boundaries, the values at the actual tracking epoch have to be used. The check points of the satellite are distributed in a corresponding time range of the actual operation track of the satellite by taking a fixed angle value (for example, 10 degrees) as latitude argument increment. A smaller latitude argument increment setting can obtain more detailed spatial trajectory error data, but at the same time results in a larger amount of computation, so the latitude argument increment must be reasonably selected according to actual task control accuracy requirements.

Optionally, the step of determining an initial value of the tracking speed increment comprises:

adjusting a multiplying power estimation value according to the relative orbit parameter and the initial orbit control semi-major axis;

calculating an initial value of the tracking speed increment by the following formula:

where v represents the velocity of the satellite centroid relative to the earth centroid,representing the flat root of the semimajor axis, N, at the point of orbital transfer_dsmaThe magnification estimation value is represented.

Optionally, the step of determining whether the orbital transfer speed increment is the optimal orbital control speed increment according to the latest spatial trajectory error vector and a preset condition further includes:

the dynamic boundary is calculated according to the following formula:

wherein EN_dynRepresenting dynamic boundaries, B representing interference baseline, ER_maxRepresenting the radial error corresponding to the normal error recovery value;

judging whether the absolute value of the difference value between the direction error recovery value and the dynamic boundary is less than or equal to a preset compliant normal error deviation or not; and if so, determining that the track change speed increment is the optimal track control speed increment.

Optionally, the step of determining an iterative correction amount of the orbital transfer speed increment according to the orbital transfer speed increment comprises:

taking the initial value of the orbital transfer speed increment as a first speed increment, calculating a first normal error recovery value and a first dynamic boundary, and calculating an absolute value of a difference value between the first normal error recovery value and the first dynamic boundary as a first absolute value;

taking the result obtained by multiplying the initial value of the orbital transfer speed increment by a preset speed increment multiplying factor estimation value as a second speed increment, calculating a second normal error recovery value and a second dynamic boundary, and then calculating the absolute value of the difference value between the second normal error recovery value and the second dynamic boundary as a second absolute value;

if the first absolute value is smaller than or equal to the second absolute value, taking the first speed increment as the orbital transfer speed increment, otherwise, taking the second speed increment as the orbital transfer speed increment;

calculating the iterative correction quantity of the orbital transfer speed increment for the first time according to the following formula:

where δ V represents the iterative correction amount, EN_dyn1Representing said first dynamic boundary, EN_dyn2Represents the second dynamic boundary, Δ V_nstIndicating said track changeIncrement of speed, EN_nstRepresenting the normal error recovery value, Δ V₁Representing said first speed increment, Δ V₂Indicating a second speed increment, EN₁Denotes the first dynamic boundary, EN₂Representing a second dynamic boundary;

calculating the iterative correction quantity according to the formula Nth time as follows:

δV＝(EN_dyn-EN_max)(ΔV_opt-ΔV_nst)/(EN_max-EN_nst)

wherein N is an integer of 2 or more and Δ V_optRepresenting the sum, EN, of said orbital transfer speed increment and said iterative correction_maxRepresenting a normal error recovery value;

the step of updating the orbital transfer speed increment according to the iterative correction of the orbital transfer speed increment further comprises:

and taking the sum of the orbital transfer speed increment and the iterative correction quantity as the updated orbital transfer speed increment.

As shown in fig. 4, in the calculation process, a graph of the normal error curve corresponding to the first speed increment, a graph of the normal error curve corresponding to the second speed increment, and a graph of the normal error curve after iterative convergence are obtained.

Wherein, the multiplying power estimated value can be set to be 0.8-0.9 or 1.1-1.2; the normal error recovery value is an inflection point value which is obtained by converting the absolute values of the normal errors of all the check points in the resolving time period from increasing to decreasing in the maximum value of the corresponding track ring; the convergence condition is that the absolute value of the normal error recovery value and the dynamic boundary difference value is less than or equal to a compliant normal error deviation. The compliant normal error deviation is a real number greater than zero, and may be set according to the actual task control accuracy requirement, for example, the compliant normal error deviation is set to be equal to 2.5 m.

In an embodiment, an in-plane optimal orbit control determining apparatus for a SAR satellite is provided, as shown in fig. 3, the in-plane optimal orbit control determining apparatus 100 for a SAR satellite includes a spatial trajectory error vector calculating module 11, a pipeline boundary trigger checking module 12, an in-plane orbit control parameter calculating module 13, a speed increment iterative correction amount calculating module 14, and an optimal orbit control speed judging module 15.

The functional modules are explained in detail as follows:

the space trajectory error vector calculation module 11 is used for calculating relative orbit parameters at the check point according to the actual running trajectory data and the reference trajectory data of the satellite and calculating a satellite space trajectory error vector;

the pipeline boundary triggering and checking module 12 is used for checking whether the satellite triggers the pipeline boundary according to the space trajectory error vector; if so, outputting a pipeline boundary triggering result;

the in-plane orbit control parameter calculation module 13 is used for determining whether the satellite needs to execute in-plane orbit adjustment according to the pipeline boundary triggering result; if in-plane track adjustment needs to be executed, determining a cut-off epoch for executing track control, an optimal latitude argument flat root of a track transfer point and a track transfer speed increment by using the relative track parameter and the initial track control semi-major axis regulation multiplying factor estimation value;

an iterative correction quantity calculation module 14 of a speed increment, configured to update the orbital transfer speed increment according to an iterative correction quantity of the orbital transfer speed increment, according to the updated relative orbit parameter and the spatial trajectory error vector, and circulate the step of determining a stop epoch for performing orbital control, an optimal latitude argument square root of an orbital transfer point, and an orbital transfer speed increment by using the relative orbit parameter and an initial orbital transfer semimajor axis, until the step of determining whether the orbital transfer speed increment is the optimal orbital transfer speed increment according to the latest spatial trajectory error vector and a preset condition is performed, and until the updated orbital transfer speed increment is the optimal orbital transfer speed increment, determine a corresponding stop epoch, a corresponding optimal latitude argument square root, and the optimal orbital transfer speed increment as optimal in-plane orbital transfer parameters;

an optimal tracking speed determination module 15, configured to determine whether the tracking speed increment is an optimal tracking speed increment according to the latest spatial trajectory error vector and a preset condition; if the orbital transfer speed increment is the optimal orbital control speed increment, determining the cut-off epoch, the optimal latitude argument flat root and the optimal orbital control speed increment as optimal in-plane orbital control parameters; and if the orbital transfer speed increment is not the optimal orbital control speed increment, updating the relative orbit parameter and the spatial trajectory error vector according to the orbital transfer speed increment, and determining iterative correction of the orbital transfer speed increment according to the orbital transfer speed increment.

In one embodiment, the spatial trajectory error vector is established under an earth fixed reference frame, the relative orbit parameters include a relative semi-major axis flat root, a relative eccentricity flat root vector X component, a relative eccentricity flat root vector Y component, a relative inclination flat root and a relative geographic longitude, and the spatial trajectory error vector includes a normal error and a radial error, and is calculated by the following formula:

wherein the content of the first and second substances,representing the relative semi-major axis root,representing the relative eccentricity flat root vector X component,representing the relative eccentricity flat root vector Y component,represents the relative dip flat root, δ λ represents the relative geographic longitude; e represents the spatial trajectory error vector, r represents the distance between the satellite centroid and the earth centroid, γ represents the zero-offset Doppler yaw steering angle,the square root of the latitude argument is represented,to representThe inclination angle is flat.

In one embodiment, the spatial trajectory error vector includes a normal error and a radial error, and the normal error and the radial error are calculated by the following equations:

wherein EN represents the normal error and ER represents the radial error.

In one embodiment, the orbital transfer point optimal latitude argument flat root is calculated by the following formula:

wherein arctan represents an arctangent function with a range of values of 0,2 π.

In one embodiment, the iterative correction calculation module 14 for speed increments includes:

the adjusting unit is used for adjusting the multiplying power estimation value according to the relative orbit parameter and the initial orbit control semi-major axis;

an initial value calculation unit for calculating an initial value of the tracking speed increment by the following formula:

where v represents the velocity of the satellite centroid relative to the earth centroid,representing the flat root of the semimajor axis, N, at the point of orbital transfer_dsmaThe magnification estimation value is represented.

And the iterative correction amount unit is used for determining the iterative correction amount of the orbital transfer speed increment according to the orbital transfer speed increment.

And the orbital transfer speed increment updating unit is used for taking the sum of the orbital transfer speed increment and the iterative correction quantity as the updated orbital transfer speed increment.

Further, the iterative correction amount unit specifically further includes:

the first calculation unit is used for calculating a first normal error recovery value and a first dynamic boundary by taking the initial value of the orbital transfer speed increment as a first speed increment, and then calculating the absolute value of the difference value between the first normal error recovery value and the first dynamic boundary as a first absolute value;

the second calculation unit is used for calculating a second normal error recovery value and a second dynamic boundary by taking a result obtained by multiplying the initial value of the orbital transfer speed increment by a preset speed increment multiplying factor estimation value as a second speed increment, and then calculating an absolute value of a difference value between the second normal error recovery value and the second dynamic boundary as a second absolute value;

an iterative correction initial calculation unit, configured to take a maximum one of the first absolute value and the second absolute value as the tracking speed increment, and calculate an iterative correction of the tracking speed increment for the first time according to the following formula:

where δ V represents the iterative correction amount, EN_dyn1Representing said first dynamic boundary, EN_dyn2Represents the second dynamic boundary, Δ V_nstIndicating said increase in tracking speed, EN_nstRepresenting the normal error recovery value, Δ V₁Representing said first speed increment, Δ V₂Indicating a second speed increment, EN₁Denotes the first dynamic boundary, EN₂Representing a second dynamic boundary;

an iterative correction quantity iterative calculation unit, configured to calculate the iterative correction quantity for the nth time according to the following formula:

δV＝(EN_dyn-EN_max)(ΔV_opt-ΔV_nst)/(EN_max-EN_nst)

wherein N is an integer of 2 or more and Δ V_optRepresenting the sum, EN, of said orbital transfer speed increment and said iterative correction_maxThe normal error recovery value is indicated.

In one embodiment, the optimal tracking speed determining module 15 includes:

a dynamic boundary calculation unit for calculating a dynamic boundary according to the following formula:

wherein EN_dynRepresenting dynamic boundaries, B representing interference baseline, ER_maxRepresenting the radial error corresponding to the normal error recovery value;

the optimal tracking speed increment judging unit is used for judging whether the absolute value of the difference value between the direction error return value and the dynamic boundary is less than or equal to the preset compliant normal error deviation or not; and if so, determining that the track change speed increment is the optimal track control speed increment.

In one embodiment, a computer device is provided, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the steps of the method for determining the optimal tracking control in the SAR satellite plane according to any one of the above embodiments, such as the steps 101 to 107 shown in fig. 1 and other extensions of the method and related steps. Alternatively, the computer program, when executed by the processor, implements the functions of the modules/units of the device for handling a vending machine shipment abnormality in the above-described embodiment, such as the functions of the modules 11 to 15 shown in fig. 3. To avoid repetition, further description is omitted here.

The computer device may be a server, a cluster of servers, or a supercomputer.

The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like which is the control center for the computer device and which connects the various parts of the overall computer device using various interfaces and lines.

The memory may be used to store the computer programs and/or modules, and the processor may implement various functions of the computer device by running or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory.

The memory may be integrated in the processor or may be provided separately from the processor.

In one embodiment, a computer readable storage medium is provided, which stores a computer program, which when executed by a processor implements the steps of the method for determining optimal orbital control in a SAR satellite plane according to any one of the above embodiments, such as the steps 101 to 107 shown in fig. 1 and extensions of other extensions and related steps of the method. Alternatively, the computer program, when executed by the processor, implements the functions of the modules/units of the device for handling a vending machine shipment abnormality in the above-described embodiment, such as the functions of the modules 11 to 15 shown in fig. 3. To avoid repetition, further description is omitted here.

Compared with the traditional method, the device, the computer equipment and the storage medium for determining the optimal orbit control in the SAR satellite plane have the advantages that the calculation amount is greatly reduced without calculating the accurate absolute orbit number, the algorithm flow is further simplified, the calculation complexity is reduced, and the calculation efficiency is improved.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.