A Fast Multi-constraint Spacecraft Attitude Path Recursive Planning Method

Abstract

The invention discloses a fast multi-constraint spacecraft attitude path recursive planning method, and belongs to the technical field of spacecraft attitude guidance. The implementation method comprises the steps that the current initial attitude and target attitude of spacecraft attitude maneuvering are determined; the current segment maneuvering path is obtained by using a Euler characteristic axis rotation method of constant reference rotation angle for the initial attitude and the target attitude, and the appropriate number of path nodes is determined according to the size of the maneuvering angle so that the path node distribution is enabled to be more uniform; all the nodes violating the directional constraint on the current segment maneuvering path are detected; the path segmentation strategy that substitute nodes corresponding to the intermediate nodes of multiple adjacent directional constraint violation nodes are selected to act as the segmentation nodes is adopted so that multiple segments of path transition is enabled to be smoother; the feasible segmentation nodes meeting the directional constraint are generated through the closest critical increment method; and the multi-constraint spacecraft attitude maneuvering path is obtained by using the mode of multi-segmentation and recursive solving so as to be suitable for the complex situation of existence of multiple directional constraints.

Description

technical field [0001] The invention relates to a multi-constraint spacecraft attitude path recursive planning method, in particular to a fast multi-constraint spacecraft attitude path recursive planning method, which belongs to the technical field of spacecraft attitude guidance. Background technique [0002] During orbital operation, spacecraft often need to perform attitude maneuvers to complete specific tasks. However, the spacecraft will be limited by various constraints during attitude maneuvering. On the one hand, attitude maneuvers need to meet the initial and target boundary conditions of the maneuver to achieve the basic task requirements of the maneuver. On the other hand, spacecraft attitude maneuvers must also consider multiple pointing constraints. For example, some optical sensors on spacecraft (such as infrared telescopes and star sensors) cannot be exposed to bright celestial objects (sun and moon, etc.), otherwise they may be damaged. The existence of po...

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Problems solved by technology

[0005] Aiming at the problem that the intermediate segment nodes of the geometric method in the prior art need to be carefully selected and only applicable to a small number of pointing constraints, the technical problem to be solved by the present invention is to provide a fast multi-constraint spacecraft attitude path recursive planning method, using multiple The segmented and recursive solution method makes the transition of multi-segment paths smoother, and makes the distribution of nodes in each segment of the path more uniform. It is suitable for complex situations with multiple pointing constraints, making the planned maneuvering path more conducive to attitude tracking control, and simple to implement. The solution speed is fast, the versatility is good, and it is convenient to realize the autonomous attitude maneuver path planning on the star

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