深空探测器自主姿态制导算法研究
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摘要
现代深空任务为提高自主性,在传统自主姿态确定与控制之外,提出了姿态制导(Attitude Guidance)的概念,并逐渐在近十年的深空探测器中得到了普遍应用。
本学位论文结合“十五”863计划项目——“深空探测自主技术与仿真演示系统”,研究如何将探测器任务行为决定的姿态系统高级任务指令,转化为控制器的参考姿态运动输入的实现问题,即自主姿态制导算法。重点研究了由定向任务事件驱动的姿态运动的结构化计算方法,以及进一步地在内外部约束条件的作用下给出可行的参考姿态运动的问题,并实现了深空探测自主姿态制导与控制在多系统联合下的数学仿真和独立半物理仿真。
论文的主要研究内容包括:
从事件驱动的思想出发,建立了基于目标矢量的姿态定向结构化算法。针对深空探测中定向任务多、目标运动复杂等特点,构造了一种用于深空姿态制导的相关矢量层次结构,以及适用于星上实施的矢量传播算法。在此基础上,对各种三轴姿态模式的参考姿态运动的计算通用性问题,依据星上导航信息和星历服务,给出了参考姿态运动各阶参数的矢量解析算法。为进一步降低算法耗费,定义了计算周期的多个层次,最终给出实时参考姿态指令,用以实现参考轨迹的姿态跟踪控制。
描述了一种空间化的姿态约束表达方法,并针对稳定定向模式面临的约束问题提出了姿态定向的模式重构算法。研究和总结了深空探测所面临的空间几何约束、以及探测器自身的姿态运动学和动力学约束,并将约束抽象化为几类空间化的表达形式。对于深空探测姿态稳定定向模式中的辅助定向约束和运动学奇点问题,在不破坏主要定向任务的前提下,利用姿态空间规划和刚体矢量运动包线等方法,实现姿态定向模式的调整,并选取几种具有代表性的定向模式做了具体计算及运动学分析。
研究了基于状态空间搜索的复杂约束姿态机动预先规划方法。针对时变空间环境中受多种约束的姿态机动问题,尤其对于深空环境下更加突出的外部空间几何约束问题,从全局规划、容纳动态约束、提高计算效率、优化可行解着手,研究了姿态机动的自主全局规划。在Rodrigues参数空间中描述姿态路径和约束边界,使之转化为三维空间中的点机器人运动规划问题;考虑姿态动力学约束,设计了一种简化的Euler轴转动姿态运动生成律;采用RRT算法,通过随机搜索路径节点,得到可行姿态路径。运用空间路径优化,根据评价机动代价来优化机动过程。
最后,结合“深空探测自主技术与仿真演示系统”,设计了一种深空探测器自主姿态系统方案,搭建了基于MATLAB/Simulink的自主姿态数学仿真演示子系统,实现了深空探测飞行过程的多系统联合仿真及三维可视化演示。利用基于MATLAB/Simulink/dSPACE的半物理实时仿真平台,通过系统分模式控制仿真,验证了姿态参考指令计算方法的实时性。
To increase the mission autonomy, the concept of Attitude Guidance was brought up for modern deep-space probe, in addition to the traditional autono-mous attitude determination and control. This concept was universally utilized in recent year’s deep-space probes.
With the supports of the Tenth Five-Year 863 Program‘Autonomy Technol-ogy of Deep Space Exploration and Its Simulation and Demonstration System’, this dissertation studied the problem that how to transform the high-level task command of attitude system, which is determined by the probe’s mission behav-ior, to the reference attitude motion input for controller, i.e. the problem of autonomous attitude guidance. This dissertation laid emphasis on the structurized calculation method for attitude motion driven by the pointing task events, and the problems that how to give a feasible reference attitude motion under internal and external constraints. The mathematical simulation with multiple system network-ing, and standalone semi-physical simulation of autonomous attitude guidance and control of the deep-space probe, was also realized.
The main contents of this dissertation are as follows.
A structurized attitude pointing algorithm based on target vectors, was con-structed in an event-driven manner. To handle the multiple pointing tasks and so-phisticated target motion during deep-space exploration, a related vectors hierar-chy for deep-space attitude guidance, and a vector propagation algorithm that is adapt to onboard utilization were built. At these basis, to solve the calculation versatility problem for reference attitude motion of various three-axis attitude definition, an analytic vector algorithm for each order reference parameters was given according to onboard navigation information and ephemeris services. To further reduce calculation cost, multiple computing cycles were defined. The output reference attitude command was used to realize the attitude tracking con-trol of reference attitude trajectory.
A spatially attitude constraints monitor method was described, and an atti-tude pointing mode reconfiguration algorithm was proposed to solve the con-straints problem with stabilization pointing mode. Celestial geometric constraints, attitude kinematics, and dynamics constraints during deep-space exploration were studied and summarized. The constraints were then abstracted into several classes of spatial representation form. To solve the problem of auxiliary pointing constraint or kinematic singularity, the method of attitude space planning and hodograph envelope of rigid-body vector were used. This achieved the justifica-tion of attitude pointing mode along with the satisfaction with primary pointing task. Several representative pointing modes were selected to make specific calcu-lation and kinematics analysis.
Pre-planning method based on state-space search for attitude maneuver un-der complex constraints was studied. To the attitude maneuver suffering from multiple constraints in time-varying space environment, especially to the exter-nally celestial geometric constraints that are more prominent in deep-space envi-ronment, the autonomous global planning of attitude maneuver was engaged from these aspects: global planning, dynamic constraints accommodation, in-crease of computational efficiency, and optimization of the feasible solution. De-scribe attitude path and constraints boundary in Rodrigues parameters space. The problem is then transformed to a motion planning problem of point robot. A sim-plified attitude guidance law for Euler-rotation planning was designed. And the feasible path was obtained by using RRT algorithm to perform random search of path node. Finally, the path was optimized in the parameters space according to evaluate the cost of maneuver.
Lastly, combining with‘Autonomy Technology of Deep Space Exploration and Its Simulation and Demonstration System’, designed an autonomous attitude control system scheme for deep-space probe, and constructed the autonomous attitude mathematical simulation subsystem based on MATLAB/Simulink, real-ized multisystem united simulation and 3-dimensional visualizing demonstration for flight process of deep-space exploration. By the semi-physical real-time con-trol simulation platform based on MATLAB/Simulink/dSPACE, the real-time performance of the proposed calculating method of reference attitude command is confirmed by merotype attitude control simulation.
本学位论文结合“十五”863计划项目——“深空探测自主技术与仿真演示系统”,研究如何将探测器任务行为决定的姿态系统高级任务指令,转化为控制器的参考姿态运动输入的实现问题,即自主姿态制导算法。重点研究了由定向任务事件驱动的姿态运动的结构化计算方法,以及进一步地在内外部约束条件的作用下给出可行的参考姿态运动的问题,并实现了深空探测自主姿态制导与控制在多系统联合下的数学仿真和独立半物理仿真。
论文的主要研究内容包括:
从事件驱动的思想出发,建立了基于目标矢量的姿态定向结构化算法。针对深空探测中定向任务多、目标运动复杂等特点,构造了一种用于深空姿态制导的相关矢量层次结构,以及适用于星上实施的矢量传播算法。在此基础上,对各种三轴姿态模式的参考姿态运动的计算通用性问题,依据星上导航信息和星历服务,给出了参考姿态运动各阶参数的矢量解析算法。为进一步降低算法耗费,定义了计算周期的多个层次,最终给出实时参考姿态指令,用以实现参考轨迹的姿态跟踪控制。
描述了一种空间化的姿态约束表达方法,并针对稳定定向模式面临的约束问题提出了姿态定向的模式重构算法。研究和总结了深空探测所面临的空间几何约束、以及探测器自身的姿态运动学和动力学约束,并将约束抽象化为几类空间化的表达形式。对于深空探测姿态稳定定向模式中的辅助定向约束和运动学奇点问题,在不破坏主要定向任务的前提下,利用姿态空间规划和刚体矢量运动包线等方法,实现姿态定向模式的调整,并选取几种具有代表性的定向模式做了具体计算及运动学分析。
研究了基于状态空间搜索的复杂约束姿态机动预先规划方法。针对时变空间环境中受多种约束的姿态机动问题,尤其对于深空环境下更加突出的外部空间几何约束问题,从全局规划、容纳动态约束、提高计算效率、优化可行解着手,研究了姿态机动的自主全局规划。在Rodrigues参数空间中描述姿态路径和约束边界,使之转化为三维空间中的点机器人运动规划问题;考虑姿态动力学约束,设计了一种简化的Euler轴转动姿态运动生成律;采用RRT算法,通过随机搜索路径节点,得到可行姿态路径。运用空间路径优化,根据评价机动代价来优化机动过程。
最后,结合“深空探测自主技术与仿真演示系统”,设计了一种深空探测器自主姿态系统方案,搭建了基于MATLAB/Simulink的自主姿态数学仿真演示子系统,实现了深空探测飞行过程的多系统联合仿真及三维可视化演示。利用基于MATLAB/Simulink/dSPACE的半物理实时仿真平台,通过系统分模式控制仿真,验证了姿态参考指令计算方法的实时性。
To increase the mission autonomy, the concept of Attitude Guidance was brought up for modern deep-space probe, in addition to the traditional autono-mous attitude determination and control. This concept was universally utilized in recent year’s deep-space probes.
With the supports of the Tenth Five-Year 863 Program‘Autonomy Technol-ogy of Deep Space Exploration and Its Simulation and Demonstration System’, this dissertation studied the problem that how to transform the high-level task command of attitude system, which is determined by the probe’s mission behav-ior, to the reference attitude motion input for controller, i.e. the problem of autonomous attitude guidance. This dissertation laid emphasis on the structurized calculation method for attitude motion driven by the pointing task events, and the problems that how to give a feasible reference attitude motion under internal and external constraints. The mathematical simulation with multiple system network-ing, and standalone semi-physical simulation of autonomous attitude guidance and control of the deep-space probe, was also realized.
The main contents of this dissertation are as follows.
A structurized attitude pointing algorithm based on target vectors, was con-structed in an event-driven manner. To handle the multiple pointing tasks and so-phisticated target motion during deep-space exploration, a related vectors hierar-chy for deep-space attitude guidance, and a vector propagation algorithm that is adapt to onboard utilization were built. At these basis, to solve the calculation versatility problem for reference attitude motion of various three-axis attitude definition, an analytic vector algorithm for each order reference parameters was given according to onboard navigation information and ephemeris services. To further reduce calculation cost, multiple computing cycles were defined. The output reference attitude command was used to realize the attitude tracking con-trol of reference attitude trajectory.
A spatially attitude constraints monitor method was described, and an atti-tude pointing mode reconfiguration algorithm was proposed to solve the con-straints problem with stabilization pointing mode. Celestial geometric constraints, attitude kinematics, and dynamics constraints during deep-space exploration were studied and summarized. The constraints were then abstracted into several classes of spatial representation form. To solve the problem of auxiliary pointing constraint or kinematic singularity, the method of attitude space planning and hodograph envelope of rigid-body vector were used. This achieved the justifica-tion of attitude pointing mode along with the satisfaction with primary pointing task. Several representative pointing modes were selected to make specific calcu-lation and kinematics analysis.
Pre-planning method based on state-space search for attitude maneuver un-der complex constraints was studied. To the attitude maneuver suffering from multiple constraints in time-varying space environment, especially to the exter-nally celestial geometric constraints that are more prominent in deep-space envi-ronment, the autonomous global planning of attitude maneuver was engaged from these aspects: global planning, dynamic constraints accommodation, in-crease of computational efficiency, and optimization of the feasible solution. De-scribe attitude path and constraints boundary in Rodrigues parameters space. The problem is then transformed to a motion planning problem of point robot. A sim-plified attitude guidance law for Euler-rotation planning was designed. And the feasible path was obtained by using RRT algorithm to perform random search of path node. Finally, the path was optimized in the parameters space according to evaluate the cost of maneuver.
Lastly, combining with‘Autonomy Technology of Deep Space Exploration and Its Simulation and Demonstration System’, designed an autonomous attitude control system scheme for deep-space probe, and constructed the autonomous attitude mathematical simulation subsystem based on MATLAB/Simulink, real-ized multisystem united simulation and 3-dimensional visualizing demonstration for flight process of deep-space exploration. By the semi-physical real-time con-trol simulation platform based on MATLAB/Simulink/dSPACE, the real-time performance of the proposed calculating method of reference attitude command is confirmed by merotype attitude control simulation.
引文
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64 C. R. McInnes. Potential Function Methods for Autonomous Spacecraft Guidance and Control. Advances in the Astronautical Sciences. 1996, 90:2093~2109
65 G. Radice, C. R. McInnes. Constrained on-Board Attitude Control Using Gas Jet Thrusters. The Aeronautical Journal, 1999, 103(1030):549~556
66 G. Mengali, A. A. Quarta. Spacecraft Control with Constrained Fast Reorien-tation and Accurate Pointing. The Aeronautical Journal, 2004, 108(1080):85~91
67 J. P. Frakes, D. A. Henretty, and T. W. Flatley, et al. SAMPEX Science Pointing with Velocity Avoidance. Advances in the Astronautical Sciences. 1992, 79:949~966
68 H. B. Hablaui. Attitude Commands Avoiding Bright Objects and Maintain-ing Communication with Ground Station. Journal of Guidance, Control, and Dynamics. 1999, 22(6):759~767
69 R. P. Kornfeld. On-Board Autonomous Attitude Maneuver Planning forPlanetary Spacecraft Using Genetic Algorithms. AIAA Guidance, Naviga-tion, and Control Conference and Exhibit. Austin, Texas, USA, 2003:1~13. AIAA-2003-5784
70 E. Frazzoli, M. A. Dahleh, and E. Feron, et al. A Randomized Attitude Slew Planning Algorithm for Autonomous Spacecraft. AAIA Guidance, Naviga-tion, and Control Conference and Exhibit. Montreal, Quebec, Canada, 2001:1~8
71 E. Frazzoli, M. A. Dahleh, and E. Feron. Real-Time Motion Planning for Agile Autonomous Vehicles. Journal of Guidance, Control, and Dynamics, 2002, 25(1):116~129
72 K. Spindler. New Methods in on-Board Attitude Control. Advances in the Astronautical Sciences. 1998, 100:111~124
73 A. M. Sorensen. ISO Attitude Maneuver Strategies. Advances in the Astro-nautical Sciences, 1993, 84(2):975~987
74 T. Kia, J. Mellstrom, and A. Klumpp, et al. TOPEX/POSIEDON Autono-mous Maneuver Experiment (TAME) in-Flight Execution. Advances in the Astronautical Sciences. 1998, 98:3~19
75 P. Vaze, T. Kia, A. Klumpp, and J. Mellstrom. Design and Operation of TOPEX/POSEIDON Autonomous Maneuver Experiment (TAME). IEEE, Aerospace Conference, Snowmass, Colorado, USA. 1999, 5:383~398
76 D. P. Scharf, F. Y. Hadaegh, and S. R. Ploen. A Survey of Spacecraft Forma-tion Flying Guidance and Control (PartⅠ): Guidance. Proceedings of the American Control Conference, Denver, Colorado, USA. 2003:1733~1739
77 D. P. Scharf, F. Y. Hadaegh, and S. R. Ploen. A Survey of Spacecraft Forma-tion Flying Guidance and Control (PartⅡ): Control. Proceeding of the 2004 American Control Conference, Boston, Massachusetts, USA. 2004:2976~2985
78 I. Garcia, J. P. How. Improving the Efficiency of Rapidly-Exploring Random Trees Using a Potential Function Planner. Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, Seville, Spain, 2005:7965~7970
79 I. M. Garc′?a. Nonlinear Trajectory Optimization with Path Constraints Ap-plied to Spacecraft Reconfiguration Maneuvers. Master dissertation of Mas-sachusetts Institute of Technology. 2005:27~104
80 C. Peng, E. Frazzoli, and S.M. LaValle. Improving the performance of Sam-pling-Based Planners by Using a Symmetry-Exploiting Gap Reduction Algo-rithm. IEEE International Conference on Robotics and Automation, Illinois Univ., Urbana, IL, USA, 2004, 5:4362~4368
81 M. Freed, P. Bonasso, and M. Ingham, et al. Trusted Autonomy for Space Flight Systems. AIAA 1st Space Exploration Conference, Orlando, USA. 2005:1~14. AIAA-2005-2521
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84 廖明宏,耿云海,吴翔虎,程光明. 小卫星姿控与星务管理的一体化设计. 中国空间科学技术. 2001, 21(2):31~36
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64 C. R. McInnes. Potential Function Methods for Autonomous Spacecraft Guidance and Control. Advances in the Astronautical Sciences. 1996, 90:2093~2109
65 G. Radice, C. R. McInnes. Constrained on-Board Attitude Control Using Gas Jet Thrusters. The Aeronautical Journal, 1999, 103(1030):549~556
66 G. Mengali, A. A. Quarta. Spacecraft Control with Constrained Fast Reorien-tation and Accurate Pointing. The Aeronautical Journal, 2004, 108(1080):85~91
67 J. P. Frakes, D. A. Henretty, and T. W. Flatley, et al. SAMPEX Science Pointing with Velocity Avoidance. Advances in the Astronautical Sciences. 1992, 79:949~966
68 H. B. Hablaui. Attitude Commands Avoiding Bright Objects and Maintain-ing Communication with Ground Station. Journal of Guidance, Control, and Dynamics. 1999, 22(6):759~767
69 R. P. Kornfeld. On-Board Autonomous Attitude Maneuver Planning forPlanetary Spacecraft Using Genetic Algorithms. AIAA Guidance, Naviga-tion, and Control Conference and Exhibit. Austin, Texas, USA, 2003:1~13. AIAA-2003-5784
70 E. Frazzoli, M. A. Dahleh, and E. Feron, et al. A Randomized Attitude Slew Planning Algorithm for Autonomous Spacecraft. AAIA Guidance, Naviga-tion, and Control Conference and Exhibit. Montreal, Quebec, Canada, 2001:1~8
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73 A. M. Sorensen. ISO Attitude Maneuver Strategies. Advances in the Astro-nautical Sciences, 1993, 84(2):975~987
74 T. Kia, J. Mellstrom, and A. Klumpp, et al. TOPEX/POSIEDON Autono-mous Maneuver Experiment (TAME) in-Flight Execution. Advances in the Astronautical Sciences. 1998, 98:3~19
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80 C. Peng, E. Frazzoli, and S.M. LaValle. Improving the performance of Sam-pling-Based Planners by Using a Symmetry-Exploiting Gap Reduction Algo-rithm. IEEE International Conference on Robotics and Automation, Illinois Univ., Urbana, IL, USA, 2004, 5:4362~4368
81 M. Freed, P. Bonasso, and M. Ingham, et al. Trusted Autonomy for Space Flight Systems. AIAA 1st Space Exploration Conference, Orlando, USA. 2005:1~14. AIAA-2005-2521
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83 吴宏鑫. 航天控制的发展方向—航天器智能自主控制. 控制工程. 2001, (5-6):40~46
84 廖明宏,耿云海,吴翔虎,程光明. 小卫星姿控与星务管理的一体化设计. 中国空间科学技术. 2001, 21(2):31~36
85 代树武,孙辉先. 卫星运行中的自主控制技术. 空间科学学报. 2002, 22(2):147~153
86 黄翔宇. 探测器自主导航方法及在小天体探测中的应用研究. 哈尔滨工业大学博士学位论文. 2005:17~18, 25~27
87 T. Misu, T. Hashimoto, and K. Ninomiya. Optical Guidance for Autonomous Landing of Spacecraft. IEEE Transactions on Aerospace and Electronics Systems. 1999, 35(2):459~473
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