The invention provides an autonomous path planning method in a micro spacecraft approaching observation task, and the method is characterized in that the method comprises the steps: 1, setting the approaching distance and observation duration of a relative observation target according to the observation capability and safety requirements of a micro spacecraft; 2, setting a distribution spherical surface approaching the observation points according to the approaching distance, modeling the distribution spherical surface by adopting a spherical surface grid method, and encoding grids by adopting a polar coordinate method; and 9, performing polynomial fitting on the scanning angles of the adjacent grids on the spherical surface, so that the tiny spacecraft is in smooth transition in each grid, and connecting the tracks of the adjacent grids to obtain a relatively smooth transfer path in the approaching observation process of the tiny spacecraft. According to the method, the advantages of a continuous optimization method and a discrete search method are integrated, the problems that a traditional trajectory planning algorithm is complex, and autonomous planning and implementation on the spacecraft cannot be achieved are solved, and the autonomous path planning requirement of a small spacecraft approaching detection task can be met.
本发明提供了一种微小航天器抵近观测任务中的自主路径规划方法,其特征在于,包括:步骤1,根据微小航天器观测能力和安全性要求,设定相对观测目标的抵近距离和观测时长;步骤2,根据抵近距离设定抵近观测点的分布球面,采用球面栅格法对分布球面进行建模,并采用极坐标法对栅格进行编码;步骤9,对相邻栅格在球面上扫过角度采用多项式拟合,使得微小航天器在各个栅格内平滑过渡,将各相邻栅格之间轨迹相连,便得到微小航天器抵近观测过程中相对平滑转移路径。本发明提出的综合了连续优化方法和离散搜索方法的优点,解决了传统轨迹规划算法复杂,无法实现在航天器上自主规划和实施的问题,可满足微小航天器抵近探测任务的自主路径规划需求。
Autonomous path planning method in approaching observation task of micro spacecraft
一种微小航天器抵近观测任务中的自主路径规划方法
2024-04-12
Patent
Elektronische Ressource
Chinesisch
IPC: | B64G Raumfahrt , COSMONAUTICS |
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