The invention discloses a segmented polynomial spacecraft attitude maneuver trajectory planning method, and belongs to the field of spacecraft attitude planning. The implementation method comprises the following steps: establishing a spacecraft wide-angle attitude maneuver model and a pointing constraint attitude sphere map; the method comprises the following steps: determining initial pointing and target pointing of a spacecraft sensor, representing an attitude trajectory of a spacecraft by using a polynomial, and sequentially satisfying pointing constraint, dynamic constraint and bounded constraint through spherical three-dimensional path planning, inverse dynamics and heuristic bipartite time allocation method layering; the shortest attitude maneuver time attitude trajectory and the fixed attitude maneuver time attitude trajectory can be obtained, the attitude trajectory planning efficiency is high, and the complex pointing constraint processing capacity is high. The planned trajectory serves as the nominal trajectory to serve as the input of the attitude controller, the nominal trajectory is tracked in real time through the output torque of the controller, attitude maneuver avoiding a complex taboo area is achieved, and the real-time performance and adaptability of tracking control can be improved. The method is more suitable for on-satellite autonomous attitude planning.

    本发明公开的分段多项式航天器姿态机动轨迹规划方法,属于航天器姿态规划领域。本发明实现方法为:建立航天器大角度姿态机动模型和指向约束姿态球地图;确定航天器敏感器初始指向和目标指向,用多项式表示航天器的姿态轨迹,通过球面三维路径规划、逆动力学和启发式二分时间分配方法分层依次满足指向约束、动力学约束和有界约束,能够得最短姿态机动时间姿态轨迹和固定姿态机动时间姿态轨迹,姿态轨迹规划效率高,对复杂指向约束处理能力强。本发明规划的轨迹作为标称轨迹作为姿态控制器的输入,通过控制器输出力矩实时跟踪标称轨迹,实现规避复杂禁忌区域的姿态机动,且能够提高跟踪控制的实时性和适应性。本发明更适用于星上自主姿态规划。


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    Title :

    Segmented polynomial spacecraft attitude maneuver trajectory planning method


    Additional title:

    分段多项式航天器姿态机动轨迹规划方法


    Contributors:
    XU RUI (author) / FAN YUQI (author) / LI CHAOYU (author) / CUI PINGYUAN (author) / ZHU SHENGYING (author) / GAO AI (author)

    Publication date :

    2022-10-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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