复杂约束下航天器姿态机动球面几何规划方法

针对航天器进行大角度姿态机动过程中约束多且复杂的问题，提出一种基于球面几何的姿态规划方法。该方法将复杂指向约束描述为多个禁入锥，设计了区分有效约束和无效约束的路径约束检测方法，能有效减少当前路径处理的约束数量；然后将三维空间避障问题映射到二维平面上，通过球面几何距离公式推导了中间姿态指令解析解。仿真结果表明，该方法规划的姿态机动路径不仅能够满足复杂指向约束，而且具有节省机动时间、计算效率高的优点。

Spherical Geometric Planning Method for Spacecraft AttitudeManeuvering with Complex Constraints

For the problem that many constraints are complex during a spacecraft’s large angle attitude maneuver, a kind of attitude planning method is proposed based on spherical geometry. The method describes the complex pointing constraints as the forbidden cones. The path constraints detection method is designed to distinguish the valid constraints from the invalid constraints, which can effectively reduce the number of the constraints to be processed by the current path. Then the obstacle avoidance problem in three dimensional space is mapped to the two dimensional plane and the analytical solution of the intermediate attitude command is derived by the spherical geometric method. The simulation results show that the attitude maneuver path planned by this method can not only avoid the complex pointing constraints, but also have the advantages of shorter maneuver time and high calculation efficiency.