基于序列凸规划的运载火箭轨迹在线规划方法

针对大气层内气动力对轨迹规划求解实时性与收敛性的影响，提出一种基于模型补偿序列凸规划的大气层内火箭轨迹规划方法。该方法的核心思想是通过设计一种序列补偿的方式，将火箭动力学中非线性项(气动力加速度与重力加速度)与过程约束项(动压、过载约束等)进行凸化，从而将轨迹规划问题转化为序列凸规划问题而得到快速求解。在此基础上，本文理论分析了该序列凸规划方法的收敛性，保证该方法能够收敛到原问题的最优解。数值仿真表明，该方法能够完成大气层内的火箭上升段与垂直着陆段轨迹在线规划任务，方法的收敛速度能满足轨迹在线生成的实时性要求。

Online Trajectory Planning for Launch Vehicles withSuccessive Convex Programming

A model compensation version of successive convex programming is developed to account for aerodynamic dispersions and applied to the atmospheric rocket trajectory planning problem. A strategy to successively compensate the nonlinear terms in the vehicle dynamics is proposed, with which the original problem can be transformed into a convex one and then solved rapidly. A method to successively convexify the path constraints is developed, which is capable of addressing the nonconvex path constraints without slowing the optimization process. At last, the convergence is analyzed theoretically. The simulation results suggest that the proposed method can generate trajectories autonomously and rapidly for launch vehicles both in landing phase and in ascent flight. Besides, the convergence rate of the method meets the real time requirement.