面向航天型号软件的混成建模语言研究

随着我国航天事业的快速发展,软件在航天器中的作用和地位越来越突出,航天软件逐渐成为航天型号任务成败的关键之一.航天型号软件普遍具有实时性高、可靠性要求高、运行环境复杂以及航天器结构复杂、资源受限等特点,这给航天型号软件的描述、设计、分析和实现带来了巨大的挑战.嵌入式周期控制系统语言(SPARDL)仅关注了离散时间的动力...     

Decentralized formation pose estimation for spacecraft swarms

For spacecraft swarms, the multi-agent localization algorithm must scale well with the number of spacecraft and adapt to time-varying communication and relative sensing networks. In this paper, we present a decentralized, scalable algorithm for swarm localization, called the Decentralized Pose Estimation (DPE) algorithm. The DPE considers both communication and relative sensing graphs and defines an observable local formation. Each spacecraft jointly localizes its local subset of spacecraft using direct and communicated measurements. Since the algorithm is local, the algorithm complexity does not grow with the number of spacecraft in the swarm. As part of the DPE, we present the Swarm Reference Frame Estimation (SRFE) algorithm, a distributed consensus algorithm to co-estimate a common Local-Vertical, Local-Horizontal (LVLH) frame. The DPE combined with the SRFE provides a scalable, fully-decentralized navigation solution that can be used for swarm control and motion planning. Numerical simulations and experiments using Caltech’s robotic spacecraft simulators are presented to validate the effectiveness and scalability of the DPE algorithm.     

航天器分离面物理嵌合机理及防护方案

在某航天器研制过程中,发现了分离面镀膜后因非冷焊因素导致不能分离的现象。为探究该现象的产生机理、影响因素和防护方案,将铝合金试片表面分别进行不处理、本色阳极氧化处理、涂覆二硫化钼处理、光亮镀金处理和光亮阳极氧化处理后,两两配合加压,高真空条件下静置一段时间后,在常温常压条件下进行分离试验,如果试片未分离,重新采用新试片在变温常压条件下静置一段时间后,进行分离试验,分析各试片表面形貌变化和元素转移等情况。试验发现未分离试片因对接面上存在大量细小的凹凸纹路彼此机械咬合引起不能分离,试片镀膜硬度和表面粗糙度是产生物理嵌合的直接原因。从而,提出了航天器无相对运动的分离面需选用硬度较大、粗糙程度较低镀层的防护措施,并通过试验进行了验证。     

Scientific instrumentation of PLANET-A VUV imaging of the hydrogen coma of Halley

The PLANET-A spacecraft to fly by Comet Halley is equipped with a VUV imaging camera which will take pictures of the hydrogen coma of the comet. The camera is composed of a telescopic mirror lens, a VUV image intensifier, two dimensional CCD, and controlling electronic circuits with a microprocessor. In order to eliminate the blur in the image due to the spinning motion of the spacecraft, a special technique called “spinsynchronized charge swift” is used in the CCD driving.     

空间激光干涉引力波探测器轨道修正方法

针对空间激光干涉引力波探测器轨道修正问题,提出一种基于虚拟编队构型设计的航天器轨道修正方法。空间激光干涉引力波探测器由3颗航天器组成等边三角形构型。由于入轨误差和摄动的影响,探测器的构型不稳定。假设名义轨道上运行着一颗理想航天器,实际轨道上的真实航天器与之组成虚拟编队,探测器的3颗真实航天器分别与对应的理想航天器组成3个虚拟编队。考虑探测器构型稳定性要求和摄动的影响,对虚拟编队的构型进行设计,进而求解航天器平均轨道要素修正量。求解得到的航天器平均轨道要素修正量小于偏差量,轨道修正通过四脉冲控制实现。数值仿真结果表明,该方法通过部分轨道修正满足了探测器的构型稳定性要求,具有减少燃料消耗、延长任务寿命的潜力。      

Practical method to identify orbital anomaly as spacecraft breakup in the geostationary region

Identifying spacecraft breakup events is an essential issue for better understanding of the current orbital debris environment. This paper proposes an observation planning approach to identify an orbital anomaly, which appears as a significant discontinuity in archived orbital history, as a spacecraft breakup. The proposed approach is applicable to orbital anomalies in the geostationary region. The proposed approach selects a spacecraft that experienced an orbital anomaly, and then predicts trajectories of possible fragments of the spacecraft at an observation epoch. This paper theoretically demonstrates that observation planning for the possible fragments can be conducted. To do this, long-term behaviors of the possible fragments are evaluated. It is concluded that intersections of their trajectories will converge into several corresponding regions in the celestial sphere even if the breakup epoch is not specified and it has uncertainty of the order of several weeks.     

太阳风中航天器带电与尾迹效应的模拟

航天器充电和尾迹效应会对周围等离子体造成扰动,影响测量装置结果的准确性.利用SPIS （Spacecraft Plasma Interaction Software）分别模拟了航天器与太阳风的相互作用,考察了光电效应以及航天器尺度对表面充电情况和尾迹效应的影响.结果表明:太阳风环境下,等离子体密度稀薄,电子电流比光电子电流小得多,航天器表面为正电势,航天器后部有清晰的尾迹结构,尾迹带负电;光电效应可改变尾迹结构,与无光电效应相比,光电效应使得航天器尾迹尺度变大;由于太阳风定向运动动能大于航天器表面势能,航天器的尾迹结构与其几何尺寸有关,航天器尺寸越大,尾迹尺度越大.      

X射线脉冲星自主导航的光子到达时间转换

根据广义相对论的后牛顿近似时空理论, 在忽略太阳系天体自转和扁率的情况下, 详细推导出X射线脉冲星自主导航中, 光子到达观测航天器和太阳系质心的时间差值, 它是对现行公式的修正．导出了质心坐标时与航天器固有时的变换关系, 根据这一关系, 建议在脉冲星导航的工程设计中可以仿照GPS, 将航天器携带时钟作频率调整, 从而有利于工程计算.      

Giotto extended mission

The navigation of the ESA spacecraft Giotto to its encounter with comet P/Halley on 14 March 1986 required just 10% of the fuel available. Although the spacecraft was damaged by dust impacts during its close flyby at the nucleus of P/Halley it was retargeted to return close to Earth to maintain the option to extend the mission to encounter another comet, P/Grigg-Skjellerup on 10 July 1992.

On 2 April 1986 the spacecraft was put into hibernation configuration and had been orbiting the Sun in the ecliptic with an orbital period of 10 months. On 19 February 1990 it was reactivated, spacecraft subsystems and the payload checked out to determine its health status.

On 2 July 1990 Giotto performed succesfully the first-ever Earth gravity assist manoeuvre of a spacecraft approaching the Earth from deep space and was retargeted for comet P/Grigg--Skjellerup. It was concluded that the spacecraft is ready to provide valuable data during a potential encounter with a second comet.     

Systems design of a hybrid sail pole-sitter

This paper presents the preliminary systems design of a pole-sitter. This is a spacecraft that hovers over an Earth pole, creating a platform for full hemispheric observation of the polar regions, as well as direct-link telecommunications. To provide the necessary thrust, a hybrid propulsion system combines a solar sail with a more mature solar electric propulsion (SEP) thruster. Previous work by the authors showed that the combination of the two allows lower propellant mass fractions, at the cost of increased system complexity. This paper compares the pure SEP spacecraft with the hybrid spacecraft in terms of the launch mass necessary to deliver a certain payload for a given mission duration. A mass budget is proposed, and the conditions investigated under which the hybrid sail saves on the initial spacecraft initial mass. It is found that the hybrid spacecraft with near- to mid-term sail technology has a lower initial mass than the SEP case if the mission duration is 7 years or more, with greater benefits for longer duration missions. The hybrid spacecraft with far-term sail technology outperforms the pure SEP case even for short missions.     

航天器控制的现状与未来

航天器控制技术是决定航天器发展水平的关键技术之一.针对不同航天活动对航天器控制的特殊要求,分析了高性能卫星、载人航天器、月球探测器和深空探测器等航天器控制的现状.杨嘉墀院士指出航天器控制必将走向智能自主控制之路.进一步提出,航天器智能自主控制应秉承"理论方法、系统结构、器部件要同步研究"的思想和方法.从目前应用情况看,北京控制工程研究所提出的基于特征模型的智能自适应控制方法是大有前途的方法.     

航天器环境试验和航天产品的质量与可靠性保证

介绍了航天器验证和试验标准近年来的发展现状 ,指出了这些标准在各国航天器验证中所起到的作用 ,同时讨论了在航天器研制中环境试验和可靠性试验的关系。由于航天器的特点 ,在整个验证工作中 ,环境试验和可靠性试验应该是统一的。通过全面的验证工作 ,特别是大量的环境试验 ,航天器的环境适应性和可靠性得到了保证。总的看法是 ,这些标准 ,只要应用得当 ,将能保证航天器的性能要求和在轨可靠性。     

Various methods of calibration of the STEREO/WAVES antennas

On October 25th, 2006, NASA’s two STEREO spacecraft were launched which are designed to increase our knowledge of the physics of the solar system. On board they carry a sophisticated radio experiment, called S/WAVES. The key technology, used by S/WAVES is the direction finding capability in addition to the use of two spacecraft which makes it possible to triangulate radio sources. Direction finding requires the reception properties of the antennas to be known very accurately. We applied several different methods to calibrate the S/WAVES antennas. In this paper the methods are described and compared and the results are presented and discussed with respect to advantages and disadvantages of the different methods.     

Stability of relative equilibria of the full spacecraft dynamics around an asteroid with orbit–attitude coupling

The full dynamics of spacecraft around an asteroid, in which the spacecraft is considered as a rigid body and the gravitational orbit–attitude coupling is taken into account, is of great value and interest in the precise theories of the motion. The spectral stability of the classical relative equilibria of the full spacecraft dynamics around an asteroid is studied with the method of geometric mechanics. The stability conditions are given explicitly based on the characteristic equation of the linear system matrix. It is found that the linearized system decouples into two entirely independent subsystems, which correspond to the motions within and outside the equatorial plane of the asteroid respectively. The system parameters are divided into three groups that describe the traditional stationary orbit stability, the significance of the orbit–attitude coupling and the mass distribution of the spacecraft respectively. The spectral stability of the relative equilibria is investigated numerically with respect to the three groups of system parameters. The relations between the full spacecraft dynamics and the traditional spacecraft dynamics, as well as the effect of the orbit–attitude coupling, are assessed. We find that when the orbit–attitude coupling is strong, the mass distribution of the spacecraft dominates the stability of the relative equilibria; whereas when the orbit–attitude coupling is weak, both the mass distribution and the traditional stationary orbit stability have significant effects on the stability. We also give a criterion to determine whether the orbit–attitude coupling needs to be considered.     

航天器随机振动设计载荷比较

将直接影响航天器结构质量的随机振动载荷等效为准静态的设计载荷,是航天器结构设计分析中的一项重要内容。文章简要介绍了基于加速度峰值响应等效的设计载荷与基于位移峰值响应等效的设计载荷的原理与方法;重点运用解析法与有限元仿真比较了两种方法的差别,分析得出基于加速度的设计载荷要大于基于位移的设计载荷。文章推荐使用基于位移峰值响应等效的设计载荷,该方法将有效减轻结构质量。     

在轨航天器动力学参数辨识技术研究

针对在轨航天器低频密集和辨识时激励源有限且难于测量等特点,开展了适用于低频密集模态且不需激励信息的在轨航天器动力学参数辨识方法的研究,探讨了直接利用在轨响应数据在频域内辨识航天器动力学参数的技术;并根据在轨航天器低频密集特点,设计了在轨航天器动力学参数辨识仿真试验系统,对该辨识方法进行了试验验证。     

一种面向航天器综合电子的ASIC芯片设计

航天器综合电子系统通用功能集成并芯片化是目前航天器电子系统的发展趋势. 针对中国航天器电子系统小型化、综合化的应用需求,提出一种面向航天器综合电子的ASIC芯片设计方案,分析了ASIC芯片设计中的关键技术,包括芯片系统工作模式、IP核的开发应用、可靠性和低功耗设计,1553B简易终端控制模式是芯片的技术特色和典型应用. ASIC芯片的功能设计、系统仿真验证、FPGA验证和物理设计均已完成,进入流片状态. 芯片的FPGA验证结果证明了芯片设计的有效性和可靠性. ASIC芯片旨在达到国军标548S的要求,应用场景是航天器内数据总线接口单元和遥测遥控.      

天宫一号目标飞行器GNC分系统容错策略设计

天宫一号目标飞行器是中国研制的新一代专门用于交会对接的大型载人航天器.为保证其长期在轨安全可靠运行,顺利完成与载人飞船的交会对接任务,以及单体飞行和组合体飞行期间的姿态和轨道控制任务,要求GNC分系统设计充分的容错策略.对GNC分系统软硬件平台进行介绍,对敏感器、执行机构以及控制器的软硬件容错策略进行详述.该策略在实际应用中得到验证,结果表明设计合理,可以有效提高GNC分系统的系统性能和可靠性.     

Multivariate bootstrapped relative positioning of spacecraft using GPS L1/Galileo E1 signals

GNSS-based precise relative positioning between spacecraft normally requires dual frequency observations, whereas attitude determination of the spacecraft, mainly due to the stronger model given by the a priori knowledge of the length and geometry of the baselines, can be performed precisely using only single frequency observations. When the Galileo signals will come available, the number of observations at the L1 frequency will increase as we will have a GPS and Galileo multi-constellation. Moreover the L1 observations of the Galileo system and modernized GPS are more precise than legacy GPS and this, combined with the increased number of observations, will result in a stronger model for single frequency relative positioning. In this contribution we will develop an even stronger model by combining the attitude determination problem with relative positioning. The attitude determination problem will be solved by the recently developed Multivariate Constrained (MC-) LAMBDA method. We will do this for each spacecraft and use the outcome for an ambiguity constrained solution on the baseline between the spacecraft. In this way the solution for the unconstrained baseline is bootstrapped from the MC-LAMBDA solutions of each spacecraft in what is called: multivariate bootstrapped relative positioning. The developed approach will be compared in simulations with relative positioning using a single antenna at each spacecraft (standard LAMBDA) and a vectorial bootstrapping approach. In the simulations we will analyze single epoch, single frequency success rates as the most challenging application. The difference in performance for the approaches for single epoch solutions, is a good indication of the strength of the underlying models. As the multivariate bootstrapping approach has a stronger model by applying information on the geometry of the constrained baselines, for applications with large observation noise and limited number of observations this will result in a better performance compared to the vectorial bootstrapping approach. Compared with standard LAMBDA, it can reach a 59% higher success rate for ambiguity resolution. The higher success rate on the unconstrained baseline between the platforms comes without extra computational load as the constrained baseline(s) problem has to be solved for attitude determination and this information can be applied for relative positioning.     

Spacecraft formation flying control around L2 sun-earth libration point using on–off SDRE approach

In this paper, on–off SDRE control approach is presented for spacecraft formation flying control around sun-earth L2 libration point. Orbits around libration points are significant targets for many space missions mainly because of efficient fuel consumption. Furthermore, less propellant usage can be achieved by considering optimal control approaches in spacecraft formation flying control design. Among various nonlinear and optimal control methods, SDRE has shown to be a popular controller in various missions due to the privileges including efficiency, accuracy and robustness. The spacecraft are assumed to have on–off thrusters as actuators. It requires them to be fed with a sequence of on–off pulses which is regarded as a challenge for spacecraft designers. Hence, the main contribution of this paper is designing an on–off SDRE approach for the formation flight around sun-earth L2 point with uncertainty with energy and accuracy considerations. Including on–off input as a constraint is not feasible for SDRE implementation because it makes the system non-affine. An alternative is utilizing an integral action technique and an auxiliary control to make the system affine which leads to on–off SDRE approach. It has also been shown that the proposed method is robust against parametric uncertainties of the states. Present study aims to design an energy-beneficial, simple and attractive controller for a complex nonlinear system with on–off inputs and uncertainty in CRTBP. Simulation results show that the on–off SDRE control could provide the formation flight around L2 point with high accuracy using less energy consumption.