递进式路径转移姿态机动快速规划方法

Rapid attitude maneuver planning method based on progressive path transfer

当前空间探测活动需要航天器具有大角度姿态机动能力,然而复杂的空间环境和航天器姿态约束限制了姿态机动的可行空间和姿态规划效率。针对这一问题,进行了多约束条件下大角度姿态机动快速规划研究,提出一种基于路径转移策略的快速规划方法。该方法由参考路径规划、松弛路径规划和路径转移规划3部分组成,递进式处理姿态规划中的初始参考路径生成、姿态有界约束满足和姿态指向约束满足问题。在路径转移规划中,建立基于指向角的姿态指向约束评价函数,设计对应的转移动作集合,能够快速得到满足多种约束条件的安全机动路径。最后,通过大角度姿态机动对比仿真,验证了该方法在机动时间方面的快速性和规划速度方面的高效性。

Large angle attitude maneuver is a common task in current space missions.However,the complex space environment and spacecraft attitude constraints limit the feasible space of attitude maneuver and the efficiency of attitude planning.To solve this problem,this paper studies the rapid planning of large angle attitude maneuver based on multiple constraints,and proposes a rapid planning method based on path transfer strategy.The method is composed of three parts:reference path planning,relaxation path planning,and path transfer planning.The problems of initial reference path generation,attitude bounded constraint satisfaction and attitude pointing constraint satisfaction in attitude planning are dealt with step by step.In path transfer planning,the attitude pointing constraint evaluation function is established based on the pointing angle and the corresponding transfer action set is designed,which can quickly obtain the safe maneuver path satisfying various constraint conditions.Simulation of large angle attitude maneuver shows that the method proposed is fast in terms of maneuver time and efficient in terms of planning speed.