Journal of Astronautics ›› 2020, Vol. 41 ›› Issue (11): 1424-1433.doi: 10.3873/j.issn.1000-1328.2020.11.008

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Time and Virtual Mixed Domain Planning Method of Spacecraft  Attitude Reorientation under Multiple Constraints

WANG Hui, XU Rui, ZHU Sheng ying, LIANG Zi xuan   

  1. 1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China; 2. Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration, Ministry of Industry and Information Technology, Beijing 100081, China
  • Received:2019-09-09 Revised:2020-02-14 Online:2020-11-15 Published:2020-11-24


A spacecraft is limited by multiple conditions during an attitude maneuver, such as the forbidden and mandatory pointing constraints, the bounded constraints of the angular velocity and control torque, and the limited onboard energy and fuel. For the problem of low energy attitude reorientation planning for spacecraft under complex multiple constraints, the concept of the time and virtual mixed domain is firstly proposed, that is, the time domain and virtual domain exist synchronously, and the attitude path on the virtual domain and the angular velocity and control torque on the time domain are solved synchronously. Further, the model of the nonlinear constraint problem on the time and virtual mixed domain is established. Then, the single node nonlinear attitude maneuver planning method based on the time and virtual mixed domain is proposed. The attitude maneuver trajectory, and angular velocity and control torque curves are obtained by the nonlinear parameter optimization and single node path decomposition and substitution planning. The simulation results demonstrate that the proposed method can efficiently solve the multi constraint attitude reorientation planning problem, effectively reduce the energy consumption in the process of the attitude maneuver, and obtain continuous and smooth attitude maneuver planning results.

Key words: Multiple constraints, Time and virtual mixed domain, Attitude planning; Decomposition and substitution; Low energy

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