Research On Geometric Attitude Maneuver Path Planning Under Multiple Constraints

In orbit operation,spacecraft needs continuous attitude maneuver to adjust its attitude pointing.However,there are many constraints in the maneuver process.We need to not only consider the dynamic constraints generated by the internal environment,but also meet the various constraints caused by the external environment or the executing agencies.The methods to solve multi-constraint maneuver planning methods can be divided into numerical methods and analytical methods.At present,many numerical algorithms are used by attitude planning algorithms,such as the rapid searching random tree(RRT)method.But the result of the numerical solution is a number of discrete nodes,which can not give continuous and exact solutions of the path,angular velocity and control moment,and the numerical solution is less efficient.The analytical method has the characteristics of fast calculation speed and continuous maneuvering path,which can meet the needs of spacecraft autonomous attitude planning.In this paper,differential geometry is used to solve the spacecraft maneuver planning problem with multiple constraints.The main work of this paper is as follows:First,the writer models and analyzes maneuver planning based on differential geometry.Based on the important definition of differential geometry theory,a model of attitude maneuver planning is established,and the analytical expression of attitude maneuvering path is obtained.Secondly,aiming at the situation that the simple differential geometry method can not effectively satisfy multiple pointing constraints,a GEO-RRT multi-constrained attitude planning method is proposed by combining the differential geometry method(GEO)and the improved rapid random tree(RRT)The method can effectively solve the spacecraft to meet the problem of pointing constraints.On this basis,the inverse dynamics method is adopted to satisfy the bounded and end-point constraints in the maneuvering process.Then,according to the demand of low energy consumption in spacecraft maneuvering,a differential geometry method performance index is given,and the attitude motion of the spacecraft with the uniaxial angular velocity limited in quaternion is modeled.The object of maneuvering attitude optimization under multiple constraints is achieved.Finally,a simulation verification system of spacecraft attitude maneuver planning is set up,the simulation method of the research method is simulated,and its effectiveness and feasibility are analyzed.