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CN105883006B - A design method for the separation attitude of deep space reentry and return service platform and returner - Google Patents

A design method for the separation attitude of deep space reentry and return service platform and returner Download PDF

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CN105883006B
CN105883006B CN201510035936.2A CN201510035936A CN105883006B CN 105883006 B CN105883006 B CN 105883006B CN 201510035936 A CN201510035936 A CN 201510035936A CN 105883006 B CN105883006 B CN 105883006B
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service platform
returner
separation
vector
attitude
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CN105883006A (en
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陈春亮
杨眉
黄昊
杨孟飞
彭兢
张伍
杜颖
张正峰
邹乐洋
赵洋
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Beijing Institute of Spacecraft System Engineering
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Beijing Institute of Spacecraft System Engineering
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Abstract

The present invention proposes that a kind of deep space reenters and returns to service platform and recoverable capsule separation attitude design method, flight attitude and attitude maneuver ability after separating according to recoverable capsule, determines the reference attitude of service platform and recoverable capsule separation；On the basis of reference attitude, Analysis Service platform and the observing and controlling condition of recoverable capsule, the separation safety of service platform and recoverable capsule, service platform star sensor availability the constraint conditions such as requirement, finally comprehensively consider the requirement of flight attitude, detector observing and controlling condition, detector power reguirements, separation safety and star sensor after separating, the separation attitude range for providing the service platform and recoverable capsule that meet the requirements meets high-precision independent navigation, reliable separation and the requirement reentered safely during recoverable capsule reenters.

Description

A kind of deep space, which reenters, returns to service platform and recoverable capsule separation attitude design method
Technical field
The present invention relates to deep space exploration overall design technique fields, and in particular to a kind of deep space reenters the service of return task Platform and recoverable capsule separation attitude design method.
Background technique
Deep space reenters in return task, and the safe and reliable separation of service platform and recoverable capsule is the key that Mission Success.Clothes State foundation, service platform and recoverable capsule before the design of business platform and recoverable capsule separation attitude separates service platform and recoverable capsule The safety of relative motion and recoverable capsule reentry point precision have a major impact after reliable separation, separation
Summary of the invention
It is reentered the purpose of the present invention is to solve deep space and returns to service platform and recoverable capsule separation attitude problem, propose one Kind deep space reenters the service platform and recoverable capsule separation attitude design method of return task.
It is reentered the invention proposes a kind of deep space and returns to service platform and recoverable capsule separation attitude design method, including is following Step:
1) flight attitude after being separated according to recoverable capsule determines the separation attitude of service platform and recoverable capsule: according to recoverable capsule The set parameter of flight attitude includes Inertial Measurement Unit after the recoverable capsule separation in flight attitude mobile process after separation Flight attitude is estimated most after the motor-driven angular speed of flight attitude and recoverable capsule separate after output error, the recoverable capsule separation Big tolerance is calculated service platform with the separation attitude of recoverable capsule and the recoverable capsule and separates rear flight attitude most The separation attitude and the recoverable capsule of large deviation angle, the service platform and recoverable capsule separate the deviation of rear flight attitude Angle adjusts in 0 ° to the maximum deviation angular range, to ensure the separation attitude of the service platform and recoverable capsule The flight attitude required after separating with recoverable capsule is close；
2) determine observing and controlling condition: after separating on the basis of the flight attitude of recoverable capsule, the service determined in step 1) is flat The separation attitude and the recoverable capsule of platform and recoverable capsule separate computing services platform observing and controlling in rear flight attitude deviation angular region Antenna axial direction and recoverable capsule-earth station's vector angle, recoverable capsule TT&C antenna axial direction and recoverable capsule-earth station's vector folder Angle, service platform TT&C antenna is axial with recoverable capsule-earth station's vector angle and known service platform TT&C antenna Field angle compares, while recoverable capsule TT&C antenna axially being surveyed with recoverable capsule-earth station's vector angle and known recoverable capsule Control antenna beam angle is compared, and confirms the availability of TT&C antenna, it is ensured that after service platform and the foundation of recoverable capsule separation attitude, service Platform and recoverable capsule are communicated with ground control station, unobstructed between TT&C antenna and earth station；
3) service platform determined by step 1) flies after separating with the separation attitude of recoverable capsule and the recoverable capsule Power supply and distribution ability is analyzed within the scope of the misalignment angle of posture: being calculated, is obtained by the system power to service platform and recoverable capsule The minimum generating capacity that service platform solar battery array has, according to the maximum generation energy of known service platform solar battery array The maximum angle of solar vector Yu service platform solar battery array normal direction is calculated in power, considers service platform solar battery array The angle minimum value of service platform solar battery array rotor shaft direction and solar vector is calculated in rotation situation, and service platform is too The angle maximum value of positive cell array rotor shaft direction and solar vector, the service platform solar battery array rotor shaft direction and the sun The angular range of vector is in the minimum value and maximum range, to ensure that service platform and recoverable capsule separation attitude are established Afterwards, guarantee that service platform has certain generating capacity, it is ensured that the energy supply in separation process；
4) service platform and recoverable capsule separation safety are analyzed: according to detector flight track, after separating according to recoverable capsule Flight attitude simultaneously considers corresponding deviation angular region, and the detaching direction for providing service platform and recoverable capsule is sat in the earth's core equator inertia Direction in mark system is calculated after service platform separation relatively according to the relative velocity that service platform and recoverable capsule separate With respect to the position of the earth's core equator inertial coodinate system after the position vector of heart equator inertial coodinate system, velocity vector and recoverable capsule separation Set vector, velocity vector；Position vector, velocity vector after being separated according to recoverable capsule, obtain recoverable capsule using orbit computation and arrive At the time of up to reentry point and the position vector of reentry point, the position vector for reentering point moment service platform is calculated, Distance of the service platform relative to recoverable capsule is finally calculated；By the service platform relative to recoverable capsule distance with want The safe distance asked is compared, and judges the safety that service platform is separated with recoverable capsule；
5) the spuious Xanthophyll cycle of star sensor requires analysis, passes through service platform star sensor optical axis vector and the earth, the moon The analysis of the angle of ball and solar vector, it is ensured that it is sensitive that the reflected light and sunray of earth and moon will not enter service platform star In the range of the spuious Xanthophyll cycle angle of device: the spuious Xanthophyll cycle angle of known service platform star sensor is a, service platform star sensor light Axial vectorWith solar vectorAngle is b1,With service platform-earth vectorAngle is b2, earth corresponding service platform Half angle be c1,With service platform-moon vectorAngle is b3, the half angle of moon corresponding service platform is c2, when extremely When few two service platform star sensor optical axis vectors meet following require, service platform and recoverable capsule separation attitude guarantee that star is quick Sensor is not influenced by stray light:
b1> a and b2> a+c1And b3> a+c2①；
6) according to the analysis result of step 1) to step 5), it is determined that the separation attitude of service platform and recoverable capsule.
Deep space proposed by the present invention reenters the service platform of return task and recoverable capsule separation attitude design method is sufficiently examined Consider that motor-driven recoverable capsule separation attitude, whole device power supply influences, separation safety, observing and controlling number passes condition, star sensor stray light presses down The influence of multiple constraints such as system, to multiple guarantors of the separation of service platform and recoverable capsule under the premise of fully considering Mission Success Card condition has carried out sufficient analysis and verifying, can satisfy the high-precision independent navigation during recoverable capsule reenters, reliably divides From and the requirement that reenters safely, entrance and the landing task of return task and other planetary detections are reentered suitable for deep space.
Detailed description of the invention
Fig. 1 is service platform and recoverable capsule separation attitude design method schematic diagram；
Fig. 2 is service platform and recoverable capsule observing and controlling condition analysis chart；
Fig. 3 is solar wing and solar vector angle schematic diagram；
Fig. 4 is the definition of recoverable capsule coordinate system；
Fig. 5 is flight attitude after recoverable capsule separation；
Fig. 6 is the separation attitude of service platform and recoverable capsule.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is described in detail.
The invention proposes the methods for carrying out service platform and the design of recoverable capsule separation attitude for every constraint condition, fit Return task is reentered for deep space and planet enters task.It is following several that deep space reenters the main consideration of return operation flight posture design The constraint of a aspect:
(1) attitude maneuver requirement after recoverable capsule separation: since recoverable capsule Inertial Measurement Unit may be in attitude maneuver process Middle introducing measured deviation, to reduce recoverable capsule attitude maneuver after separation, service platform and recoverable capsule separation attitude should be with recoverable capsules The flight attitude required after separation is close.
(2) observing and controlling condition: after separation attitude is established, it should be able to guarantee that service platform and recoverable capsule can be with ground control stations Communication, it is unobstructed between antenna and earth station.
(3) power supply and distribution capacity: after service platform and the foundation of recoverable capsule separation attitude, it should be able to guarantee that service platform has There is certain generating capacity, it is ensured that the energy supply in separation process.
(4) separation safety: in the case where separating rate determines, the separation attitude of service platform and recoverable capsule should be able to Guarantee that service platform and recoverable capsule have desired safe distance at recoverable capsule reentry point.
(5) the spuious Xanthophyll cycle requirement of star sensor: since service platform inertial orientation and recoverable capsule initial attitude determine Requirement, service platform and recoverable capsule separation attitude should be able to guarantee that star sensor is not influenced by stray light, it is ensured that availability.
(see figure 1) that specific step is as follows:
Step 1: the flight attitude after being separated according to recoverable capsule primarily determines the separation attitude of service platform and recoverable capsule. According to Inertial Measurement Unit in the flight attitude mobile process after recoverable capsule separation after output error α (°/s), recoverable capsule separation The motor-driven angular velocity omega of flight attitude (°/s) and recoverable capsule separation after flight attitude estimation maximum allowable offset σ (°), Posture and maximum maximum deviation angle calculation is allowed to obtain service platform and recoverable capsule when establishing separation according to posture after flight The maximum deviation angle γ of flight attitude after separation attitude and recoverable capsule separationmax(°)。
In analytic process by recoverable capsule separate after flight attitude on the basis of, attitude misalignment angle is in 0~γmaxRange adjustment.
Step 2: the flight attitude determined according to step 1 is after separating on the basis of the flight attitude of recoverable capsule, in deviation Computing services platform TT&C antenna is axial in angular regionWith recoverable capsule-earth station's vectorAngle thetaasFWith recoverable capsule observing and controlling Antenna axial directionWith recoverable capsule-earth station's vectorAngle thetaafF, and the field angle θ with service platform TT&C antenna1With return Return device TT&C antenna field angle θ2Compare, confirm the availability of TT&C antenna, when meeting following condition, then TT&C antenna is available. As shown in Figure 2.
θasF< θ1And θafF< θ2 ②
Wherein θ1And θ2For known parameters, θasFAnd θafFSimple computation can be passed through for calculation well known in the art It obtains.
Step 3: the constraint of power supply and distribution capacity is analyzed in the deviation angular region determined to step 1, according to right Service platform system power calculation obtains the prerequisite minimum generating capacity E of solar battery array on service platformmin, according to The maximum generation ability E of solar battery array on service platformmax, solar vector is calculatedWith the sun on service platform Cell array normal directionMaximum angle βmax:
βmax=arccos (Emin/Emax) ③
According to the constraint of formula 3., considers the solar battery array rotation on service platform, be calculated on service platform Solar battery array rotor shaft directionWith solar vectorAngle minimum value ψmin.As shown in Figure 3.
ψmin=90 ° of-βmax ④
Solar battery array rotor shaft direction on service platformWith solar vectorAngle maximum value
ψmax=90 ° of+βmax ⑤
The angular range of the service platform solar battery array rotor shaft direction and solar vector in above-mentioned minimum value and In maximum range, after ensuring that service platform and recoverable capsule separation attitude are established, guarantee that service platform has certain power generation Ability, it is ensured that the energy supply in separation process
Flight attitude and it is not able to satisfy power reguirements still after considering corresponding deviation angular region after according to separation, it can be appropriate Amplify the angle of deviation to guarantee energy supply.
Step 4: according to flight attitude after separation and considering corresponding deviation angular region according to detector flight track, giving Direction of the detaching direction of service platform and recoverable capsule in the inertial coodinate system of the earth's core equator out(unit vector), according to service The position after service platform separates with respect to the earth's core equator inertial coodinate system is calculated in the relative velocity v of platform and recoverable capsule separation Set vectorVelocity vectorAnd with respect to the position vector of the earth's core equator inertial coodinate system after recoverable capsule separationSpeed Vector
Position vector after being separated according to recoverable capsuleVelocity vectorRecoverable capsule is obtained using orbit computation to reach again T at the time of access pointfWith the position vector of reentry pointWhat is equally calculated arrives TfThe position vector of moment service platformIt calculates Obtain distance of the service platform relative to recoverable capsule:
By rsrIt is compared with desired safe distance r, works as rsrWhen > r, then it can guarantee separation safety, work as rsrWhen < r, Then there is risk.
Step 5: the angle of Analysis Service platform star sensor optical axis vector and the earth, the moon and solar vector, it is ensured that ground The reflected light and sunray of the ball moon will not enter in the range of the spuious Xanthophyll cycle angle of service platform star sensor.Service platform The spuious Xanthophyll cycle angle of star sensor is a (known), service platform star sensor optical axis vectorWith solar vectorAngle is b1,With service platform-earth vectorAngle is b2, the half angle of earth corresponding service platform is c1,With service platform-moon VectorAngle is b3, the half angle of moon corresponding service platform is c2, then when service platform star sensor optical axis vector meets such as Under when requiring, star is quick available:
b1> a and b2> a+c1And b3> a+c2 ⑧
Parameter in the step can be obtained by calculation simple computation well known in the art.When at least two stars are quick 8. sensor meets formula, it is ensured that the normal posture determination of service platform and gesture stability.
Step 6: comprehensively considering the analysis of step 1~step 5 as a result, obtaining the separation appearance of service platform and recoverable capsule State just completes/realizes service platform and the design of recoverable capsule separation attitude that deep space reenters return task since then.
Below by taking moon-earth high speed reenters and returns to aircraft as an example, which requires to establish according to institute's Prescribed Properties The flight attitude of service platform and recoverable capsule.The coordinate system for defining recoverable capsule first is as shown in Figure 4:
The definition of recoverable capsule body coordinate system is described as follows:
Origin OF: it is located at recoverable capsule back-end box bottom surface geometric center；
XF axis: along recoverable capsule axis, extreme direction before being directed toward by outsole；
ZF axis: perpendicular to XF axis, and it is directed toward recoverable capsule I quadrant line direction；
YF axis: right hand rectangular coordinate system is constituted with ZF, XF axis.
Specific step is as follows for separation attitude design:
(1) recoverable capsule flight attitude and corresponding deviation angular region determine after separating.
(1) pose adjustment is reentered after considering separation and utilizes global navigation satellite system (GNSS) navigator fix It is required that flight attitude requires outsole to be directed toward directional velocity after recoverable capsule separation, navigation receiving antenna is directed toward zenith as far as possible.This example In, flight attitude is that+ZF axis is directed toward the earth's core direction after recoverable capsule separation, and+XF axis is anti-with flying speed direction in orbit plane To.As shown in Figure 5.
(2) according to Inertial Measurement Unit, (this example is 1.732 × 10-4 °/s), appearance to output error α during attitude maneuver The maximum allowable offset σ (this example is 0.05 °) of the motor-driven angular velocity omega of state (this example is 0.1 °/s) and recoverable capsule Attitude estimation, root The maximum deviation angle γ that separation attitude separates with recoverable capsule rear flight attitude is calculated according to formula (1)max(this example)。
(2) it analyzes TT&C antenna under different separation attitudes and confirms antenna pair axially with recoverable capsule-earth station's vector angle The visibility of earth station.
(1) Analysis Service platform TT&C antenna and recoverable capsule-earth station's vector angle.Service module TT&C antenna is in this example Omnidirectional antenna, earth station in any direction when, the requirement of ground observing and controlling can be met.
(2) analysis recoverable capsule TT&C antenna and recoverable capsule-earth station's vector angle.After first to separation attitude according to separation Flight attitude and tolerance range analyzed, recoverable capsule antenna axial direction(this example recoverable capsule antenna axial directionIt is returning May be expressed as: [0.115,0.900,0.420] in device body coordinate system), half field angle of TT&C antenna is θ2=73 °.According to returning Recoverable capsule-earth station's vector in different positions can be obtained by going back to device position(in this example, the flight attitude after being separated with recoverable capsule is Reference attitude, under reference attitude,It may be expressed as: [- 0.555,0.059,0.830] under recoverable capsule body coordinate system).Together When calculate in different positionsWithAngle(WithRespectivelyWithUnit Vector) (in this example, under reference attitude, θafF=70.3 °, respectively to roll angle, pitch angle and yaw angle on the basis of reference attitude Deviation range is analyzed, and obtains the θ in the case of various attitude anglesafF) using formula (2) provide the separation attitude range of permission (in this example, separation attitude can recoverable capsule separation after flight attitude on the basis of Eulerian angles variation range: pitch range- 28 °~+13 °, -28 °~+2 ° of angular region are yawed, rolls -4 °~+18 ° of angular region).
(3) angle and separation attitude for calculating solar wing shaft and solar vector influence power supply.
(1) according to the prerequisite minimum generating capacity E of service platform solar battery arraymin(this example 1300W) and service The maximum generation ability E of platform solar battery arraymax(this example 2600W) obtains solar vector according to formula (3)With service Platform solar battery array normal directionMaximum angle βmax(this example is 60 °), obtains service platform according to formula (4) and formula (5) Solar battery array rotor shaft directionWith solar vectorAngular range require (this example ψmin=30 °, ψmax=150 °).
(2) separation attitude is analyzed, analyzes separation attitude availability under various attitude misalignments, in this example, benchmark appearance Under state, solar vectorIt is expressed as in recoverable capsule body coordinate system [0.709, -0.445,0.547], service platform sun electricity Pond battle array shaft vector[0,1,0] is expressed as in recoverable capsule this system.Under reference attitudeWithAngle is ψ=116 °, is examined Consider separation attitude maximum deviation angular region γmax=28 °, then in the case where considering attitude misalignmentWithAngular range is [ψ- γmax, ψ+γmax88 °~144 ° of]=[], it can satisfy power reguirements.
(4) the relative distance analysis after being separated to service platform with recoverable capsule.Separating rate v=0.6m/s in this example, then Safe distance at access point requires to be greater than 400m.Above-mentioned separation attitude and deviation angular region are analyzed, recoverable capsule and service Distance of the platform at reentry point is greater than 450m, meets the requirements.
(5) service platform star sensor (hereinafter referred to as " star is quick ") Stray light reduction analysis.In this example, three star sensitivities The spuious Xanthophyll cycle angle of device is a=40 °, and three star sensor optical axis vectors are expressed as in recoverable capsule body coordinate system 0.309].Under reference attitude, solar vectorIt is expressed as [0.709, -0.445,0.547], takes in recoverable capsule body coordinate system Business platform-earth vectorIt is expressed as in recoverable capsule body coordinate system [0,0,1], service platform-moon vectorIt is returning [0.575,0.538, -0.616] is expressed as in device body coordinate system.Half angle c of the earth to service platform1Variation range exists Between 17.4 °~34.1 °, half angle c of the moon to service platform2About 0.3 °.Under reference attitude, the quick optical axis vector of three stars With service platform-solar vectorAngle b1 is respectively 83 °, 159 ° and 108 °, meets the requirement greater than 40 °；Three quick light of star Axial vector and service platform-earth vectorAngle b2Respectively 132 °, 72 ° and 72 ° are greater than there are two quick be not able to satisfy of star 74.1 ° of requirement needs to adjust on the basis of reference attitude；Three quick optical axises of star and service platform-moon vectorAngle B3 is respectively 28 °, 100 ° and 160 °, and there are two the quick requirements met greater than 40.3 ° of star, and moon stray light is to the quick normal work of star Without influence.Flight attitude is analyzed for above-mentioned constraint condition it is found that adjusting pitch angle-on the basis of reference attitude 10 °, with guarantee the quick optical axis of three stars be directed toward withAngle is all larger than 74.1 ° (minimum 78 °)
(6) in conclusion establishing service platform and recoverable capsule separation attitude is as shown in Figure 6.Recoverable capsule ontology ZF axis is in-orbit In road plane, and 10 ° of geocentric vector angle, it is biased to directional velocity side；Recoverable capsule ontology XF axis is in orbit plane, along speed Opposite direction side.
It is not specified in the present invention and partly belongs to techniques known.

Claims (2)

1.一种深空再入返回服务平台和返回器分离姿态设计方法，其特征在于，包括以下步骤：1. a deep space re-entry return service platform and returner separation attitude design method, is characterized in that, comprises the following steps: 1)根据返回器分离后的飞行姿态确定服务平台与返回器的分离姿态：依据返回器分离后飞行姿态既定参数包括惯性测量单元在所述的返回器分离后飞行姿态机动过程中输出误差、所述的返回器分离后飞行姿态机动角速度以及返回器分离后飞行姿态预估的最大允许偏差，计算得到服务平台与返回器的分离姿态和所述的返回器分离后飞行姿态的最大偏差角度，所述的服务平台与返回器的分离姿态和所述的返回器分离后飞行姿态的偏差角度在0°至所述的最大偏差角度范围内调整，以确保所述的服务平台与返回器的分离姿态与返回器分离后要求的飞行姿态接近；1) Determine the separation attitude of the service platform and the returner according to the flight attitude after the returner is separated: according to the preset parameters of the flight attitude after the returner is separated, the inertial measurement unit outputs the error, the all The maneuvering angular velocity of the flight attitude after the described returner is separated and the estimated maximum allowable deviation of the flight attitude after the returner is separated, the separation attitude of the service platform and the returner and the maximum deviation angle of the flight attitude after the returner is separated are calculated, so The separation attitude of the service platform and the returner and the deviation angle of the flight attitude after separation of the returner are adjusted within the range of 0° to the maximum deviation angle to ensure the separation attitude of the service platform and the returner. Approaching the required flight attitude after separation from the returner; 2)确定测控条件：以分离后返回器的飞行姿态为基准，在步骤1)中确定的服务平台与返回器的分离姿态和所述的返回器分离后飞行姿态偏差角范围内计算服务平台测控天线轴向与返回器-地面站矢量的夹角、返回器测控天线轴向与返回器-地面站矢量的夹角，将服务平台测控天线轴向与返回器-地面站矢量的夹角和已知的服务平台测控天线的波束角比较，同时将返回器测控天线轴向与返回器-地面站矢量的夹角和已知的返回器测控天线波束角比较，确认测控天线的可用性，确保服务平台与返回器分离姿态建立后，服务平台和返回器与地面测控站通信，测控天线与地面站间无遮挡；2) Determine the measurement and control conditions: take the flight attitude of the returner after separation as the benchmark, calculate the service platform measurement and control within the separation attitude of the service platform and the returner determined in step 1) and the flight attitude deviation angle range after the described returner is separated The angle between the antenna axis and the returner-ground station vector, the angle between the returner measurement and control antenna axis and the returner-ground station vector, and the angle between the service platform measurement and control antenna axis and the returner-ground station vector are calculated. Compare the beam angle of the measurement and control antenna of the known service platform, and compare the angle between the axis of the returner measurement and control antenna and the returner-ground station vector with the known beam angle of the returner measurement and control antenna to confirm the availability of the measurement and control antenna and ensure the service platform. After the separation attitude from the returner is established, the service platform and the returner communicate with the ground measurement and control station, and there is no obstruction between the measurement and control antenna and the ground station; 3)在步骤1)所确定的服务平台与返回器的分离姿态和所述的返回器分离后飞行姿态的偏差角度范围内分析供配电能力：通过对服务平台系统功率计算，得出服务平台太阳电池阵具备的最小发电能力，根据已知的服务平台太阳电池阵的最大发电能力，计算得到太阳矢量与服务平台太阳电池阵法向的最大夹角，考虑服务平台太阳电池阵转动情况，计算得到服务平台太阳电池阵转轴方向与太阳矢量的夹角最小值，服务平台太阳电池阵转轴方向与太阳矢量的夹角最大值，所述的服务平台太阳电池阵转轴方向与太阳矢量的夹角范围在所述的最小值和最大值范围内，以确保服务平台和返回器分离姿态建立后，保证服务平台具有一定的发电能力，确保分离过程中的能源供应；3) Analyze the power supply and distribution capability within the range of the deviation angle between the separation attitude of the service platform and the returner determined in step 1) and the flight attitude after the described returner is separated: by calculating the power of the service platform system, the service platform is obtained. The minimum power generation capacity of the solar cell array. According to the known maximum power generation capacity of the solar cell array of the service platform, the maximum angle between the sun vector and the normal direction of the solar cell array of the service platform is calculated. Considering the rotation of the solar cell array of the service platform, calculate Obtain the minimum value of the angle between the rotation axis of the solar cell array of the service platform and the sun vector, the maximum value of the angle between the rotation axis of the service platform solar cell array and the sun vector, and the range of the angle between the rotation axis of the service platform solar cell array and the sun vector. Within the range of the minimum and maximum values, to ensure that the service platform and the returner are separated after the attitude is established, to ensure that the service platform has a certain power generation capacity, and to ensure the energy supply during the separation process; 4)服务平台与返回器分离安全性分析：根据探测器飞行轨道，按照返回器分离后飞行姿态并考虑对应的偏差角范围，给出服务平台和返回器的分离方向在地心赤道惯性坐标系中的指向，根据服务平台和返回器分离的相对速度，计算得到服务平台分离后相对地心赤道惯性坐标系的位置矢量、速度矢量以及返回器分离后相对地心赤道惯性坐标系的位置矢量、速度矢量；根据返回器分离后的位置矢量、速度矢量，利用轨道计算得到返回器到达再入点的时刻和再入点的位置矢量，计算得到所述的再入点时刻服务平台的位置矢量，最终计算得到服务平台相对于返回器的距离；将所述的服务平台相对于返回器的距离与要求的安全距离进行比较，判断出服务平台与返回器分离的安全性；4) Safety analysis of the separation between the service platform and the returner: According to the flight trajectory of the detector, according to the flight attitude after separation of the returner and considering the corresponding deviation angle range, the separation direction of the service platform and the returner is given in the earth-centered equatorial inertial coordinate system According to the relative speed of separation between the service platform and the returner, the position vector and velocity vector relative to the geocentric equatorial inertial coordinate system after the service platform is separated, and the position vector relative to the geocentric equatorial inertial coordinate system after the returner is separated, are calculated. Velocity vector; according to the position vector and velocity vector after the re-entry point is separated, the moment when the re-entry point arrives at the re-entry point and the position vector of the re-entry point are obtained by orbital calculation, and the position vector of the service platform at the time of the re-entry point is obtained by calculation, The distance between the service platform and the returner is finally calculated; the distance between the service platform and the returner is compared with the required safety distance, and the safety of the separation between the service platform and the returner is judged; 5)星敏感器的杂散光抑制要求分析，通过服务平台星敏感器光轴矢量与地球、月球和太阳矢量的夹角的分析，确保地球月球的反射光和太阳光线不会进入服务平台星敏感器杂散光抑制角的范围内：已知服务平台星敏感器杂散光抑制角为a，服务平台星敏感器光轴矢量与太阳矢量夹角为b1，与服务平台-地球矢量夹角为b2，地球相对服务平台的半张角为c1，与服务平台-月球矢量夹角为b3，月球相对服务平台的半张角为c2，当至少两个服务平台星敏感器光轴矢量满足如下要求时，服务平台和返回器分离姿态保证星敏感器不受杂散光的影响：5) Analysis of the stray light suppression requirements of the star sensor, through the analysis of the angle between the optical axis vector of the star sensor of the service platform and the vectors of the earth, the moon and the sun, to ensure that the reflected light of the earth and the moon and the sun's rays will not enter the star sensor of the service platform within the range of the stray light suppression angle of the service platform: the stray light suppression angle of the star sensor of the service platform is known to be a, and the optical axis vector of the star sensor of the service platform is a. vector with sun The included angle is b 1 , With Service Platform - Globe Vector The included angle is b 2 , the half-opening angle of the earth relative to the service platform is c 1 , With Service Platform - Moon Vector The included angle is b 3 , and the half-opening angle of the moon relative to the service platform is c 2 . When the optical axis vectors of at least two service platform star sensors meet the following requirements, the separation attitude of the service platform and the returner ensures that the star sensor is free from stray light Impact: b1＞a并且b2＞a+c1并且b3＞a+c2 ①；b 1 >a and b 2 >a+c 1 and b 3 >a+c 2 ①; 6)根据步骤1)至步骤5)的分析结果，确定了服务平台和返回器的分离姿态。6) According to the analysis results of step 1) to step 5), the separation attitude of the service platform and the returner is determined. 2.根据权利要求1所述的深空再入返回服务平台和返回器分离姿态设计方法，其特征在于，步骤1)中所述的惯性测量单元在返回器分离后的飞行姿态机动过程中输出误差为α(°/s)，返回器分离后的飞行姿态机动角速度为ω(°/s)以及返回器分离后的飞行姿态估计的最大允许偏差为σ(°)，所述的服务平台与返回器的分离姿态和返回器分离后飞行姿态的最大偏差角度为γmax(°)：2. deep space re-entry return service platform and returner separation attitude design method according to claim 1 is characterized in that, the inertial measurement unit described in step 1) outputs in the flight attitude maneuver process after returner separation The error is α(°/s), the maneuvering angular velocity of the flight attitude after the returner is separated is ω(°/s), and the maximum allowable deviation of the estimated flight attitude after the returner is separated is σ(°). The maximum deviation angle between the returner's separation attitude and the flight attitude after the returner is separated is γ max (°): 步骤2)中所述的服务平台测控天线轴向与返回器-地面站矢量的夹角为θasF，所述的返回器测控天线轴向与返回器-地面站矢量的夹角为θafF，所述的服务平台测控天线的波束角为θ1，所述的返回器测控天线波束角为θ2，所述的测控天线的可用性判断条件满足：The angle between the axis of the service platform measurement and control antenna described in step 2) and the vector of the returner-ground station is θ asF , and the angle between the axis of the measurement and control antenna of the returner and the vector of the returner-ground station is θ afF , The beam angle of the service platform measurement and control antenna is θ 1 , the beam angle of the returner measurement and control antenna is θ 2 , and the availability judgment condition of the measurement and control antenna satisfies: θasF＜θ1并且θafF＜θ2 ③；θ asF <θ 1 and θ afF <θ 2 ③; 步骤3)中所述的服务平台上的太阳电池阵必须的具备的最小发电能力为Emin，根据服务平台上的太阳电池阵的最大发电能力Emax，计算得到太阳矢量与服务平台上的太阳电池阵法向的最大夹角βmax：The minimum power generation capacity that the solar cell array on the service platform described in step 3) must have is E min , and the solar vector is calculated according to the maximum power generation capacity E max of the solar cell array on the service platform. Normal to the solar array on the service platform The maximum included angle β max : βmax＝arccos(Emin/Emax) ④；β max =arccos(E min /E max ) ④; 根据公式④的约束，考虑所述的服务平台上的太阳电池阵转动，计算得到所述的服务平台上的太阳电池阵转轴方向与太阳矢量的夹角最小值ψmin：According to the constraints of formula ④, considering the rotation of the solar cell array on the service platform, the direction of the rotation axis of the solar cell array on the service platform is calculated. vector with sun The minimum value of the included angle ψ min : ψmin＝90°-βmax ⑤；ψ min =90°-β max ⑤; 所述的服务平台上的太阳电池阵转轴方向与太阳矢量的夹角最大值：The direction of the rotation axis of the solar cell array on the service platform vector with sun The maximum value of the included angle: ψmax＝90°+βmax ⑥；ψ max =90°+β max ⑥; 步骤4)中所述的服务平台和返回器的分离方向在地心赤道惯性坐标系中的指向为所述的服务平台和返回器分离的相对速度为v，计算得到所述的服务平台分离后相对地心赤道惯性坐标系的位置矢量为速度矢量为以及所述的返回器分离后相对地心赤道惯性坐标系的位置矢量为速度矢量为 The direction of the separation direction of the service platform and the returner described in step 4) in the geocentric equatorial inertial coordinate system is: The relative speed at which the service platform and the returner are separated is v, and the calculated position vector relative to the geocentric equatorial inertial coordinate system after the separation of the service platform is: The velocity vector is And the position vector relative to the geocentric equatorial inertial coordinate system after the returner is separated is The velocity vector is 根据所述的返回器分离后的位置矢量速度矢量利用轨道计算得到返回器到达再入点的时刻为Tf和再入点的位置矢量为计算得到Tf时刻服务平台的位置矢量为计算得到服务平台相对于返回器的距离：According to the returned position vector after separation velocity vector Using the orbit calculation, the time when the returner reaches the re-entry point is T f and the position vector of the re-entry point is The position vector of the service platform at time T f is calculated as Calculate the distance of the service platform relative to the returner: 当rsr＞r时，分离安全；当rsr＜r时，则存在风险；其中r是安全距离。When rsr > r, the separation is safe; when rsr < r, there is a risk; where r is the safety distance.
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