时变指向约束下姿态参数空间离散化路径规划方法

In order to meet the requirement of attitude maneuvering tasks of the deep space probe under the complex dynamic environment constraints，and solve the problems of difficult attitude path planning and poor path optimization performance under time-varying pointing constraints，an attitude parameter space discretization path planning method based on modified rodrigues parameters（MRP）and dynamic path searching is proposed. Through the Cartesian grid division and non-singular map construction of the MRP space，the discretization of the parameter space of the spacecraft attitude and the characterization of the pointing constraints are realized. Considering the dynamic characteristics of time-varying pointing constraints，the path searching algorithm is used to search the maneuvering path from the initial attitude to the target attitude in the dynamic 3D map，the time characteristics of the path nodes are introduced，and the path is corrected in real time when the constraints conflict. A nonsingular space path searching algorithm under time-variant constraints is designed，and the sequence of path nodes for execution is generated. Furthermore，interpolation path fitting is performed on the path nodes generated by the path search algorithm，the angular velocity and control torque are calculated based on the inverse dynamics method，and the attitude maneuver trajectory planning is completed. The simulation results verify the effectiveness of the method proposed in this paper. The attitude maneuvering for execution of deep space probe under the time-varying orientation constraints can be obtained.