复杂约束下航天器姿态机动球面几何规划方法

For the problem that many constraints are complex during a spacecraft's large-angle attitude maneuver, a kind of attitude planning method is proposed based on spherical geometry. The method describes the complex pointing constraints as the forbidden cones. The path constraints detection method is designed to distinguish the valid constraints from the invalid constraints, which can effectively reduce the number of the constraints to be processed by the current path. Then the obstacle avoidance problem in three-dimensional space is mapped to the two-dimensional plane and the analytical solution of the intermediate attitude command is derived by the spherical geometric method. The simulation results show that the attitude maneuver path planned by this method can not only avoid the complex pointing constraints, but also have the advantages of shorter maneuver time and high calculation efficiency.