相同时变时延条件下的卫星协同编队方法

在卫星协同编队任务中，卫星协同编队通信受通信带宽限制。为解决卫星协同在通信时延条件下协同编队问题，将卫星通信系统设计成由位置和速度信息为主的双重冗余通信信息传输方式。利用矩阵的方式，对时延条件下卫星协同系统的可控性进行分析，并分析基于位置和速度的双重冗余通信信息传输方式对协同系统的稳定性以及收敛速度的影响。以通信延时系统稳定收敛为基础设计仿真实例，验证所设计协同编队方法在时延情况下的有效性与稳定性。仿真结果表明：基于位置与速度双重冗余通信信息传输方式构建的通信延时系统稳定收敛，仿真验证协同编队卫星的位置快速稳定收敛，速度快速保持一致，形成一字编队。

Satellite Cooperative Formation Method Under the Same Time-Varying Delay Condition

In the task of satellite cooperative formation, the satellite cooperative formation communication is limited by the communication bandwidth. To address the problem of cooperative formation of satellites under the condition of communication delay, by combining the constraints of limited bandwidth of satellite cooperative communication in cooperative formation, the satellite communication system is designed with a dual redundant communication information transmission mode mainly based on position and speed information. The controllability of the satellite cooperative system under the time delay conditions is analyzed by using the matrix method, and the influence of the dual redundant communication information transmission mode on the stability and convergence speed of the cooperative system is investigated. Finanly, based on the stable convergence of the communication delay system, a simulation example is designed to verify the effectiveness and stability of the proposed cooperative formation method under the time delay situation. The results show that the communication delay system constructed with the dual redundant communication information transmission mode based on position and speed converges stably, and the simulation results verify that the position of the satellites in cooperative formation converges rapidly and stably, and the speed quickly becomes consistent, forming a “straight line” formation.