因为最近需要仿真运载火箭发射过程,而之前也没接触过STK软件,花了近一周的时间还没完全做好,但也学到了不少知识,刚好趁着清明假期,把学习过程中遇到的一些问题做一个记录,同时也希望能帮到有需要的人。
首先是STK软件的安装,找了两个破解版的,一个是STK9.2.2版,一个是STK10.1.0版,其中STK9.2.2版的支持64位和32位的,STK10.1.0版的只支持32位的。其实两者差别不大,只是很多资料都是基于8.0,9.0的,但是10.0运载火箭有两个模型可用(9.2.2只有launchvehicle.mdl火箭模型,10.1.0新增了launchvehicle.dae火箭模型,如图1所示),当然10.0版本的还增加了许多别的新特征,也删除了部分工具,比如9版本中有Vector Geometry Tool工具,10版本则没有。为了方便,我在台式电脑和笔记本上分别安装了STK10.1.0版和STK9.2.2版。
STK破解版网盘链接:https://pan.baidu.com/s/1E44e8WwPtFEUWK3ztDmPPQ 密码:kd78(STK10.1.0)和https://pan.baidu.com/s/1HOlOKgdBuD-8mOWq9_-ByQ 密码:ifas(STK9.2.2)
图1 运载火箭模型
9.2.2版的只需要按照里面的说明.txt文件安装就行,而10.1.0版里有一个eetop.cn_STK10.0_crk文件夹还有个STK10.1Cracks文件夹,不要管前面那个,打开后面的这个文件夹按照Readme.txt来按照即可(这里有个坑,因为我们安装时一般不会按照默认路径直接安装在C盘,一般会安装在其他盘,但说明文档会让我们把一些文件复制到 C:\Program Files\或者C:\Program Files\AGI\STK 9\bin路径中。如果你复制到这里,会发现安装失败,应该把这些复制到安装目录里)。
安装完成后对着陌生的软件界面一头雾水,不知从何下手,从度娘找了一篇很不错的STK基础教程,链接如下:https://wenku.baidu.com/view/91fe07aff90f76c661371a82.html 然后主要学习第2章创建第一个STK场景。这个场景虽然是关于卫星的,不是运载火箭的,但原理都是一样的。这里用10.1.0或者9.2.2版本都可以,影响不大,但是9版本的3D场景放大缩小需要按住鼠标右键,10版本直接滚动鼠标滑轮就行,且10版本2D世界地图场景是可以直接拖动,9版本是固定的。
熟悉完场景创建后开始创建运载火箭模型,比较尴尬的是由于Insert->New默认没有运载火箭(Launch Vehicle),所以前面竟一直把导弹(Missile)当成了运载火箭使用,做了一段时间才发觉有些不对劲。运载火箭模型可以按照图2分别点Edit Preferences->New Object->Launch Vehicle,如果你知道要用什么型号的运载火箭,可以从AGI数据库总查找,这里用自定义的模式,同理其他想用而默认没有的Object也都是从这里来找。
图2 加入运载火箭模型
然后重点参考《STK在航天任务仿真分析中的应用》一书的第3章 运载火箭仿真分析来做仿真,书本是以STK8为例,但和9版本类似,这本书我是从图书馆找到的,网上没有找到电子版(这里给出另外两本书的PDF链接:链接:https://pan.baidu.com/s/1xLpCsSGXEGZSv-RjtwV76Q
提取码:stk1,《STK使用技巧及载人航天工程应用_丁溯泉》和《STK在计算机仿真中的应用_杨颖》)。
运载火箭场景模型创建时要分别创建新场景、添加地面站、创建发射坐标轴和发射坐标系、添加火箭,添加火箭最主要的是编写星历文件和姿态文件(星历文件后缀为.e,姿态文件后缀为.a)。其中星历文件通过指定航天器的位置和速度信息来确定航天器的弹道(或轨道),姿态数据表示航天器的本体轴相对于参考坐标轴的方向关系。创建星历数据必须首先明确两个问题:(1)数据格式:是笛卡尔坐标系X、Y和Z值,还是经纬度和高度,或者是经纬度和半径。(2)数据的参考坐标系:是惯性坐标系还是固连坐标系,如果是惯性坐标系还要考虑是哪种惯性坐标系。创建姿态文件时要首先明确:(1)姿态的定义方式:欧拉角(Euler Aagle)方式,还是四元素(Quaternion)方式,或者其他方式。(2)姿态数据的参考坐标轴:是J2000惯性坐标轴,还是与地球固连的坐标轴,或者想航天器速度和本地水平坐标轴(Vehicle Velocity,Local Horizontal,VVLH)这样与轨道相关的坐标轴。从网上找了很久也没下载到这两个文件,只是从相关文献和书本上看到了,但也只是文件的部分内容,最后是从STK help文档找到的示例,如下图所示:
图3 星历文件和姿态文件示例
运载火箭星历文件示例代码如下:
Custom Ephemeris File Format (*.e) Example
stk.v.5.0 BEGIN Ephemeris NumberOfEphemerisPoints 601 ScenarioEpoch 1 Jun 2002 12:00:00.000000000 InterpolationMethod Lagrange InterpolationOrder 5 DistanceUnit Kilometers CentralBody Earth CoordinateSystem Custom TopoCentric Facility/MyLaunchSite EphemerisTimePos 0.0000 -0.000000 0.000000 -0.000000 1.0000 0.000035 0.000002 0.012273 2.0000 0.000138 0.000039 0.049065 3.0000 0.000312 0.000199 0.110338 4.0000 0.000556 0.000629 0.196052 5.0000 0.000872 0.001535 0.306166 6.0000 0.001263 0.003180 0.440638 7.0000 0.001729 0.005884 0.599422 8.0000 0.002275 0.010027 0.782467 9.0000 0.002902 0.016043 0.989719 10.0000 0.003615 0.024422 1.221115 11.0000 0.004417 0.035711 1.476581 12.0000 0.005313 0.050510 1.756036 13.0000 0.006307 0.069471 2.059380 14.0000 0.007404 0.093300 2.386502 15.0000 0.008610 0.122749 2.737270 16.0000 0.009929 0.158621 3.111530 17.0000 0.011368 0.201760 3.509106 18.0000 0.012933 0.253055 3.929796 19.0000 0.014630 0.313431 4.373369 20.0000 0.016465 0.383849 4.839562 21.0000 0.018445 0.465296 5.328081 22.0000 0.020577 0.558788 5.838593 23.0000 0.022866 0.665357 6.370733 24.0000 0.025321 0.786049 6.924094 25.0000 0.027947 0.921919 7.498234 26.0000 0.030751 1.074019 8.092671 27.0000 0.033739 1.243399 8.706884 28.0000 0.036918 1.431094 9.340317 29.0000 0.040293 1.638119 9.992376 30.0000 0.043870 1.865465 10.662437 31.0000 0.047655 2.114091 11.349843 32.0000 0.051651 2.384916 12.053911 33.0000 0.055864 2.678819 12.773935 34.0000 0.060298 2.996629 13.509191 35.0000 0.064957 3.339127 14.258939 36.0000 0.069843 3.707036 15.022429 37.0000 0.074961 4.101026 15.798908 38.0000 0.080311 4.521708 16.587619 39.0000 0.085897 4.969633 17.387812 40.0000 0.091719 5.445296 18.198744 41.0000 0.097780 5.949134 19.019684 42.0000 0.104079 6.481528 19.849917 43.0000 0.110617 7.042804 20.688746 44.0000 0.117395 7.633238 21.535497 45.0000 0.124412 8.253056 22.389518 46.0000 0.131668 8.902439 23.250184 47.0000 0.139163 9.581526 24.116896 48.0000 0.146894 10.290415 24.989085 49.0000 0.154862 11.029172 25.866207 50.0000 0.163065 11.797826 26.747749 51.0000 0.171502 12.596380 27.633226 52.0000 0.180171 13.424809 28.522182 53.0000 0.189071 14.283068 29.414188 54.0000 0.198200 15.171087 30.308840 55.0000 0.207556 16.088782 31.205764 56.0000 0.217138 17.036054 32.104608 57.0000 0.226944 18.012788 33.005044 58.0000 0.236972 19.018861 33.906767 59.0000 0.247220 20.054139 34.809495 60.0000 0.257687 21.118481 35.712963 61.0000 0.268370 22.211742 36.616928 62.0000 0.279269 23.333768 37.521163 63.0000 0.290380 24.484406 38.425459 64.0000 0.301704 25.663497 39.329622 65.0000 0.313237 26.870883 40.233471 66.0000 0.324978 28.106404 41.136841 67.0000 0.336926 29.369899 42.039578 68.0000 0.349079 30.661209 42.941539 69.0000 0.361436 31.980174 43.842593 70.0000 0.373994 33.326638 44.742617 71.0000 0.386752 34.700443 45.641500 72.0000 0.399710 36.101436 46.539135 73.0000 0.412865 37.529465 47.435427 74.0000 0.426217 38.984380 48.330285 75.0000 0.439763 40.466034 49.223625 76.0000 0.453503 41.974282 50.115370 77.0000 0.467435 43.508982 51.005448 78.0000 0.481558 45.069994 51.893792 79.0000 0.495871 46.657184 52.780337 80.0000 0.510373 48.270415 53.665027 81.0000 0.525063 49.909558 54.547805 82.0000 0.539939 51.574484 55.428620 83.0000 0.555000 53.265067 56.307424 84.0000 0.570246 54.981184 57.184171 85.0000 0.585675 56.722716 58.058817 86.0000 0.601286 58.489545 58.931323 87.0000 0.617079 60.281554 59.801650 88.0000 0.633053 62.098632 60.669760 89.0000 0.649206 63.940669 61.535619 90.0000 0.665537 65.807555 62.399194 91.0000 0.682047 67.699186 63.260453 92.0000 0.698733 69.615459 64.119365 93.0000 0.715595 71.556271 64.975900 94.0000 0.732633 73.521524 65.830030 95.0000 0.749845 75.511120 66.681728 96.0000 0.767231 77.524964 67.530966 97.0000 0.784790 79.562962 68.377720 98.0000 0.802520 81.625024 69.221962 99.0000 0.820423 83.711059 70.063669 100.0000 0.838496 85.820979 70.902816 101.0000 0.856738 87.954698 71.739380 102.0000 0.875151 90.112131 72.573337 103.0000 0.893731 92.293194 73.404663 104.0000 0.912480 94.497805 74.233337 105.0000 0.931396 96.725884 75.059335 106.0000 0.950479 98.977353 75.882635 107.0000 0.969727 101.252132 76.703215 108.0000 0.989141 103.550145 77.521052 109.0000 1.008720 105.871318 78.336125 110.0000 1.028462 108.215575 79.148412 111.0000 1.048368 110.582844 79.957890 112.0000 1.068437 112.973053 80.764538 113.0000 1.088669 115.386131 81.568334 114.0000 1.109062 117.822009 82.369256 115.0000 1.129616 120.280616 83.167282 116.0000 1.150331 122.761885 83.962390 117.0000 1.171205 125.265749 84.754558 118.0000 1.192240 127.792142 85.543764 119.0000 1.213433 130.340999 86.329985 120.0000 1.234784 132.912254 87.113200 121.0000 1.256293 135.505844 87.893385 122.0000 1.277960 138.121706 88.670518 123.0000 1.299783 140.759777 89.444576 124.0000 1.321763 143.419996 90.215537 125.0000 1.343898 146.102301 90.983378 126.0000 1.366189 148.806633 91.748075 127.0000 1.388634 151.532931 92.509604 128.0000 1.411233 154.281137 93.267944 129.0000 1.433986 157.051191 94.023069 130.0000 1.456893 159.843035 94.774957 131.0000 1.479952 162.656612 95.523583 132.0000 1.503163 165.491866 96.268923 133.0000 1.526526 168.348738 97.010953 134.0000 1.550040 171.227174 97.749648 135.0000 1.573704 174.127117 98.484985 136.0000 1.597519 177.048513 99.216937 137.0000 1.621484 179.991306 99.945481 138.0000 1.645598 182.955442 100.670590 139.0000 1.669861 185.940867 101.392241 140.0000 1.694273 188.947528 102.110407 141.0000 1.718832 191.975371 102.825062 142.0000 1.743538 195.024342 103.536181 143.0000 1.768392 198.094391 104.243739 144.0000 1.793392 201.185463 104.947708 145.0000 1.818538 204.297508 105.648062 146.0000 1.843830 207.430473 106.344776 147.0000 1.869266 210.584307 107.037822 148.0000 1.894848 213.758959 107.727173 149.0000 1.920573 216.954378 108.412803 150.0000 1.946443 220.170513 109.094685 151.0000 1.972455 223.407315 109.772791 152.0000 1.998611 226.664732 110.447094 153.0000 2.024909 229.942714 111.117566 154.0000 2.051349 233.241213 111.784180 155.0000 2.077930 236.560178 112.446907 156.0000 2.104652 239.899561 113.105719 157.0000 2.131515 243.259311 113.760589 158.0000 2.158518 246.639380 114.411488 159.0000 2.185661 250.039720 115.058388 160.0000 2.212943 253.460280 115.701259 161.0000 2.240364 256.901014 116.340074 162.0000 2.267924 260.361873 116.974803 163.0000 2.295621 263.842808 117.605417 164.0000 2.323456 267.343771 118.231887 165.0000 2.351428 270.864714 118.854183 166.0000 2.379536 274.405591 119.472277 167.0000 2.407781 277.966352 120.086138 168.0000 2.436162 281.546950 120.695738 169.0000 2.464677 285.147339 121.301045 170.0000 2.493328 288.767469 121.902031 171.0000 2.522113 292.407295 122.498665 172.0000 2.551032 296.066769 123.090916 173.0000 2.580085 299.745844 123.678755 174.0000 2.609271 303.444473 124.262152 175.0000 2.638589 307.162609 124.841075 176.0000 2.668040 310.900205 125.415494 177.0000 2.697623 314.657214 125.985378 178.0000 2.727337 318.433590 126.550696 179.0000 2.757182 322.229286 127.111418 180.0000 2.787157 326.044255 127.667513 181.0000 2.817263 329.878451 128.218948 182.0000 2.847498 333.731827 128.765693 183.0000 2.877863 337.604337 129.307717 184.0000 2.908356 341.495934 129.844988 185.0000 2.938978 345.406572 130.377474 186.0000 2.969727 349.336205 130.905144 187.0000 3.000604 353.284786 131.427967 188.0000 3.031609 357.252270 131.945909 189.0000 3.062739 361.238609 132.458940 190.0000 3.093996 365.243757 132.967027 191.0000 3.125379 369.267669 133.470139 192.0000 3.156887 373.310299 133.968243 193.0000 3.188520 377.371599 134.461306 194.0000 3.220277 381.451523 134.949297 195.0000 3.252158 385.550027 135.432184 196.0000 3.284163 389.667063 135.909933 197.0000 3.316291 393.802585 136.382512 198.0000 3.348542 397.956548 136.849889 199.0000 3.380915 402.128905 137.312030 200.0000 3.413410 406.319609 137.768904 201.0000 3.446026 410.528616 138.220478 202.0000 3.478764 414.755878 138.666718 203.0000 3.511621 419.001349 139.107591 204.0000 3.544599 423.264984 139.543066 205.0000 3.577697 427.546736 139.973107 206.0000 3.610913 431.846559 140.397684 207.0000 3.644249 436.164406 140.816761 208.0000 3.677703 440.500232 141.230307 209.0000 3.711275 444.853990 141.638288 210.0000 3.744964 449.225634 142.040671 211.0000 3.778770 453.615118 142.437421 212.0000 3.812693 458.022395 142.828507 213.0000 3.846732 462.447419 143.213894 214.0000 3.880887 466.890144 143.593549 215.0000 3.915157 471.350522 143.967439 216.0000 3.949541 475.828509 144.335529 217.0000 3.984041 480.324056 144.697787 218.0000 4.018654 484.837119 145.054179 219.0000 4.053380 489.367649 145.404671 220.0000 4.088220 493.915602 145.749229 221.0000 4.123172 498.480929 146.087820 222.0000 4.158237 503.063585 146.420409 223.0000 4.193413 507.663522 146.746964 224.0000 4.228701 512.280694 147.067450 225.0000 4.264099 516.915055 147.381834 226.0000 4.299608 521.566557 147.690081 227.0000 4.335227 526.235153 147.992158 228.0000 4.370955 530.920797 148.288031 229.0000 4.406792 535.623441 148.577666 230.0000 4.442738 540.343039 148.861029 231.0000 4.478793 545.079544 149.138086 232.0000 4.514954 549.832908 149.408803 233.0000 4.551224 554.603084 149.673146 234.0000 4.587600 559.390026 149.931082 235.0000 4.624082 564.193685 150.182575 236.0000 4.660671 569.014014 150.427593 237.0000 4.697364 573.850967 150.666101 238.0000 4.734163 578.704495 150.898065 239.0000 4.771067 583.574551 151.123451 240.0000 4.808075 588.461089 151.342225 241.0000 4.845186 593.364059 151.554354 242.0000 4.882401 598.283414 151.759802 243.0000 4.919718 603.219107 151.958536 244.0000 4.957138 608.171090 152.150523 245.0000 4.994660 613.139315 152.335727 246.0000 5.032283 618.123734 152.514115 247.0000 5.070007 623.124299 152.685654 248.0000 5.107832 628.140962 152.850308 249.0000 5.145756 633.173675 153.008044 250.0000 5.183781 638.222390 153.158829 251.0000 5.221904 643.287059 153.302627 252.0000 5.260126 648.367633 153.439406 253.0000 5.298447 653.464064 153.569130 254.0000 5.336865 658.576303 153.691767 255.0000 5.375381 663.704303 153.807282 256.0000 5.413994 668.848014 153.915642 257.0000 5.452703 674.007388 154.016813 258.0000 5.491508 679.182376 154.110760 259.0000 5.530408 684.372929 154.197450 260.0000 5.569404 689.578999 154.276849 261.0000 5.608494 694.800536 154.348924 262.0000 5.647678 700.037492 154.413641 263.0000 5.686956 705.289818 154.470965 264.0000 5.726327 710.557464 154.520864 265.0000 5.765791 715.840382 154.563303 266.0000 5.805348 721.138521 154.598249 267.0000 5.844996 726.451833 154.625669 268.0000 5.884735 731.780269 154.645529 269.0000 5.924566 737.123778 154.657795 270.0000 5.964487 742.482311 154.662434 271.0000 6.004497 747.855819 154.659413 272.0000 6.044598 753.244252 154.648697 273.0000 6.084787 758.647559 154.630255 274.0000 6.125065 764.065692 154.604051 275.0000 6.165431 769.498601 154.570054 276.0000 6.205885 774.946234 154.528230 277.0000 6.246426 780.408543 154.478545 278.0000 6.287054 785.885476 154.420967 279.0000 6.327768 791.376985 154.355462 280.0000 6.368568 796.883017 154.281998 281.0000 6.409453 802.403524 154.200542 282.0000 6.450423 807.938454 154.111059 283.0000 6.491477 813.487758 154.013519 284.0000 6.532615 819.051383 153.907887 285.0000 6.573837 824.629281 153.794131 286.0000 6.615142 830.221399 153.672219 287.0000 6.656529 835.827687 153.542117 288.0000 6.697998 841.448094 153.403793 289.0000 6.739549 847.082569 153.257215 290.0000 6.781181 852.731061 153.102350 291.0000 6.822893 858.393519 152.939165 292.0000 6.864686 864.069891 152.767629 293.0000 6.906558 869.760126 152.587709 294.0000 6.948510 875.464173 152.399372 295.0000 6.990540 881.181981 152.202587 296.0000 7.032649 886.913497 151.997321 297.0000 7.074835 892.658670 151.783543 298.0000 7.117099 898.417448 151.561220 299.0000 7.159439 904.189779 151.330321 300.0000 7.201856 909.975612 151.090813 301.0000 7.244349 915.774895 150.842666 302.0000 7.286917 921.587575 150.585847 303.0000 7.329560 927.413600 150.320325 304.0000 7.372277 933.252918 150.046068 305.0000 7.415068 939.105478 149.763046 306.0000 7.457933 944.971225 149.471225 307.0000 7.500871 950.850109 149.170576 308.0000 7.543881 956.742076 148.861067 309.0000 7.586964 962.647074 148.542667 310.0000 7.630118 968.565050 148.215345 311.0000 7.673343 974.495951 147.879070 312.0000 7.716639 980.439725 147.533811 313.0000 7.760005 986.396319 147.179537 314.0000 7.803440 992.365678 146.816218 315.0000 7.846945 998.347752 146.443823 316.0000 7.890518 1004.342485 146.062322 317.0000 7.934160 1010.349826 145.671684 318.0000 7.977869 1016.369720 145.271879 319.0000 8.021646 1022.402114 144.862876 320.0000 8.065489 1028.446955 144.444646 321.0000 8.109398 1034.504189 144.017159 322.0000 8.153374 1040.573763 143.580384 323.0000 8.197414 1046.655622 143.134291 324.0000 8.241520 1052.749713 142.678852 325.0000 8.285690 1058.855982 142.214036 326.0000 8.329923 1064.974376 141.739814 327.0000 8.374220 1071.104839 141.256156 328.0000 8.418580 1077.247318 140.763033 329.0000 8.463002 1083.401759 140.260415 330.0000 8.507487 1089.568107 139.748275 331.0000 8.552032 1095.746308 139.226581 332.0000 8.596639 1101.936308 138.695307 333.0000 8.641306 1108.138051 138.154422 334.0000 8.686033 1114.351484 137.603899 335.0000 8.730819 1120.576552 137.043708 336.0000 8.775664 1126.813200 136.473821 337.0000 8.820568 1133.061373 135.894209 338.0000 8.865530 1139.321016 135.304845 339.0000 8.910549 1145.592075 134.705700 340.0000 8.955626 1151.874493 134.096747 341.0000 9.000759 1158.168217 133.477957 342.0000 9.045948 1164.473190 132.849302 343.0000 9.091192 1170.789358 132.210755 344.0000 9.136492 1177.116665 131.562288 345.0000 9.181846 1183.455056 130.903874 346.0000 9.227255 1189.804475 130.235485 347.0000 9.272717 1196.164866 129.557095 348.0000 9.318232 1202.536175 128.868676 349.0000 9.363799 1208.918345 128.170201 350.0000 9.409419 1215.311320 127.461643 351.0000 9.455090 1221.715044 126.742976 352.0000 9.500813 1228.129462 126.014172 353.0000 9.546586 1234.554517 125.275207 354.0000 9.592409 1240.990154 124.526052 355.0000 9.638282 1247.436316 123.766683 356.0000 9.684205 1253.892946 122.997072 357.0000 9.730175 1260.359990 122.217195 358.0000 9.776195 1266.837389 121.427024 359.0000 9.822261 1273.325088 120.626535 360.0000 9.868375 1279.823030 119.815702 361.0000 9.914536 1286.331159 118.994499 362.0000 9.960743 1292.849418 118.162902 363.0000 10.006995 1299.377749 117.320884 364.0000 10.053293 1305.916097 116.468422 365.0000 10.099636 1312.464404 115.605489 366.0000 10.146023 1319.022614 114.732063 367.0000 10.192453 1325.590668 113.848116 368.0000 10.238927 1332.168511 112.953627 369.0000 10.285444 1338.756086 112.048569 370.0000 10.332003 1345.353333 111.132919 371.0000 10.378603 1351.960198 110.206653 372.0000 10.425245 1358.576621 109.269746 373.0000 10.471928 1365.202546 108.322176 374.0000 10.518651 1371.837915 107.363919 375.0000 10.565413 1378.482671 106.394950 376.0000 10.612216 1385.136755 105.415248 377.0000 10.659056 1391.800111 104.424787 378.0000 10.705936 1398.472680 103.423547 379.0000 10.752853 1405.154405 102.411503 380.0000 10.799807 1411.845228 101.388633 381.0000 10.846798 1418.545090 100.354915 382.0000 10.893826 1425.253934 99.310326 383.0000 10.940889 1431.971701 98.254843 384.0000 10.987987 1438.698334 97.188445 385.0000 11.035121 1445.433774 96.111110 386.0000 11.082289 1452.177963 95.022816 387.0000 11.129490 1458.930843 93.923541 388.0000 11.176725 1465.692355 92.813264 389.0000 11.223993 1472.462440 91.691963 390.0000 11.271294 1479.241041 90.559618 391.0000 11.318626 1486.028098 89.416206 392.0000 11.365989 1492.823554 88.261708 393.0000 11.413384 1499.627348 87.096103 394.0000 11.460808 1506.439423 85.919370 395.0000 11.508263 1513.259720 84.731489 396.0000 11.555747 1520.088180 83.532440 397.0000 11.603260 1526.924743 82.322202 398.0000 11.650801 1533.769352 81.100755 399.0000 11.698370 1540.621946 79.868081 400.0000 11.745967 1547.482467 78.624159 401.0000 11.793591 1554.350856 77.368969 402.0000 11.841241 1561.227053 76.102494 403.0000 11.888917 1568.110999 74.824714 404.0000 11.936618 1575.002635 73.535609 405.0000 11.984344 1581.901902 72.235161 406.0000 12.032095 1588.808739 70.923352 407.0000 12.079870 1595.723088 69.600163 408.0000 12.127668 1602.644890 68.265577 409.0000 12.175489 1609.574083 66.919574 410.0000 12.223333 1616.510610 65.562137 411.0000 12.271198 1623.454410 64.193249 412.0000 12.319085 1630.405423 62.812892 413.0000 12.366993 1637.363590 61.421048 414.0000 12.414922 1644.328851 60.017700 415.0000 12.462870 1651.301146 58.602833 416.0000 12.510838 1658.280416 57.176427 417.0000 12.558825 1665.266599 55.738468 418.0000 12.606831 1672.259636 54.288938 419.0000 12.654854 1679.259468 52.827822 420.0000 12.702895 1686.266034 51.355103 421.0000 12.750953 1693.279273 49.870765 422.0000 12.799028 1700.299127 48.374792 423.0000 12.847119 1707.325533 46.867170 424.0000 12.895225 1714.358433 45.347882 425.0000 12.943346 1721.397766 43.816914 426.0000 12.991482 1728.443472 42.274250 427.0000 13.039632 1735.495490 40.719875 428.0000 13.087796 1742.553759 39.153776 429.0000 13.135973 1749.618220 37.575937 430.0000 13.184162 1756.688812 35.986344 431.0000 13.232363 1763.765473 34.384983 432.0000 13.280576 1770.848145 32.771841 433.0000 13.328801 1777.936765 31.146903 434.0000 13.377035 1785.031274 29.510157 435.0000 13.425281 1792.131611 27.861588 436.0000 13.473535 1799.237715 26.201183 437.0000 13.521799 1806.349525 24.528930 438.0000 13.570072 1813.466980 22.844816 439.0000 13.618353 1820.590020 21.148828 440.0000 13.666641 1827.718583 19.440954 441.0000 13.714937 1834.852610 17.721182 442.0000 13.763239 1841.992038 15.989500 443.0000 13.811548 1849.136807 14.245895 444.0000 13.859863 1856.286857 12.490357 445.0000 13.908182 1863.442125 10.722874 446.0000 13.956507 1870.602551 8.943434 447.0000 14.004836 1877.768074 7.152027 448.0000 14.053169 1884.938633 5.348642 449.0000 14.101505 1892.114166 3.533268 450.0000 14.149844 1899.294613 1.705894 451.0000 14.198185 1906.479913 -0.133489 452.0000 14.246528 1913.670003 -1.984891 453.0000 14.294873 1920.864823 -3.848323 454.0000 14.343219 1928.064312 -5.723793 455.0000 14.391564 1935.268408 -7.611313 456.0000 14.439910 1942.477050 -9.510890 457.0000 14.488256 1949.690178 -11.422533 458.0000 14.536600 1956.907728 -13.346253 459.0000 14.584943 1964.129640 -15.282056 460.0000 14.633284 1971.355854 -17.229953 461.0000 14.681623 1978.586306 -19.189950 462.0000 14.729958 1985.820936 -21.162056 463.0000 14.778290 1993.059683 -23.146279 464.0000 14.826619 2000.302485 -25.142626 465.0000 14.874943 2007.549280 -27.151106 466.0000 14.923262 2014.800008 -29.171724 467.0000 14.971575 2022.054606 -31.204489 468.0000 15.019883 2029.313013 -33.249406 469.0000 15.068185 2036.575167 -35.306483 470.0000 15.116480 2043.841008 -37.375726 471.0000 15.164768 2051.110473 -39.457141 472.0000 15.213048 2058.383500 -41.550734 473.0000 15.261319 2065.660030 -43.656511 474.0000 15.309583 2072.939999 -45.774478 475.0000 15.357837 2080.223346 -47.904639 476.0000 15.406081 2087.510010 -50.047000 477.0000 15.454315 2094.799928 -52.201567 478.0000 15.502539 2102.093040 -54.368343 479.0000 15.550752 2109.389284 -56.547333 480.0000 15.598953 2116.688598 -58.738542 481.0000 15.647143 2123.990921 -60.941973 482.0000 15.695320 2131.296190 -63.157631 483.0000 15.743484 2138.604345 -65.385520 484.0000 15.791634 2145.915324 -67.625642 485.0000 15.839771 2153.229064 -69.878001 486.0000 15.887894 2160.545505 -72.142600 487.0000 15.936001 2167.864584 -74.419442 488.0000 15.984094 2175.186241 -76.708529 489.0000 16.032171 2182.510413 -79.009865 490.0000 16.080231 2189.837039 -81.323451 491.0000 16.128275 2197.166057 -83.649288 492.0000 16.176302 2204.497405 -85.987380 493.0000 16.224312 2211.831023 -88.337727 494.0000 16.272303 2219.166848 -90.700331 495.0000 16.320276 2226.504818 -93.075193 496.0000 16.368230 2233.844873 -95.462314 497.0000 16.416164 2241.186951 -97.861695 498.0000 16.464079 2248.530989 -100.273335 499.0000 16.511973 2255.876926 -102.697236 500.0000 16.559847 2263.224702 -105.133398 501.0000 16.607699 2270.574254 -107.581819 502.0000 16.655530 2277.925520 -110.042501 503.0000 16.703338 2285.278439 -112.515442 504.0000 16.751124 2292.632950 -115.000641 505.0000 16.798887 2299.988992 -117.498098 506.0000 16.846626 2307.346501 -120.007811 507.0000 16.894341 2314.705418 -122.529779 508.0000 16.942032 2322.065681 -125.063999 509.0000 16.989698 2329.427228 -127.610471 510.0000 17.037339 2336.789997 -130.169193 511.0000 17.084954 2344.153928 -132.740160 512.0000 17.132542 2351.518959 -135.323372 513.0000 17.180104 2358.885029 -137.918826 514.0000 17.227639 2366.252075 -140.526518 515.0000 17.275146 2373.620038 -143.146445 516.0000 17.322626 2380.988855 -145.778603 517.0000 17.370076 2388.358466 -148.422990 518.0000 17.417498 2395.728808 -151.079601 519.0000 17.464891 2403.099822 -153.748433 520.0000 17.512253 2410.471444 -156.429480 521.0000 17.559586 2417.843616 -159.122738 522.0000 17.606887 2425.216274 -161.828203 523.0000 17.654158 2432.589358 -164.545870 524.0000 17.701397 2439.962808 -167.275733 525.0000 17.748604 2447.336561 -170.017787 526.0000 17.795779 2454.710557 -172.772027 527.0000 17.842920 2462.084735 -175.538446 528.0000 17.890029 2469.459033 -178.317038 529.0000 17.937103 2476.833392 -181.107798 530.0000 17.984144 2484.207749 -183.910718 531.0000 18.031149 2491.582045 -186.725792 532.0000 18.078120 2498.956217 -189.553013 533.0000 18.125055 2506.330206 -192.392374 534.0000 18.171955 2513.703950 -195.243867 535.0000 18.218817 2521.077389 -198.107484 536.0000 18.265644 2528.450462 -200.983219 537.0000 18.312432 2535.823109 -203.871062 538.0000 18.359184 2543.195268 -206.771006 539.0000 18.405897 2550.566879 -209.683042 540.0000 18.452571 2557.937882 -212.607161 541.0000 18.499207 2565.308216 -215.543354 542.0000 18.545804 2572.677820 -218.491612 543.0000 18.592360 2580.046635 -221.451927 544.0000 18.638877 2587.414600 -224.424287 545.0000 18.685352 2594.781653 -227.408683 546.0000 18.731787 2602.147736 -230.405105 547.0000 18.778180 2609.512788 -233.413544 548.0000 18.824532 2616.876749 -236.433987 549.0000 18.870841 2624.239558 -239.466425 550.0000 18.917107 2631.601155 -242.510847 551.0000 18.963330 2638.961481 -245.567241 552.0000 19.009510 2646.320475 -248.635596 553.0000 19.055646 2653.678077 -251.715901 554.0000 19.101737 2661.034228 -254.808143 555.0000 19.147784 2668.388867 -257.912310 556.0000 19.193785 2675.741935 -261.028391 557.0000 19.239741 2683.093372 -264.156373 558.0000 19.285651 2690.443119 -267.296242 559.0000 19.331514 2697.791115 -270.447986 560.0000 19.377331 2705.137301 -273.611592 561.0000 19.423100 2712.481618 -276.787046 562.0000 19.468822 2719.824006 -279.974335 563.0000 19.514495 2727.164405 -283.173445 564.0000 19.560120 2734.502757 -286.384361 565.0000 19.605697 2741.839002 -289.607070 566.0000 19.651224 2749.173081 -292.841557 567.0000 19.696701 2756.504934 -296.087808 568.0000 19.742129 2763.834503 -299.345806 569.0000 19.787505 2771.161728 -302.615538 570.0000 19.832832 2778.486551 -305.896987 571.0000 19.878106 2785.808913 -309.190138 572.0000 19.923330 2793.128754 -312.494976 573.0000 19.968501 2800.446016 -315.811483 574.0000 20.013620 2807.760640 -319.139645 575.0000 20.058686 2815.072568 -322.479443 576.0000 20.103699 2822.381740 -325.830863 577.0000 20.148658 2829.688100 -329.193886 578.0000 20.193563 2836.991587 -332.568495 579.0000 20.238414 2844.292144 -335.954673 580.0000 20.283210 2851.589712 -339.352403 581.0000 20.327951 2858.884233 -342.761667 582.0000 20.372637 2866.175650 -346.182446 583.0000 20.417267 2873.463903 -349.614722 584.0000 20.461840 2880.748935 -353.058478 585.0000 20.506357 2888.030688 -356.513693 586.0000 20.550817 2895.309104 -359.980349 587.0000 20.595219 2902.584125 -363.458428 588.0000 20.639564 2909.855694 -366.947909 589.0000 20.683850 2917.123753 -370.448773 590.0000 20.728078 2924.388244 -373.961000 591.0000 20.772247 2931.649110 -377.484571 592.0000 20.816357 2938.906294 -381.019465 593.0000 20.860407 2946.159738 -384.565661 594.0000 20.904397 2953.409385 -388.123139 595.0000 20.948327 2960.655178 -391.691878 596.0000 20.992196 2967.897060 -395.271857 597.0000 21.036004 2975.134973 -398.863054 598.0000 21.079751 2982.368862 -402.465448 599.0000 21.123435 2989.598668 -406.079018 600.0000 21.167058 2996.824336 -409.703741 END Ephemeris
对星历文件中几个参数做一个说明:
(1)stk.v.<主版本号>.<次版本号>,该参数为必选。开始以为用的什么版本就把这个改成什么版本,改后加载是提示版本有误,其实直接使用默认stk.v.5.0的就行,意思是STK5.0以上的版本都能识别该文件 ;
(2)BEGIN Ephemeris END Ephemeris,该参数必选,规定星历数据的开始和结束,除了版本号规定外,其他所有关键词和数据均必须在这两个关键词之间;
(3)NumberOfEphemerisPoints,该参数为必选,读入星历数据点的最大值,如NumberOfEphemerisPoints 1000 将读入1000个星历数据点;
(4)ScenarioEpoch,该参数为必选,默认为场景的历元时刻。星历数据中时间值的参考历元时刻,历元时刻为格里高里格式的UTC时,应根据场景中的值做修改;
(5)InterpolationMethod,该参数为可选,默认为Lagrange,星历数据之间的差值方法。有效值包括Lagrange、Hermitian、LagrangeVOP、GreatArc、GreatArcTerrain和GreatArcMSL;
(6)InterpolationOrder,该参数为可选,默认为5,差值的阶数;
(7)DistanceUnit,该参数为可选,速度默认单位为m/s,默认距离单位为m,设置星历中所有距离测量的单位。通过设置有效的单位可以改变STK的默认单位,注意:通过双击目标浏览器的场景并选择单位页面可以看到所有可用单位的列表;
(8)CentralBody,该参数为可选,默认为航天器中心天体或地球。星历数据相对的中心天体,中心天体的值可以是STK中登记的任意天体的名字,登记的中心天体可在STKData/CentralBodies目录下找到;
(9)CoordinateSystem,该参数为可选但是强烈推荐使用,默认为固连坐标系。星历数据的参考坐标系,一般而言,坐标系为上述指定中心天体的有效坐标系的名称,每个中心天体支持固连坐标系、J2000、ICRF、惯性坐标系等。如果星历数据的参考坐标系不是STK预先定义好的坐标系,这必须利用Vector Geometry Tool创建一个新的坐标系,并指定新坐标系的名称及其所属的STK对象。示例:CoordinateSystem Custom launchsys Place/xichang 例中,在xichang(9版本将地面当做Facility看待)设施上建立了发射坐标系launchsys,如果坐标系定义的STK对象即为星历数据的使用对象,则对象名可省略。
运载火箭姿态文件示例代码如下:
Custom Attitude Format (*.a) Example
stk.v.5.0 BEGIN Attitude ScenarioEpoch 1 Jun 2002 12:00:00.000000000 NumberOfAttitudePoints 11 BlockingFactor 20 InterpolationOrder 1 CentralBody Earth CoordinateAxes Custom TopoCentric Facility/MyLaunchSite AttitudeTimeQuatAngVels 0.000000000000e+000 -4.957945727747e-001 5.010401831184e-001 -4.985006697072e-001 -5.046221941307e-001 9.965711055028e-003 1.610095143337e+001 1.931428928135e-006 6.000000000000e+001 -2.456561866848e-001 2.479053241801e-001 -6.587626840448e-001 -6.665040992347e-001 8.240375737939e-013 6.189654324019e-001 9.353309748078e-013 1.200000000000e+002 -1.043919911901e-001 1.049948017115e-001 -6.952823513668e-001 -7.033213032937e-001 1.169136298261e-013 2.232955453614e-001 3.491023719132e-013 1.800000000000e+002 -5.092282743990e-002 5.090918881086e-002 -7.012289936907e-001 -7.092905036356e-001 -6.917133761510e-015 1.108636127321e-001 -3.394908226341e-014 2.400000000000e+002 -1.563933821093e-002 1.522082751785e-002 -7.029015912965e-001 -7.109522420408e-001 9.318637936012e-016 8.627200208080e-002 6.373921655955e-015 3.000000000000e+002 1.458873979281e-002 -1.535291401245e-002 -7.029241812729e-001 -7.109494019158e-001 6.411436438194e-015 7.947548631705e-002 6.426956784067e-014 3.600000000000e+002 4.353343644775e-002 -4.462756229851e-002 -7.017264964771e-001 -7.097134243738e-001 1.870303593662e-015 7.846932086195e-002 2.587384339381e-014 4.200000000000e+002 7.248045893504e-002 -7.390354385560e-002 -6.993295496542e-001 -7.072644698121e-001 -1.144467781041e-015 7.953357555014e-002 -2.256244802294e-014 4.800000000000e+002 1.018299689107e-001 -1.035855355476e-001 -6.956621977501e-001 -7.035302416232e-001 -9.504391919217e-016 8.120309095130e-002 -2.916466144558e-014 5.400000000000e+002 1.316110698339e-001 -1.337029081054e-001 -6.906473501318e-001 -6.984327429447e-001 1.358879563614e-018 8.285162071026e-002 1.494767519975e-016 6.000000000000e+002 1.616920390709e-001 -1.641223861024e-001 -6.842301662803e-001 -6.919166181218e-001 -3.300136083062e-018 8.419921341716e-002 -1.189485519727e-014 END Attitude
对姿态文件中参数做一个说明(其中与星历文件类似的不在表述):BlockingFactor,该参数为可选,规定读入新数据时系统内存包的阻隔数量。
具体操作时可以根据自身需要对星历文件和姿态文件做修改。后续还可以对运载火箭测控性能进行分析,如地面站对运载火箭的跟踪性能(输出跟踪性能报告、输出图形)、天线安装角的变化范围仿真等。
这样运载火箭整体模型就搭建好了,可以进行动画演示了。但在运载火箭发射和飞行的过程中,火箭还要进行尾焰点火、助推器分离、级间分离、整流罩分离、星箭分离等动作,这对于运载火箭可视化仿真尤为重要。在STK的3D模型中,可以为模型组件定义活动关节,使用活动关节能够表现模型的动态变化。在仿真过程中通过关节控制文件来驱动模型关节的动作,达到逼真的仿真效果。
为了控制三维模型的行为,在mdl模型或者dae模型文件中,STK提供了关键字Articulation来定义活动关节点,活动关节点是用于说明组件沿着坐标轴动态变化,主要包括动态变化的类型,如平移、旋转、放大缩小,以及变化的范围等。注意运载火箭关节文件后缀名为.lvma,名字应当和火箭名保持一致,并放在运载火箭场景的同级目录下,不用装载,SKT会自动读取,只是每次修改完都没法自动刷新,需要重启SKT才会生效。据说有测试的软件可以用,但我没有找到。
STK模型的关节动画设置可以参考https://wenku.baidu.com/view/9697464e76c66137ee0619a0.html 写的挺好的,但还是推荐结合STK help文档学习编写,搜索结果如图4所示:
图4 关节文件示例
我使用的是标准模式格式,虽然可能麻烦点,但是简单易懂。模型的活动关节只能通过编写关节文件实现,无法在SKT中设置实现,但可以利用运载火箭的Properties->Model->View观察都有哪些关节可以控制及关节的名称参数,通过改变值可以在3D场景中观察到相应的变化,如下图所示:
图4 运载火箭关节模型
我的关节文件设置如下:
#VO_V100
BEGIN SMARTEPOCH
BEGIN EVENT
Type EVENT_LINKTO
Name ReferenceEpoch
RelativePath Scenario/LaunchTTC
END EVENT
END SMARTEPOCH
NEW_ARTICULATION
STARTTIME 160.000000
DURATION 180.000000
DEADBANDDURATION 150.000000
ACCELDURATION 0.000000
DECELDURATION 0.000000
DUTYCYCLEDELTA 0.000000
PERIOD 0.0
ARTICULATION Stage1_Flames
TRANSFORMATION Size
STARTVALUE 0.000000
ENDVALUE 1.000000
NEW_ARTICULATION
STARTTIME 0.000000
DURATION 180.000000
DEADBANDDURATION 150.000000
ACCELDURATION 0.000000
DECELDURATION 0.000000
DUTYCYCLEDELTA 0.000000
PERIOD 0.0
ARTICULATION Booster1_Flames
TRANSFORMATION Size
STARTVALUE 0.000000
ENDVALUE 1.000000
NEW_ARTICULATION
STARTTIME 0.000000
DURATION 180.000000
DEADBANDDURATION 150.000000
ACCELDURATION 0.000000
DECELDURATION 0.000000
DUTYCYCLEDELTA 0.000000
PERIOD 0.0
ARTICULATION Booster2_Flames
TRANSFORMATION Size
STARTVALUE 0.000000
ENDVALUE 1.000000
NEW_ARTICULATION
STARTTIME 150.000000
DURATION 100.000000
DEADBANDDURATION 20.000000
ACCELDURATION 0.000000
DECELDURATION 0.000000
DUTYCYCLEDELTA 0.000000
PERIOD 0.0
ARTICULATION Booster1
TRANSFORMATION MoveZ
STARTVALUE 0.000000
ENDVALUE 100.000000
NEW_ARTICULATION
STARTTIME 150.000000
DURATION 100.000000
DEADBANDDURATION 20.000000
ACCELDURATION 0.000000
DECELDURATION 0.000000
DUTYCYCLEDELTA 0.000000
PERIOD 0.0
ARTICULATION Booster1
TRANSFORMATION Size
STARTVALUE 1.000000
ENDVALUE 0.000000
NEW_ARTICULATION
STARTTIME 150.000000
DURATION 100.000000
DEADBANDDURATION 20.000000
ACCELDURATION 0.000000
DECELDURATION 0.000000
DUTYCYCLEDELTA 0.000000
PERIOD 0.0
ARTICULATION Booster2
TRANSFORMATION MoveZ
STARTVALUE 0.000000
ENDVALUE 100.000000
NEW_ARTICULATION
STARTTIME 150.000000
DURATION 100.000000
DEADBANDDURATION 20.000000
ACCELDURATION 0.000000
DECELDURATION 0.000000
DUTYCYCLEDELTA 0.000000
PERIOD 0.0
ARTICULATION Booster2
TRANSFORMATION Size
STARTVALUE 1.000000
ENDVALUE 0.000000
NEW_ARTICULATION
STARTTIME 400.000000
DURATION 80.000000
DEADBANDDURATION 20.000000
ACCELDURATION 0.000000
DECELDURATION 0.000000
DUTYCYCLEDELTA 0.000000
PERIOD 0.0
ARTICULATION Stage1
TRANSFORMATION MoveZ
STARTVALUE 0.000000
ENDVALUE 100.000000
NEW_ARTICULATION
STARTTIME 400.000000
DURATION 80.000000
DEADBANDDURATION 20.000000
ACCELDURATION 0.000000
DECELDURATION 0.000000
DUTYCYCLEDELTA 0.000000
PERIOD 0.0
ARTICULATION Stage1
TRANSFORMATION Size
STARTVALUE 1.000000
ENDVALUE 0.000000
NEW_ARTICULATION
STARTTIME 500.000000
DURATION 60.000000
DEADBANDDURATION 10.000000
ACCELDURATION 0.000000
DECELDURATION 0.000000
DUTYCYCLEDELTA 0.000000
PERIOD 0.0
ARTICULATION Fairing
TRANSFORMATION Open
STARTVALUE 0.000000
ENDVALUE -180.000000
NEW_ARTICULATION
STARTTIME 500.000000
DURATION 60.000000
DEADBANDDURATION 10.000000
ACCELDURATION 0.000000
DECELDURATION 0.000000
DUTYCYCLEDELTA 0.000000
PERIOD 0.0
ARTICULATION Fairing
TRANSFORMATION Fall
STARTVALUE 0.000000
ENDVALUE 100.000000
NEW_ARTICULATION
STARTTIME 500.000000
DURATION 60.000000
DEADBANDDURATION 10.000000
ACCELDURATION 0.000000
DECELDURATION 0.000000
DUTYCYCLEDELTA 0.000000
PERIOD 0.0
ARTICULATION Fairing
TRANSFORMATION Separate
STARTVALUE 0.000000
ENDVALUE -10.000000
NEW_ARTICULATION
STARTTIME 360.000000
DURATION 60.000000
DEADBANDDURATION 10.000000
ACCELDURATION 0.000000
DECELDURATION 0.000000
DUTYCYCLEDELTA 0.000000
PERIOD 0.0
ARTICULATION Stage2_Flames
TRANSFORMATION Size
STARTVALUE 0.000000
ENDVALUE 1.000000
NEW_ARTICULATION
STARTTIME 500.000000
DURATION 60.000000
DEADBANDDURATION 10.000000
ACCELDURATION 0.000000
DECELDURATION 0.000000
DUTYCYCLEDELTA 0.000000
PERIOD 0.0
ARTICULATION Interstage
TRANSFORMATION MoveZ
STARTVALUE 0.000000
ENDVALUE 100.000000
关节文件编写完成后运行即可控制尾焰点火、助推器分离等动作,部分动画截图如下:
图5 助推器分离
图6 一二级箭体级间分离
STK场景动画的视频输出可以参考:https://wenku.baidu.com/view/edf1957b48d7c1c708a145b7.html,可以根据自身需要选择视频格式和要截取的动画片段保存。接下来想获得级间分离的细节场景,查阅资料说可以在箭体上加上摄像装置,但一直没有解决。才疏学浅,有不当之处欢迎大家批评指正。