Agile and safe segmented trajectory planning method for spacecraft

The invention relates to an agile and safe segmented trajectory planning method for a spacecraft, and provides a two-segment/three-segment trajectory planning method from any attitude to an expected angle and an expected angular velocity in combination with the characteristic that the maximum angular velocity and the maximum angular acceleration can be known in advance in sine trajectory planning. According to the planned trajectory, the maximum angular velocity and the angular acceleration can be known in advance, the time is shorter than polynomial planning in most cases, and the method is suitable for spacecrafts with agile maneuvering and multi-mode imaging requirements. 一种航天器敏捷安全分段轨迹规划方法，结合正弦轨迹规划能够事先得知最大角速度和最大角加速度的特点，提出了采用两段/三段的从任意姿态到期望角度、期望角速度的轨迹规划方法，所规划的轨迹能实现最大角速度和角加速度能够提前得知，在多数情况下时间短于多项式规划，适用于具有敏捷机动和多模式成像需求的航天器。