Geomagnetic detection method, device, launch vehicle, electronic equipment and storage medium

Abstract

The present invention provides a geomagnetic detection method, device, launch vehicle, electronic device, and storage medium, relating to the field of aerospace technology. The method includes: when a remaining orbit final stage passes over multiple target detection areas on a current target orbit, controlling a geomagnetic detection payload carried by the remaining orbit final stage to obtain geomagnetic measurement data corresponding to the multiple target detection areas in the current target orbit; determining a first orbit change control parameter for controlling the remaining orbit final stage to change its orbit from the current target orbit to the next target orbit based on orbital parameters of the current target orbit and orbital parameters of the next target orbit; causing an onboard computer to control the remaining orbit final stage to change its orbit to the next target orbit based on the first orbit change control parameter; and constructing an Earth magnetic field model based on the geomagnetic measurement data corresponding to each target detection area in the multiple target orbits. The method and device provided by the present invention improve the equipment reuse rate of the launch vehicle's final stage and reduce the cost of geomagnetic detection.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a geomagnetic detection method, device, launch vehicle, electronic equipment and storage medium. Background Art

[0002] Geomagnetic detection refers to the measurement of geomagnetic elements and their changes over time and space, providing basic data for the study of the geomagnetic field.

[0003] Existing geomagnetic exploration methods rely on magnetometers placed on artificial satellites. Satellite magnetic surveys can quickly acquire data on the entire Earth's magnetic field. This data can be used to construct global geomagnetic field models, study global magnetic anomalies, and investigate the spatial structure of the Earth's magnetic field. However, the high cost of manufacturing, launching, and controlling satellites makes existing geomagnetic exploration methods expensive. Summary of the Invention

[0004] The present invention provides a geomagnetic detection method, device, carrier rocket, electronic equipment and storage medium, which are used to solve the technical problem of high cost of existing geomagnetic detection methods.

[0005] The present invention provides a geomagnetic detection method, comprising:

[0006] When the remaining orbit final stage passes over multiple target detection areas on the current target orbit, controlling the geomagnetic detection payload carried by the remaining orbit final stage to obtain geomagnetic measurement data corresponding to the multiple target detection areas on the current target orbit;

[0007] determining, based on the orbital parameters of the current target orbit and the orbital parameters of the next target orbit, a first orbit change control parameter for controlling the orbit-retaining final stage to change orbit from the current target orbit to the next target orbit;

[0008] sending the first orbit change control parameter to an onboard computer, so that the onboard computer controls the orbit-retaining final stage to change its orbit to the next target orbit based on the first orbit change control parameter;

[0009] The Earth's magnetic field model is constructed based on the geomagnetic measurement data corresponding to each target detection area in multiple target orbits.

[0010] According to the geomagnetic detection method provided by the present invention, the construction of the Earth's magnetic field model based on the geomagnetic measurement data corresponding to each target detection area in multiple target orbits includes:

[0011] Sending a geomagnetic query request to a ground monitoring station; the geomagnetic query request is used to request to obtain geomagnetic reference data of each target detection area on the earth's surface;

[0012] receiving a geomagnetic query response sent by the ground monitoring station based on the geomagnetic query request;

[0013] Based on the geomagnetic measurement data corresponding to any target detection area in multiple target orbits, the geomagnetic reference data of any target detection area on the earth's surface is corrected to obtain geomagnetic correction data of any target detection area on the earth's surface;

[0014] Based on the geomagnetic correction data of each target detection area on the earth's surface, an earth magnetic field model is constructed, and the earth magnetic field model is sent to the ground monitoring station.

[0015] According to the geomagnetic detection method provided by the present invention, when the remaining orbit final stage passes over multiple target detection areas on the current target orbit, controlling the geomagnetic detection payload carried by the remaining orbit final stage to obtain geomagnetic measurement data corresponding to the multiple target detection areas on the current target orbit includes:

[0016] Determining an attitude adjustment amount and / or an orbit adjustment amount of the on-orbit final stage in the current target orbit based on geomagnetic measurement data corresponding to the multiple target detection areas in the current target orbit;

[0017] The attitude adjustment amount and / or orbit adjustment amount in the current target orbit is sent to the on-board computer, so that the on-board computer controls the remaining orbit final stage to adjust the operating attitude and / or operating orbit based on the attitude adjustment amount and / or orbit adjustment amount.

[0018] According to the geomagnetic detection method provided by the present invention, when the remaining orbit final stage passes over multiple target detection areas on the current target orbit, controlling the geomagnetic detection payload carried by the remaining orbit final stage to obtain geomagnetic measurement data corresponding to the multiple target detection areas on the current target orbit includes:

[0019] Obtaining the remaining propellant amount, remaining electric energy amount, and current operating speed of the orbit-retaining final stage after completing geomagnetic detection in the current target orbit;

[0020] Determining a current on-orbit total energy of the orbit-retaining final stage based on the remaining propellant amount, the remaining electrical energy amount, and the current operating speed;

[0021] Under the condition that the current on-orbit total energy of the on-orbit final stage is less than a preset energy threshold, sending a deorbit passivation instruction to the onboard computer, so that the onboard computer controls the on-orbit final stage to leave the current target orbit based on the deorbit passivation instruction, and keeps various devices of the on-orbit final stage in a working state until the on-orbit final stage enters the atmosphere and burns up;

[0022] The preset energy threshold is determined based on the energy value required by the last stage of the orbit retention to complete a maneuverable orbit change.

[0023] According to the geomagnetic detection method provided by the present invention, the orbital height of the next target orbit is smaller than the orbital height of the current target orbit.

[0024] According to the geomagnetic detection method provided by the present invention, when the remaining orbit final stage passes over multiple target detection areas on the current target orbit, controlling the geomagnetic detection payload carried by the remaining orbit final stage to obtain geomagnetic measurement data corresponding to the multiple target detection areas before the current target orbit, the method includes:

[0025] Determining, based on the orbital parameters of the satellite-rocket separation orbit of the orbit-retaining final stage sent by the onboard computer and the orbital parameters of the current target orbit, a second orbit change control parameter for controlling the orbit-retaining final stage to change its orbit from the satellite-rocket separation orbit to the current target orbit;

[0026] The second orbit change control parameter is sent to the onboard computer, so that the onboard computer controls the orbit change of the last stage of the orbit retention to the current target orbit based on the second orbit change control parameter.

[0027] The present invention provides a geomagnetic detection device, comprising:

[0028] a detection unit configured to control the geomagnetic detection payload carried by the on-orbit final stage when the on-orbit final stage passes over multiple target detection areas on the current target orbit, and obtain geomagnetic measurement data corresponding to the multiple target detection areas on the current target orbit;

[0029] a determining unit, configured to determine, based on the orbital parameters of the current target orbit and the orbital parameters of the next target orbit, a first orbit change control parameter for controlling the orbit-retaining final stage to change the orbit from the current target orbit to the next target orbit;

[0030] a trajectory change unit, configured to send the first trajectory change control parameter to an onboard computer, so that the onboard computer controls the trajectory change of the last stage of the orbit retention to the next target orbit based on the first trajectory change control parameter;

[0031] The construction unit is used to construct an Earth magnetic field model based on geomagnetic measurement data corresponding to each target detection area in multiple target orbits.

[0032] The present invention provides a carrier rocket, comprising an orbit retention stage; the orbit retention stage comprises at least an onboard computer, an orbit retention controller, an attitude and orbit control power system, and a geomagnetic detection payload;

[0033] The attitude and orbit control power system is connected to the onboard computer and is used to receive control instructions from the onboard computer and control the orbit-retaining final stage to change its operating attitude and / or operating orbit;

[0034] The geomagnetic detection payload is connected to the on-orbit controller and is used to receive control instructions from the on-orbit controller and obtain geomagnetic measurement data;

[0035] The on-orbit controller is connected to the onboard computer and is used to execute the geomagnetic detection method.

[0036] The present invention provides a computer-readable storage medium, which includes a stored program, wherein the geomagnetic detection method is executed when the program is run.

[0037] The present invention provides an electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the geomagnetic detection method through the computer program.

[0038] The geomagnetic detection method, device, carrier rocket, electronic equipment and storage medium provided by the present invention control the geomagnetic detection payload carried by the orbit-retaining final stage to obtain geomagnetic measurement data corresponding to the multiple target detection areas in the current target orbit when the orbit-retaining final stage passes over multiple target detection areas in the current target orbit; determine the first orbit change control parameter for controlling the orbit-retaining final stage to change the orbit from the current target orbit to the next target orbit based on the orbital parameters of the current target orbit and the orbital parameters of the next target orbit; enable the onboard computer to control the orbit-retaining final stage to change the orbit to the next target orbit; construct an earth magnetic field model based on the geomagnetic measurement data corresponding to each target detection area in the multiple target orbits, and perform the approaching geomagnetic detection mission through the orbit-retaining final stage without launching a special geomagnetic detection satellite, making full use of the remaining propellant of the orbit-retaining final stage after completing the satellite launch mission, and utilizing the on-orbit operation capability and maneuverable orbit change capability of the orbit-retaining final stage, thereby improving the equipment reuse rate of the carrier rocket's final stage and reducing the cost of geomagnetic detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A schematic flow chart of the geomagnetic detection method provided by the present invention;

[0041] Figure 2A schematic structural diagram of the geomagnetic detection device provided by the present invention;

[0042] Figure 3 A schematic structural diagram of the carrier rocket provided by the present invention;

[0043] Figure 4 This is a schematic structural diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first," "second," and the like in the present invention are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatuses.

[0046] After the launch vehicle's last stage completes its primary mission, completing orbital insertion and separation, it transitions to a stay-on-orbit stage, continuing its orbit. Because the stay-on-orbit stage retains its attitude and orbit control propulsion system and remaining propellant, it maintains both on-orbit operational capabilities and orbital maneuverability. This allows it to carry various space payloads for diverse space missions.

[0047] Compared with the orbit-retention stage formed by large carrier rockets after completing the separation of satellites and rockets, small rockets are smaller in size and have lower power consumption. They can become low-cost orbit-retention stage platforms carrying small space payloads. They have high cost-effectiveness and are suitable for low-orbit approach detection missions.

[0048] Figure 1 A schematic diagram of the flow of the geomagnetic detection method provided by the present invention is shown in FIG. Figure 1 As shown, the method includes step 110 , step 120 , step 130 and step 140 .

[0049] Step 110: When the last stage of the orbit-retention system passes over multiple target detection areas on the current target orbit, the geomagnetic detection payload carried by the last stage of the orbit-retention system is controlled to obtain geomagnetic measurement data corresponding to the multiple target detection areas on the current target orbit.

[0050] Specifically, the geomagnetic detection method provided by the embodiment of the present invention is applicable to the orbit retention final stage of a carrier rocket, and its execution entity may be an orbit retention controller configured in the orbit retention final stage.

[0051] The rocket's last stage can be equipped with an onboard computer and a retention controller. The onboard computer is connected to the attitude and orbit control power system on the rocket's last stage, responsible for the rocket's navigation, guidance, attitude control, and other functions. The retention controller controls the last stage to perform close-in geomagnetic detection missions after the rocket and satellite separate.

[0052] The onboard computer and on-orbit controller can be combined. However, considering that the close-in detection mission is performed after the satellite launch mission, and the satellite launch mission is the main mission of the launch vehicle, it is preferable to separate the onboard computer and the on-orbit controller. This allows the design of the onboard computer and the on-orbit controller to be miniaturized and specialized, and can improve the reliability and real-time performance of executing different missions.

[0053] After launch, the entire rocket is controlled by the onboard computer, and the on-orbit controller can be in standby mode. After the launch vehicle's last stage separates from the rocket, the primary mission of the space launch is complete, and the launch vehicle's last stage becomes the on-orbit controller. At this point, the onboard computer sends commands to the on-orbit controller, which becomes the master controller, while the onboard computer acts as a slave controller, assisting with attitude and orbit control of the on-orbit controller.

[0054] A target detection area is a ground area on the Earth's surface used to detect the Earth's magnetic field. For example, multiple target detection areas can be set up around the Earth. The more target detection areas are set up and the smaller the spacing between target detection areas, the more data obtained from detecting the Earth's magnetic field, and the more accurate the constructed Earth magnetic field model.

[0055] The target orbit is the trajectory that the remaining stage will maintain after completing the rocket-satellite separation mission while performing geomagnetic exploration. To ensure the most comprehensive detection of the Earth's magnetic field, multiple target orbits may be used. Each target orbit can be set to pass over multiple target exploration areas.

[0056] The geomagnetic detection payload is an instrument for detecting the Earth's magnetic field, such as a magnetometer. The geomagnetic measurement data is measurement data that describes the direction and strength of the Earth's magnetic field.

[0057] After the last stage of the carrier rocket completes the separation of the rocket and the satellite, the orbit retention controller can control the orbit retention last stage to maneuver and change its orbit to the current target orbit through the onboard computer.

[0058] When the remaining-orbit final stage passes over multiple target detection areas on the current target orbit, the geomagnetic detection payload carried by the remaining-orbit final stage is controlled to obtain geomagnetic measurement data corresponding to the multiple target detection areas on the current target orbit.

[0059] Step 120 : Based on the orbital parameters of the current target orbit and the orbital parameters of the next target orbit, determine a first orbit change control parameter for controlling the orbit-retaining final stage to change from the current target orbit to the next target orbit.

[0060] Specifically, the current target orbit and the next target orbit are both target orbits for geomagnetic exploration, differing only in their orbital altitudes. Orbital parameters describe the orbit of the remaining stage, and may include, for example, the semi-major axis, eccentricity, orbital inclination, argument of periapsis, longitude of the ascending node, and true anomaly.

[0061] The first orbit change control parameter is a control parameter for controlling the orbit-retaining final stage to maneuver and change its orbit from the current target orbit to the next target orbit. For example, it may include the control amount of the orbit control engine of the orbit-retaining final stage and the control amount of the attitude control engine.

[0062] The orbit retention controller compares the orbital parameters of the current target orbit with the orbital parameters of the next target orbit, and combines the power configuration of the attitude and orbit control engine of the orbit retention final stage to determine the first orbit change control parameters used to control the orbit retention final stage.

[0063] Step 130: Send the first orbit change control parameter to the onboard computer, so that the onboard computer controls the last stage of the orbit retention to change to the next target orbit based on the first orbit change control parameter.

[0064] Specifically, the orbit retention controller sends the first orbit change control parameters to the onboard computer. At this point, acting as a slave controller, the onboard computer generates control instructions for each orbit control motor and / or each attitude control motor based on the received first orbit change control parameters and the control characteristics of each orbit control motor and / or each attitude control motor. These instructions are then sent to each orbit control motor and / or each attitude control motor, completing the orbit change control. After the orbit change, the orbit retention terminal stage will change from the current target orbit to the next target orbit.

[0065] On the next target orbit, the on-orbit controller controls the geomagnetic detection payload to obtain geomagnetic measurement data corresponding to multiple target detection areas on the next target orbit.

[0066] Step 140: Construct an Earth magnetic field model based on the geomagnetic measurement data corresponding to each target detection area in multiple target orbits.

[0067] Specifically, based on the geomagnetic measurement data corresponding to each target detection area in multiple target orbits, a model of the Earth's magnetic field can be constructed. The Earth's magnetic field model is used to describe the direction and strength of the magnetic field at various locations within the Earth's space.

[0068] For example, the target detection areas may include {A, B, C, D, ...}. Each target detection area corresponds to multiple target orbits, arranged from low to high along the orbital height. For target detection area A, geomagnetic measurement data corresponding to the multiple target orbits {a1, a2, a3, a4, ...} can be measured. Interpolation can be used to obtain geomagnetic measurement data for the intermediate areas between different target detection areas. By integrating all the geomagnetic measurement data, a magnetic field model for the entire Earth can be obtained.

[0069] The geomagnetic detection method provided by the embodiment of the present invention controls the geomagnetic detection payload carried by the orbit-retaining final stage to obtain geomagnetic measurement data corresponding to the multiple target detection areas in the current target orbit when the orbit-retaining final stage passes over multiple target detection areas in the current target orbit; determines the first orbit change control parameter for controlling the orbit-retaining final stage to change its orbit from the current target orbit to the next target orbit based on the orbital parameters of the current target orbit and the orbital parameters of the next target orbit; enables the on-board computer to control the orbit-retaining final stage to change its orbit to the next target orbit; constructs an earth magnetic field model based on the geomagnetic measurement data corresponding to each target detection area in the multiple target orbits, and performs the approaching geomagnetic detection mission through the orbit-retaining final stage without launching a special geomagnetic detection satellite, making full use of the remaining propellant of the orbit-retaining final stage after completing the satellite launch mission, and utilizing the on-orbit operation capability and maneuverable orbit change capability of the orbit-retaining final stage, thereby improving the equipment reuse rate of the carrier rocket's last stage and reducing the cost of geomagnetic detection.

[0070] Based on the above embodiment, step 140 includes:

[0071] Sending a geomagnetic query request to the ground monitoring station; the geomagnetic query request is used to request the acquisition of geomagnetic reference data of each target detection area on the earth's surface;

[0072] receiving a geomagnetic query response sent by a ground monitoring station based on the geomagnetic query request;

[0073] Based on the geomagnetic measurement data corresponding to a plurality of target orbits of any target detection area, the geomagnetic reference data of the target detection area on the earth's surface is corrected to obtain the geomagnetic correction data of the target detection area on the earth's surface;

[0074] Based on the geomagnetic correction data of each target detection area on the earth's surface, the earth's magnetic field model is constructed and sent to the ground monitoring station.

[0075] Specifically, the geomagnetic measurement data of the Earth's surface can be obtained by a ground monitoring station communicating with the remaining orbital final stage. Due to the accuracy errors of ground measurement equipment, the geomagnetic measurement data obtained by the ground monitoring station can be used as geomagnetic reference data.

[0076] The on-orbit terminal stage can send a geomagnetic query request to the ground monitoring station, requesting the geomagnetic reference data for each target exploration area on the Earth's surface. Upon receiving the geomagnetic query request, the ground monitoring station generates a geomagnetic query response and feeds it back to the on-orbit terminal stage. The geomagnetic query response contains the geomagnetic reference data for each target exploration area on the Earth's surface.

[0077] The orbit retention controller in the final orbit retention stage can use the geomagnetic measurement data corresponding to any target detection area in multiple target orbits to correct the geomagnetic reference data of the target detection area on the earth's surface, and obtain the geomagnetic correction data of the target detection area on the earth's surface.

[0078] For example, geomagnetic measurement data can be represented by geomagnetic characteristic vectors. For the target detection area A, its geomagnetic reference data can be represented by the geomagnetic characteristic vector Ea0. The target orbits of the last stage of the orbit retention include orbit 1, orbit 2, ... orbit n. The orbits are arranged in descending order from high to low according to the orbital altitude. Each target orbit passes over the target detection area A. When the last stage of the orbit retention runs over the target detection area A on orbit 1, orbit 2, ... orbit n, the geomagnetic measurement data corresponding to the target detection area A on orbit 1, orbit 2, ... orbit n are obtained respectively through geomagnetic detection payload measurement, and are represented by geomagnetic characteristic vectors Ea1, Ea2, ..., Ean. By comparing the geomagnetic characteristic vectors Ea1, Ea2, ..., Ean with the geomagnetic characteristic vector Ea0, the difference values Δa1, Δa2, ..., Δan can be obtained. Based on the differences Δa1, Δa2, …, Δan, the characteristics of the geomagnetic characteristic vector of target detection area A as it changes with orbital altitude can be determined. Based on this characteristic, the geomagnetic characteristic vector Ea0 can then be corrected to obtain the geomagnetic correction data Ea for the target detection area on the Earth's surface. For example, the fluctuation range of the geomagnetic correction data Ea can be determined based on Δa1, Δa2, …, Δan, and the geomagnetic correction data Ea can be obtained based on the mean and variance corresponding to the fluctuation range. For another example, the geomagnetic field intensity corresponding to each orbital altitude can be obtained based on the geomagnetic characteristic vectors Ea1, Ea2, …, Ean. Substituting this into the magnetic potential change formula for the Earth and its space can obtain the geomagnetic field intensity of target detection area A on the Earth's surface. Similarly, the on-orbit controller can determine the geomagnetic correction data for target detection areas B, C, and D on the Earth's surface.

[0079] The on-orbit controller constructs a model of the Earth's magnetic field based on the geomagnetic correction data of each target detection area on the Earth's surface, and then sends the model to the ground monitoring station. The Earth's magnetic field model can be displayed in the form of a geomagnetic map.

[0080] For example, the on-track controller can connect areas with the same value in the target detection area with smooth curves. These curves are called contour lines of the element. A series of contour lines with different values constitutes a geomagnetic map.

[0081] The on-orbit controller can also set upper and lower limit values, take into account the influencing factors generated by weather factors, take into account the accuracy error of the geomagnetic detection payload equipment itself, and finally perform weighted fitting to obtain the geomagnetic correction data of each target detection area on the earth's surface.

[0082] The geomagnetic detection method provided by the embodiment of the present invention corrects the geomagnetic reference data of the target detection area on the earth's surface through the geomagnetic measurement data corresponding to the target detection area in multiple target orbits, thereby improving the accuracy of geomagnetic detection.

[0083] Based on any of the above embodiments, after step 110, the following steps are included:

[0084] Determining an attitude adjustment amount and / or an orbit adjustment amount of the remaining orbit final stage in the current target orbit based on geomagnetic measurement data corresponding to the multiple target detection areas in the current target orbit;

[0085] The attitude adjustment amount and / or orbit adjustment amount in the current target orbit is sent to the onboard computer, so that the onboard computer controls the last stage of the staying-on-orbit to adjust the operating attitude and / or operating orbit based on the attitude adjustment amount and / or orbit adjustment amount.

[0086] Specifically, while operating in its current target orbit, the remaining stage also needs to adjust its attitude based on the direction and magnitude of the Earth's magnetic field. For example, it can use its onboard magnetometer and other equipment to obtain geomagnetic data through methods such as gravity gradient calculations. This data is then used to determine its own position and subsequently correct its flight attitude to ensure proper attitude and pointing accuracy.

[0087] Therefore, the on-orbit controller can determine the direction of the detected geomagnetic field and the direction of change of the magnetic field intensity based on the geomagnetic measurement data corresponding to multiple target detection areas in the current target orbit, and then determine the real-time attitude direction of its own on-orbit operation; compare the real-time attitude direction with the set attitude direction to determine the attitude adjustment amount and / or orbit adjustment amount of the on-orbit terminal stage in the current target orbit.

[0088] The orbit retention controller sends the attitude adjustment value and / or orbit adjustment value for the current target orbit to the onboard computer. Based on the received attitude adjustment value and / or orbit adjustment value, as well as the control characteristics of each attitude control motor and / or orbit control motor, the onboard computer generates control instructions for each attitude control motor and / or orbit control motor, and sends these instructions to each attitude control motor and / or orbit control motor to control the orbit retention terminal stage to adjust the operating attitude and / or operating orbit.

[0089] The geomagnetic detection method provided by the embodiment of the present invention adjusts the attitude of the remaining orbit final stage on the current target orbit through the geomagnetic measurement data corresponding to multiple target detection areas on the current target orbit, thereby improving the on-orbit attitude control capability and operation stability of the remaining orbit final stage.

[0090] Based on any of the above embodiments, step 110 may further include:

[0091] Obtain the remaining propellant, remaining power, and current operating speed of the last stage after completing geomagnetic detection in the current target orbit;

[0092] Determine the current total on-orbit energy of the remaining stage based on the remaining propellant, remaining electrical energy, and current operating speed;

[0093] Under the condition that the current total on-orbit energy of the remaining orbital stage is less than a preset energy threshold, a deorbit passivation instruction is sent to the onboard computer, so that the onboard computer controls the remaining orbital stage to leave the current target orbit based on the deorbit passivation instruction, and keeps various devices of the remaining orbital stage in a working state until the remaining orbital stage enters the atmosphere and burns up;

[0094] Among them, the preset energy threshold is determined based on the energy value required for the last stage of the orbit to complete a maneuverable orbit change.

[0095] Specifically, because the remaining stage needs to constantly change its orbit while performing geomagnetic exploration missions, its energy level needs to be measured before each orbit change to ensure it can fully perform each geomagnetic exploration mission and avoid going out of control and causing damage to other spacecraft in space.

[0096] The on-orbit controller can obtain the remaining propellant, remaining electrical energy and current operating speed of the on-orbit final stage through the onboard computer.

[0097] The higher the amount of remaining propellant, the stronger the maneuverability of the orbiting final stage to change orbit or attitude, the longer the time it can perform geomagnetic detection missions, and the longer the on-orbit life of the orbiting final stage.

[0098] The higher the remaining power, the more power the remaining final stage can provide to the geomagnetic detection payload, which is sufficient to support the geomagnetic detection payload to complete various geomagnetic detection tasks.

[0099] The higher the current operating speed, the stronger the kinetic energy of the remaining stage in orbit, which is sufficient to support long-term operation in the current orbit, and will consume less propellant to maintain the current operating speed.

[0100] The on-orbit controller can determine the total on-orbit energy of the on-orbit final stage based on the remaining propellant and electrical energy, as well as the current operating speed. It can also calculate the energy consumption rate of the on-orbit final stage by analyzing the propellant and electrical energy consumption of the on-orbit final stage during one orbit of the target orbit.

[0101] The preset energy threshold is determined based on the energy value required for the on-orbit final stage to complete a maneuverable orbit change. The on-orbit controller can compare the current on-orbit total energy of the on-orbit final stage with the preset energy threshold. If the current on-orbit total energy is greater than or equal to the preset energy threshold, it indicates that the on-orbit final stage can still perform at least one maneuverable orbit change and can continue to perform the geomagnetic detection mission. If the current on-orbit total energy is less than the preset energy threshold, it indicates that the on-orbit final stage cannot continue to maneuver and cannot continue to perform the geomagnetic detection mission. At this time, the on-orbit controller sends a deorbit passivation instruction to the onboard computer. According to the deorbit passivation instruction, the onboard computer controls the orbit control engine and / or attitude control engine to reduce the operating speed of the on-orbit final stage, reduce the perigee height of the on-orbit final stage orbit and reduce the orbit inclination until the propellant is exhausted. During this process, the attitude of the on-orbit final stage remains stable.

[0102] After the remaining stage leaves its current target orbit, it is necessary to further eliminate the risk of its self-destruction. At this point, the various devices in the remaining stage can be kept in working order, continuously consuming the propellant and / or power in the remaining stage until the remaining stage enters the atmosphere and burns up.

[0103] Based on any of the above embodiments, the orbital height of the next target orbit is smaller than the orbital height of the current target orbit.

[0104] Specifically, when the remaining final stage performs geomagnetic detection missions, it needs to change its orbit. To complete the geomagnetic detection mission while minimizing energy loss, it can adopt a method of descending the orbit from a higher orbit to a lower orbit in a circle.

[0105] When planning multiple target orbits of the final stage of the retained orbit, the orbital height of the next target orbit may be set to be smaller than the orbital height of the current target orbit.

[0106] For example, multiple target orbits for the final stage to conduct geomagnetic detection can be determined in advance. If the remaining propellant in the final stage and the current power level of the control board on the final stage allow, the final stage will be directed by the on-orbit controller to continuously lower its orbital altitude (e.g., from 500km to 400km, then from 300km to 200km) according to the principles of "coplanar orbit descent" and "from high to low" to reach the predetermined target orbits and conduct geomagnetic detection.

[0107] When the target orbits corresponding to multiple target detection areas have different orbital planes and orbital altitudes, the geomagnetic detection mission performed by the remaining stage is a multi-plane, multi-circle orbital measurement mission. The orbital change sequence of the remaining stage can be based on the order of orbital altitude priority. That is, the target orbit with a higher orbital altitude is given priority, and the maneuverable orbit change is performed at the same orbital altitude. After completing the detection missions for multiple orbital planes corresponding to that orbital altitude, the orbit is then lowered to the target orbit with multiple orbital planes at a lower orbital altitude for geomagnetic detection.

[0108] Based on any of the above embodiments, the process before step 110 includes:

[0109] Based on the orbital parameters of the satellite-rocket separation orbit of the orbit-retaining final stage sent by the onboard computer and the orbital parameters of the current target orbit, determine the second orbit change control parameters for controlling the orbit-retaining final stage to change from the satellite-rocket separation orbit to the current target orbit;

[0110] The second orbit change control parameter is sent to the onboard computer, so that the onboard computer controls the last stage of the orbit retention to change to the current target orbit based on the second orbit change control parameter.

[0111] Specifically, the satellite-rocket separation orbit is the orbit where the remaining orbit final stage is located when performing satellite-rocket separation.

[0112] After the launch vehicle's final stage completes rocket-satellite separation, the onboard computer transmits the orbital parameters of the rocket-satellite separation trajectory to the retention controller, triggering the retention controller to enter the retention mission control state. Upon receiving the orbital parameters of the rocket-satellite separation trajectory, the retention controller compares them with the orbital parameters of the current target orbit. Combined with the power configuration of the retention stage's attitude and orbit control engine, it determines the second trajectory control parameters used to control the retention stage's transition from the rocket-satellite separation trajectory to the current target orbit. The current target orbit here is the target orbit with the highest orbital altitude.

[0113] The orbit retention controller sends the second orbit change control parameters to the onboard computer. At this point, acting as a slave controller, the onboard computer generates control instructions for each orbit control motor and / or each attitude control motor based on the received orbit change control parameters and the control characteristics of each orbit control motor and / or each attitude control motor. These instructions are then sent to each orbit control motor and / or each attitude control motor, completing the orbit change control. After the orbit change, the orbit retention final stage will shift from the rocket-satellite separation orbit to the current target orbit.

[0114] In particular, when the orbital parameters of the satellite-rocket separation orbit are the same as the orbital parameters of the current target orbit, the second orbit change control parameter is zero.

[0115] Based on any of the above embodiments, Figure 2 The schematic diagram of the structure of the geomagnetic detection device provided by the present invention is as follows: Figure 2 As shown, the device includes:

[0116] The detection unit 210 is used to control the geomagnetic detection payload carried by the last stage when the last stage passes over multiple target detection areas on the current target orbit, and obtain geomagnetic measurement data corresponding to the multiple target detection areas on the current target orbit;

[0117] A determination unit 220 is configured to determine a first orbit change control parameter for controlling the orbit-retaining final stage to change from the current target orbit to the next target orbit based on the orbit parameter of the current target orbit and the orbit parameter of the next target orbit;

[0118] The orbit change unit 230 is used to send the first orbit change control parameter to the onboard computer, so that the onboard computer controls the last stage of the orbit retention to change to the next target orbit based on the first orbit change control parameter;

[0119] The construction unit 240 is configured to construct an Earth magnetic field model based on geomagnetic measurement data corresponding to each target detection area in a plurality of target orbits.

[0120] The geomagnetic detection device provided by the embodiment of the present invention controls the geomagnetic detection payload carried by the orbit-retaining final stage to obtain geomagnetic measurement data corresponding to the multiple target detection areas in the current target orbit when the orbit-retaining final stage passes over multiple target detection areas in the current target orbit; determines the first orbit change control parameter for controlling the orbit-retaining final stage to change its orbit from the current target orbit to the next target orbit based on the orbital parameters of the current target orbit and the orbital parameters of the next target orbit; enables the on-board computer to control the orbit-retaining final stage to change its orbit to the next target orbit; constructs an earth magnetic field model based on the geomagnetic measurement data corresponding to each target detection area in the multiple target orbits, and performs the approaching geomagnetic detection mission through the orbit-retaining final stage without launching a special geomagnetic detection satellite, making full use of the remaining propellant of the orbit-retaining final stage after completing the satellite launch mission, and utilizing the on-orbit operation capability and maneuverable orbit change capability of the orbit-retaining final stage, thereby improving the equipment reuse rate of the carrier rocket's last stage and reducing the cost of geomagnetic detection.

[0121] Based on any of the above embodiments, the construction unit is specifically used to:

[0122] Sending a geomagnetic query request to the ground monitoring station; the geomagnetic query request is used to request the acquisition of geomagnetic reference data of each target detection area on the earth's surface;

[0123] receiving a geomagnetic query response sent by a ground monitoring station based on the geomagnetic query request;

[0124] Based on the geomagnetic measurement data corresponding to any target detection area in multiple target orbits, the geomagnetic reference data of any target detection area on the earth's surface is corrected to obtain the geomagnetic correction data of any target detection area on the earth's surface;

[0125] Based on the geomagnetic correction data of each target detection area on the earth's surface, the earth's magnetic field model is constructed and sent to the ground monitoring station.

[0126] Based on any of the above embodiments, the device further includes:

[0127] An adjustment unit is configured to determine an attitude adjustment amount and / or an orbit adjustment amount of the remaining orbit final stage in the current target orbit based on geomagnetic measurement data corresponding to the multiple target detection areas in the current target orbit;

[0128] The attitude adjustment amount and / or orbit adjustment amount in the current target orbit is sent to the onboard computer, so that the onboard computer controls the last stage of the staying-on-orbit to adjust the operating attitude and / or operating orbit based on the attitude adjustment amount and / or orbit adjustment amount.

[0129] Based on any of the above embodiments, the device further includes:

[0130] The deorbit unit is used to obtain the remaining propellant, remaining power and current operating speed of the remaining final stage after completing geomagnetic detection in the current target orbit;

[0131] Determine the current total on-orbit energy of the remaining stage based on the remaining propellant, remaining electrical energy, and current operating speed;

[0132] Under the condition that the current total on-orbit energy of the remaining orbital stage is less than a preset energy threshold, a deorbit passivation instruction is sent to the onboard computer, so that the onboard computer controls the remaining orbital stage to leave the current target orbit based on the deorbit passivation instruction, and keeps various devices of the remaining orbital stage in a working state until the remaining orbital stage enters the atmosphere and burns up;

[0133] Among them, the preset energy threshold is determined based on the energy value required for the last stage of the orbit to complete a maneuverable orbit change.

[0134] Based on any of the above embodiments, the orbital height of the next target orbit is smaller than the orbital height of the current target orbit.

[0135] Based on any of the foregoing embodiments, the determining unit is further specifically configured to:

[0136] Based on the orbital parameters of the satellite-rocket separation orbit of the orbit-retaining final stage sent by the onboard computer and the orbital parameters of the current target orbit, determine the second orbit change control parameters for controlling the orbit-retaining final stage to change from the satellite-rocket separation orbit to the current target orbit;

[0137] Accordingly, the track change unit is also specifically used for:

[0138] The second orbit change control parameter is sent to the onboard computer, so that the onboard computer controls the last stage of the orbit retention to change to the current target orbit based on the second orbit change control parameter.

[0139] Based on any of the above embodiments, Figure 3 The schematic diagram of the structure of the carrier rocket provided by the present invention is as follows: Figure 3 As shown, the launch vehicle 300 includes an orbit retention stage 310; the orbit retention stage includes at least an onboard computer 311, an orbit retention controller 312, an attitude and orbit control power system 313, and a geomagnetic detection payload 314;

[0140] The attitude and orbit control power system 313 is connected to the onboard computer 311 and is used to receive control instructions from the onboard computer 311 and control the orbit-retaining final stage 310 to change its operating attitude and / or operating orbit;

[0141] The geomagnetic detection payload 314 is connected to the on-orbit controller 312 and is used to receive control instructions from the on-orbit controller 312 and obtain geomagnetic measurement data;

[0142] The on-orbit controller 312 is connected to the onboard computer 311 and is used to execute the above-mentioned geomagnetic detection method.

[0143] Specifically, the operation process of the orbit retention stage of the carrier rocket is as follows:

[0144] Step 1: The carrier rocket is launched and the rocket and satellite are separated, completing the main mission of the space launch. Prior to this, the orbit controller and geomagnetic detection payload are in standby or shutdown mode.

[0145] Step 2: The onboard computer sends a command to the on-orbit controller, which then becomes the primary controller and the onboard computer becomes the secondary controller. Devices not performing geomagnetic detection tasks are powered off.

[0146] Step 3: The on-orbit controller controls the main battery to supply power to the equipment performing the geomagnetic detection mission;

[0147] Step 4: The on-orbit controller sends attitude control instructions and / or orbit control instructions to the onboard computer, which controls the orbit attitude control power system to perform rapid attitude adjustment and orbit maneuvers.

[0148] Step 5: The on-orbit controller controls other equipment, such as active thermal control equipment, to ensure that the on-orbit platform environment meets the working requirements of the geomagnetic detection payload;

[0149] Step 6: The on-orbit controller controls the operation of the geomagnetic detection payload.

[0150] The orbit-retention final stage of the carrier rocket provided by the embodiment of the present invention is equipped with an orbit attitude control power system. The orbit attitude control power system makes full use of the remaining propellant of the space launch mission or the specially reserved propellant to improve the speed and maneuverability of the orbit-retention final stage, thereby enabling the orbit-retention final stage to complete the geomagnetic detection mission at a very low cost.

[0151] Based on any of the above embodiments, Figure 4 A schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 4 As shown, the electronic device may include: a processor (Processor) 410, a communication interface (Communications Interface) 420, a memory (Memory) 430 and a communication bus (Communications Bus) 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other via the communication bus 440. The processor 410 may call the logic commands in the memory 430 to execute the following method:

[0152] When the last stage on orbit passes over multiple target detection areas on the current target orbit, the geomagnetic detection payload carried by the last stage on orbit is controlled to obtain geomagnetic measurement data corresponding to the multiple target detection areas in the current target orbit; based on the orbital parameters of the current target orbit and the orbital parameters of the next target orbit, the first orbit change control parameter for controlling the last stage on orbit to change orbit from the current target orbit to the next target orbit is determined; the first orbit change control parameter is sent to the onboard computer, so that the onboard computer controls the last stage on orbit to change orbit to the next target orbit based on the first orbit change control parameter; and based on the geomagnetic measurement data corresponding to each target detection area in multiple target orbits, an Earth magnetic field model is constructed.

[0153] In addition, the logical commands in the above-mentioned memory 430 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several commands for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0154] The processor in the electronic device provided by the embodiment of the present invention can call the logic instructions in the memory to implement the above method. Its specific implementation method is consistent with the implementation method of the above method and can achieve the same beneficial effects, which will not be repeated here.

[0155] An embodiment of the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method provided in the above embodiments is implemented.

[0156] When the computer program stored on the non-transitory computer-readable storage medium provided by the embodiment of the present invention is executed, the above method is implemented. Its specific implementation method is consistent with the implementation method of the aforementioned method and can achieve the same beneficial effects, which will not be repeated here.

[0157] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0158] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of commands for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiment.

[0159] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A geomagnetic detection method, characterized in that: include: When the remaining orbit final stage passes over multiple target detection areas on the current target orbit, controlling the geomagnetic detection payload carried by the remaining orbit final stage to obtain geomagnetic measurement data corresponding to the multiple target detection areas on the current target orbit; determining, based on the orbital parameters of the current target orbit and the orbital parameters of the next target orbit, a first orbit change control parameter for controlling the orbit-retaining final stage to change orbit from the current target orbit to the next target orbit; sending the first orbit change control parameter to an onboard computer, so that the onboard computer controls the orbit-retaining final stage to change its orbit to the next target orbit based on the first orbit change control parameter; Constructing the Earth's magnetic field model based on geomagnetic measurement data corresponding to each target detection area in multiple target orbits; When the orbit-retaining final stage passes over multiple target detection areas on the current target orbit, controlling the geomagnetic detection payload carried by the orbit-retaining final stage to obtain geomagnetic measurement data corresponding to the multiple target detection areas on the current target orbit includes: Obtaining the remaining propellant amount, remaining electric energy amount, and current operating speed of the orbit-retaining final stage after completing geomagnetic detection in the current target orbit; Determining a current on-orbit total energy of the orbit-retaining final stage based on the remaining propellant amount, the remaining electrical energy amount, and the current operating speed; Under the condition that the current on-orbit total energy of the on-orbit final stage is less than a preset energy threshold, sending a deorbit passivation instruction to the onboard computer, so that the onboard computer controls the on-orbit final stage to leave the current target orbit based on the deorbit passivation instruction, and keeps various devices of the on-orbit final stage in a working state until the on-orbit final stage enters the atmosphere and burns up; The preset energy threshold is determined based on the energy value required by the orbit-retaining final stage to complete a maneuverable orbit change; Based on the geomagnetic measurement data corresponding to the multiple target detection areas in the current target orbit, the attitude adjustment amount and / or orbit adjustment amount of the orbit-retaining final stage in the current target orbit is determined.

2. The geomagnetic detection method according to claim 1, characterized in that: The method of constructing an Earth magnetic field model based on geomagnetic measurement data corresponding to each target detection area in multiple target orbits includes: Sending a geomagnetic query request to a ground monitoring station; the geomagnetic query request is used to request to obtain geomagnetic reference data of each target detection area on the earth's surface; receiving a geomagnetic query response sent by the ground monitoring station based on the geomagnetic query request; Based on the geomagnetic measurement data corresponding to any target detection area in multiple target orbits, the geomagnetic reference data of any target detection area on the earth's surface is corrected to obtain geomagnetic correction data of any target detection area on the earth's surface; Based on the geomagnetic correction data of each target detection area on the earth's surface, an earth magnetic field model is constructed, and the earth magnetic field model is sent to the ground monitoring station.

3. The geomagnetic detection method according to claim 1, wherein: When the orbit-retaining final stage passes over multiple target detection areas on the current target orbit, controlling the geomagnetic detection payload carried by the orbit-retaining final stage to obtain geomagnetic measurement data corresponding to the multiple target detection areas on the current target orbit includes: The attitude adjustment amount and / or orbit adjustment amount in the current target orbit is sent to the on-board computer, so that the on-board computer controls the remaining orbit final stage to adjust the operating attitude and / or operating orbit based on the attitude adjustment amount and / or orbit adjustment amount.

4. The geomagnetic detection method according to any one of claims 1 to 3, characterized in that: The orbital height of the next target orbit is less than the orbital height of the current target orbit.

5. The geomagnetic detection method according to any one of claims 1 to 3, characterized in that: When the orbit-retaining final stage passes over multiple target detection areas on the current target orbit, controlling the geomagnetic detection payload carried by the orbit-retaining final stage to obtain geomagnetic measurement data corresponding to the multiple target detection areas before the current target orbit, the method includes: Determining, based on the orbital parameters of the satellite-rocket separation orbit of the orbit-retaining final stage sent by the onboard computer and the orbital parameters of the current target orbit, a second orbit change control parameter for controlling the orbit-retaining final stage to change its orbit from the satellite-rocket separation orbit to the current target orbit; The second orbit change control parameter is sent to the onboard computer, so that the onboard computer controls the orbit change of the last stage of the orbit retention to the current target orbit based on the second orbit change control parameter.

6. A geomagnetic detection device, characterized in that: include: a detection unit configured to control the geomagnetic detection payload carried by the on-orbit final stage when the on-orbit final stage passes over multiple target detection areas on the current target orbit, and obtain geomagnetic measurement data corresponding to the multiple target detection areas on the current target orbit; a determining unit, configured to determine, based on the orbital parameters of the current target orbit and the orbital parameters of the next target orbit, a first orbit change control parameter for controlling the orbit-retaining final stage to change the orbit from the current target orbit to the next target orbit; a trajectory change unit, configured to send the first trajectory change control parameter to an onboard computer, so that the onboard computer controls the trajectory change of the last stage of the orbit retention to the next target orbit based on the first trajectory change control parameter; A construction unit, configured to construct an Earth magnetic field model based on geomagnetic measurement data corresponding to each target detection area in a plurality of target orbits; An adjustment unit is configured to determine an attitude adjustment amount and / or an orbit adjustment amount of the remaining orbit final stage in the current target orbit based on geomagnetic measurement data corresponding to the multiple target detection areas in the current target orbit; The deorbit unit is used to obtain the remaining propellant, remaining power and current operating speed of the remaining final stage after completing geomagnetic detection in the current target orbit; Determine the current total on-orbit energy of the remaining stage based on the remaining propellant, remaining electrical energy, and current operating speed; Under the condition that the current total on-orbit energy of the remaining orbital stage is less than a preset energy threshold, a deorbit passivation instruction is sent to the onboard computer, so that the onboard computer controls the remaining orbital stage to leave the current target orbit based on the deorbit passivation instruction, and keeps various devices of the remaining orbital stage in a working state until the remaining orbital stage enters the atmosphere and burns up; Among them, the preset energy threshold is determined based on the energy value required for the last stage of the orbit to complete a maneuverable orbit change.

7. A launch vehicle, characterized in that: It includes a last stage for orbit retention, which includes at least an onboard computer, an orbit retention controller, an attitude and orbit control power system, and a geomagnetic detection payload. The attitude and orbit control power system is connected to the onboard computer and is used to receive control instructions from the onboard computer and control the orbit-retaining final stage to change its operating attitude and / or operating orbit; The geomagnetic detection payload is connected to the on-orbit controller and is used to receive control instructions from the on-orbit controller and obtain geomagnetic measurement data; The on-orbit controller is connected to the on-arrow computer and is used to execute the geomagnetic detection method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the geomagnetic detection method according to any one of claims 1 to 5 is executed when the program is executed.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the geomagnetic detection method according to any one of claims 1 to 5 through the computer program.

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