Joint Planning Method and Device for Spacecraft Attitude Maneuver Events and Associated Events

Abstract

The present invention discloses a method and device for jointly planning spacecraft attitude maneuver events and associated events. Among them, the method includes: obtaining element information of multiple attitude maneuver events of the spacecraft, where the element information includes the attitude maneuver type and the first relative moments of multiple first characteristic actions during the attitude maneuver process; obtaining the associated information of the associated events of the spacecraft; determining the attitude maneuver control parameters of the target attitude maneuver event and the attitude prediction data for the target time period according to the absolute time of the reference action, the element information of multiple attitude maneuver events, and the orbit where the spacecraft is located; and planning and executing the associated events according to the attitude maneuver control parameters and the attitude prediction data. The present invention solves the technical problem in the related art that during the space flight control process, personnel at different stages will plan the attitude maneuver events of the spacecraft according to the current state of the spacecraft, resulting in easy conflicts and safety risks.

Description

Technical Field

[0001] The present invention relates to the field of aerospace control, and in particular, to a method and device for jointly planning spacecraft attitude maneuver events and associated events. Background Art

[0002] With the improvement of the complexity of aerospace mission engineering and applications, the planning of the on-orbit attitude maneuver process of spacecraft becomes more frequent. The completion and implementation of attitude maneuver control require the precise coordination of the state setting of associated spacecraft equipment and the associated capture operations of ground measurement and control equipment.

[0003] In the related art, during the relatively simple period of the aerospace mission execution mode, attitude maneuver control was less frequent, and early planning could be implemented by orbital attitude maneuver control personnel a long time in advance, and then the flight control mission planning personnel would relay and serially implement the associated space segment state setting and ground segment equipment operation planning. At the same time, there was also a method in which the orbital attitude maneuver control personnel and the flight control mission planning personnel negotiated the attitude maneuver timing manually, and then generated attitude maneuver control parameters respectively, and the flight control mission planning personnel carried out flight control event planning. The above planning mode could cope with the situation where the flight control attitude was stable and changed less. With the increase in the complexity of flight missions, it became normal to perform multiple attitude maneuvers within a certain period of time. The original planning method in which the orbital attitude maneuver control personnel and the flight control mission planning personnel planned independently showed drawbacks. Due to the lack of a unified planning standard, the planning results of different personnel for the spacecraft attitude motivation were inconsistent, resulting in safety risks for the spacecraft.

[0004] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0005] Embodiments of the present invention provide a method and device for jointly planning spacecraft attitude maneuver events and associated events, so as to at least solve the technical problem in the related art that during the aerospace flight control process, personnel in different stages plan the spacecraft attitude maneuver events according to the current state of the spacecraft, resulting in inconsistent planning results and safety risks.

[0006] According to one aspect of an embodiment of the present invention, a method for jointly planning a spacecraft attitude maneuver event and an associated event is provided, including: obtaining element information of a plurality of attitude maneuver events of the spacecraft, where the element information includes an attitude maneuver type and first relative times of a plurality of first characteristic actions during the attitude maneuver process, and the first relative time is the relative time of the corresponding first characteristic action with respect to a reference action of the spacecraft; obtaining association information of the associated event of the spacecraft, where the association information includes a target attitude maneuver event to be associated and a second relative time of a second characteristic action to be associated, the second characteristic action being one of a plurality of characteristic actions of the association information, and the second relative time being the relative time of the corresponding second characteristic action with respect to the first characteristic action to be referenced; determining attitude maneuver control parameters of the target attitude maneuver event and attitude prediction data for a target period according to the absolute time of the reference action, the element information of the plurality of attitude maneuver events, and the orbit in which the spacecraft is located, where the attitude prediction data includes a plurality of absolute times of the target period and the attitude corresponding to each absolute time; and planning and executing the associated event according to the attitude maneuver control parameters and the attitude prediction data.

[0007] Optionally, planning and executing the associated event according to the attitude maneuver control parameters and the attitude prediction data includes: in the case where the associated event is a space segment event, determining the absolute time of the second characteristic action of the space segment event according to the association information and the attitude maneuver control parameters, and planning and executing the space segment event according to the absolute time of the second characteristic action; in the case where the associated event is a ground segment event, determining the start time and end time required for planning the ground segment event according to the attitude prediction data, and planning and executing the ground segment event according to the start time and the end time.

[0008] Optionally, determining the attitude maneuver control parameters of the target attitude maneuver event and the attitude prediction data for the target period according to the absolute time of the reference action, the element information of the plurality of attitude maneuver events, and the orbit in which the spacecraft is located includes: determining the attitude maneuver control parameters of the target attitude maneuver event according to the absolute time of the reference action and the element information of the plurality of attitude maneuver events; and determining the attitude prediction data according to at least one attitude maneuver event in the target period, the attitude maneuver control parameters of each attitude maneuver event, and the orbit in which the spacecraft is located.

[0009] Optionally, determining the attitude maneuver control parameters of the target attitude maneuver event based on the absolute time of the reference action and the element information of the multiple attitude maneuver events includes: determining the absolute times of the multiple first characteristic actions based on the absolute time of the reference action and the first relative times of the multiple first characteristic actions in the element information, where the relative time is the relative time of the multiple first characteristic actions with respect to the reference action; determining the multiple first characteristic actions of the attitude maneuver event according to the attitude maneuver type in the element information; determining the attitude maneuver control parameters of the attitude maneuver event based on the absolute times of the multiple first characteristic actions and the multiple first characteristic actions, where the attitude maneuver control parameters include the first absolute times of the multiple first characteristic actions and the action instructions of the first characteristic actions corresponding to each first absolute time.

[0010] Optionally, determining the attitude prediction data based on at least one attitude maneuver event in the target period, the attitude maneuver control parameters of each attitude maneuver event, and the orbit in which the spacecraft is located includes: determining the attitude maneuver control parameters of the attitude maneuver events of the spacecraft in the target period; determining the attitude parameters of the multiple first characteristic actions of the spacecraft during the attitude maneuver event according to the attitude maneuver control parameters; determining the first attitude prediction data of the attitude maneuver event according to the attitude parameters; determining the second attitude prediction data of the non-attitude maneuver event in the target period according to the attitude parameters and time when the attitude of the spacecraft remains unchanged during the non-attitude maneuver period of the target period; combining the first attitude prediction data and the second attitude prediction data according to the time process to determine the attitude prediction data.

[0011] Optionally, determining the start time and end time of the ground segment event planning requirements based on the attitude prediction data, and planning the execution of the ground segment event according to the start time and the end time includes: determining the tracking and control elevation angles of the spacecraft by multiple ground stations according to the attitude prediction data; determining the start time and end time when the tracking and control elevation angles of each ground station with respect to the spacecraft satisfy the first angle range required for communication; planning and arranging the ground segment event within the start time and the end time.

[0012] Optionally, the ground segment events include a telemetry reception event, a remote control transmission event, and a frequency point switching event. Planning and arranging the ground segment events within the start time and the end time includes: executing the telemetry reception event and the remote control transmission event within the start time and the end time; determining the angle between the tracking and control antenna pointing of the spacecraft and the line connecting the spacecraft and the ground within the start time and the end time; executing the frequency point switching event at the moment when the angle exceeds 90°.

[0013] According to another aspect of the embodiments of the present invention, there is also provided a device for jointly planning spacecraft attitude maneuver events and associated events, including: a first acquisition unit, configured to acquire the element information of a plurality of attitude maneuver events of the spacecraft, where the element information includes the attitude maneuver type and the first relative moments of a plurality of first characteristic actions during the attitude maneuver process, and the first relative moment is the relative time of the corresponding first characteristic action with respect to the reference action of the spacecraft; a second acquisition unit, configured to acquire the association information of the associated events of the spacecraft, where the association information includes the target attitude maneuver event to be associated and the second relative moment of the second characteristic action to be associated, the second characteristic action is one of the plurality of characteristic actions of the association information, and the second relative moment is the relative time of the corresponding second characteristic action with respect to the first characteristic action to be referenced; a determination unit, configured to determine the attitude maneuver control parameters of the target attitude maneuver event and the attitude prediction data of the target time period according to the absolute time of the reference action, the element information of the plurality of attitude maneuver events, and the orbit where the spacecraft is located, where the attitude prediction data includes a plurality of absolute times of the target time period and the attitude corresponding to each absolute time; a planning unit, configured to plan and execute the associated events according to the attitude maneuver control parameters and the attitude prediction data.

[0014] Optionally, the planning unit includes: a first execution subunit, configured to, when the associated event is a space segment event, determine the absolute time of the second characteristic action of the space segment event according to the association information and the attitude maneuver control parameters, and plan and execute the space segment event according to the absolute time of the second characteristic action; a second execution subunit, configured to, when the associated event is a ground segment event, determine the start time and the end time required for planning the ground segment event according to the attitude prediction data, and plan and execute the ground segment event according to the start time and the end time.

[0015] Optionally, the determination unit includes: a first determination subunit, configured to determine the attitude maneuver control parameters of the target attitude maneuver event according to the absolute time of the reference action and the element information of the plurality of attitude maneuver events; a second determination subunit, configured to determine the attitude prediction data according to at least one attitude maneuver event in the target time period, the attitude maneuver control parameters of each attitude maneuver event, and the orbit where the spacecraft is located.

[0016] Optionally, the first determination subunit includes: a first determination module, configured to determine the absolute times of a plurality of first characteristic actions according to the absolute time of the reference action and the first relative moments of the plurality of first characteristic actions in the element information, where the relative time is the relative time of the plurality of first characteristic actions relative to the reference action; a second determination module, configured to determine the plurality of first characteristic actions of the attitude maneuver event according to the attitude maneuver type in the element information; a third determination module, configured to determine the attitude maneuver control parameters of the attitude maneuver event according to the absolute times of the plurality of first characteristic actions and the plurality of first characteristic actions, where the attitude maneuver control parameters include the first absolute times of the plurality of first characteristic actions and the action instructions of the first characteristic actions corresponding to each first absolute time.

[0017] Optionally, the second determination subunit includes: a fourth determination module, configured to determine the attitude maneuver control parameters of the attitude maneuver event of the spacecraft during the target period; a fifth determination module, configured to determine the attitude parameters of the plurality of first characteristic actions of the spacecraft during the attitude maneuver event according to the attitude maneuver control parameters; a sixth determination module, configured to determine the first attitude prediction data of the attitude maneuver event according to the attitude parameters; a seventh determination module, configured to determine the second attitude prediction data of the non-attitude maneuver event during the target period according to the attitude parameters and time when the attitude of the spacecraft remains unchanged during the non-attitude maneuver period; a first combination module, configured to combine the first attitude prediction data and the second attitude prediction data according to the time process to determine the attitude prediction data.

[0018] Optionally, the second execution subunit includes: an eighth determination module, configured to determine the tracking and control elevation angles of the spacecraft by a plurality of ground stations according to the attitude prediction data; a ninth determination module, configured to determine the start time and end time when the tracking and control elevation angles of each ground station for the spacecraft satisfy the first angle range required for communication; a first planning module, configured to plan and arrange the ground segment events within the start time and the end time.

[0019] Optionally, the first planning module includes: a first execution sub-module, configured to execute the telemetry reception event and the remote control transmission event within the start time and the end time; a first determination sub-module, configured to determine the angle between the pointing direction of the tracking and control antenna of the spacecraft and the line connecting the spacecraft and the ground within the start time and the end time; a second execution sub-module, configured to execute the frequency point switching event when the angle exceeds 90°.

[0020] According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including one or more processors and a memory for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement any of the above-mentioned combined planning methods for spacecraft attitude maneuver events and associated events.

[0021] According to another aspect of the embodiments of the present invention, there is also provided a computer storage medium including a stored program. When the program runs, it controls the device where the computer storage medium is located to execute any of the above-mentioned combined planning methods for spacecraft attitude maneuver events and associated events.

[0022] In the present disclosure, the following steps are adopted: obtaining element information of multiple attitude maneuver events of a spacecraft, where the element information includes the attitude maneuver type and the first relative moments of multiple first characteristic actions during the attitude maneuver process; obtaining the associated information of the associated events of the spacecraft; determining the attitude maneuver control parameters of the target attitude maneuver event and the attitude prediction data for the target time period according to the absolute time of the reference action, the element information of multiple attitude maneuver events, and the orbit where the spacecraft is located; and planning and executing the associated events according to the attitude maneuver control parameters and the attitude prediction data. In the present disclosure, by planning and executing the associated events according to the multiple element information of the spacecraft attitude maneuver events and the associated information of the associated events, the purpose of effectively coordinating the consistency between the associated events and the attitude maneuver events is achieved, thereby realizing the improvement of the consistency of spacecraft event planning, avoiding planning conflicts in different stages, achieving the effect of reducing safety risks, and further solving the technical problem in the related art that during the space flight control process, personnel in different stages will plan the spacecraft attitude maneuver events according to the current state of the spacecraft, resulting in easy conflicts and safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0024] Figure 1 is a flowchart of a combined planning method for spacecraft attitude maneuver events and associated events according to an embodiment of the present invention;

[0025] Figure 2 is the measurement and control elevation angle of a ground station for a spacecraft according to an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of the angle between a spacecraft receiving antenna and the line connecting the spacecraft and the ground according to an embodiment of the present invention;

[0027] Figure 4 It is a schematic diagram of a device for jointly planning spacecraft attitude maneuver events and associated events according to an embodiment of the present invention;

[0028] Figure 5 It is a hardware structure block diagram of an electronic device (or mobile device) for a method of jointly planning spacecraft attitude maneuver events and associated events according to an embodiment of the present invention. Detailed implementation manners

[0029] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] The present invention will be described in detail below in conjunction with each embodiment.

[0032] Embodiment 1

[0033] According to an embodiment of the present invention, a method embodiment of a method for jointly planning spacecraft attitude maneuver events and associated events is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from that here.

[0034] Figure 1 It is a flowchart of a method for jointly planning spacecraft attitude maneuver events and associated events according to an embodiment of the present invention. As Figure 1 shown, the method includes the following steps:

[0035] Step S102: Obtain the element information of multiple attitude maneuver events of the spacecraft. The element information includes the attitude maneuver type and the first relative times of multiple first characteristic actions during the attitude maneuver. The first relative time is the relative time of the corresponding first characteristic action with respect to the reference action of the spacecraft.

[0036] Step S104: Obtain the association information of the associated events of the spacecraft. The association information includes the target attitude maneuver event to be associated and the second relative time of the second characteristic action to be associated. The second characteristic action is one of the multiple characteristic actions of the association information, and the second relative time is the relative time of the corresponding second characteristic action with respect to the first characteristic action to be referenced.

[0037] Step S106: Determine the attitude maneuver control parameters of the target attitude maneuver event and the attitude prediction data for the target time period according to the absolute time of the reference action, the element information of multiple attitude maneuver events, and the orbit where the spacecraft is located. The attitude prediction data includes multiple absolute times of the target time period and the attitude corresponding to each absolute time.

[0038] Step S108: Plan and execute the associated events according to the attitude maneuver control parameters and the attitude prediction data.

[0039] Through the above steps, obtain the element information of multiple attitude maneuver events of the spacecraft, where the element information includes the attitude maneuver type and the first relative times of multiple first characteristic actions during the attitude maneuver; obtain the association information of the associated events of the spacecraft; determine the attitude maneuver control parameters of the target attitude maneuver event and the attitude prediction data for the target time period according to the absolute time of the reference action, the element information of multiple attitude maneuver events, and the orbit where the spacecraft is located; plan and execute the associated events according to the attitude maneuver control parameters and the attitude prediction data. In the present disclosure, by planning and executing the associated events according to the multiple element information of the spacecraft attitude maneuver events and the association information of the associated events, the purpose of effectively coordinating the consistency between the associated events and the attitude maneuver events is achieved, thereby improving the consistency of spacecraft event planning, avoiding planning conflicts in different stages, achieving the effect of reducing safety risks, and further solving the technical problem in the related art that during the space flight control process, personnel in different stages will plan the attitude maneuver events of the spacecraft according to the current state of the spacecraft, resulting in easy occurrence of conflicts and safety risks.

[0040] The following will be described in detail in combination with the above implementation steps.

[0041] It should be noted that as the tasks performed by spacecraft become increasingly complex, during the mission execution, the attitude changes of the flight control also become more and more complex. Therefore, the requirements for the cooperation between the orbital attitude maneuver control personnel and the flight control mission planning personnel to conduct spacecraft attitude maneuver planning are getting higher and higher. The traditional planning methods can no longer meet the spacecraft mission execution scenarios with a large number of flight control attitude changes. The embodiments of the present invention propose a joint planning method for spacecraft attitude maneuver events and associated events to uniformly describe the characteristic action moments of the spacecraft attitude motivation, so that the planning results of planners in different stages are consistent, and the risks during the spacecraft mission execution are reduced.

[0042] Step S102: Obtain the element information of multiple attitude maneuver events of the spacecraft. The element information includes the attitude maneuver type and the first relative moments of multiple first characteristic actions during the attitude maneuver process. The first relative moment is the relative time of the corresponding first characteristic action with respect to the reference action of the spacecraft.

[0043] It should be noted that the attitude maneuver event of the spacecraft is the mission process that requires attitude change during the mission execution of the spacecraft. The spacecraft attitude refers to the orientation or pointing of the spacecraft's motion around the centroid. When the spacecraft executes an attitude maneuver event, it is usually for a target attitude. When changing from the current attitude to the target attitude, multiple different actions may need to be performed on the spacecraft successively.

[0044] The above attitude maneuver events involve multiple element information, including the attitude motivation type and the first relative moments of the first characteristic actions. These multiple first characteristic actions can be regarded as the multiple characteristic actions experienced by the spacecraft during the motion from the reference attitude to the target attitude. The reference attitude can be determined according to the orbital position of the spacecraft. The attitude motivation type includes, but is not limited to: star sensor calibration, sun-pointing, data transmission attitude adjustment maneuver, and lunar orbiting offset attitude maneuver. The first relative moments of the first characteristic actions include, but are not limited to: the event start moment, the event end moment, the moments when different actions start during the event process, and the moments when the corresponding actions are completed during the event process.

[0045] It should be noted that the above element information is stored in the attitude maneuver description file. The attitude maneuver description file consists of a "file header + data area", and its content includes the spacecraft number, spacecraft segment label, orbit number, and the data corresponding to the element information. Table 1 is used to illustrate the attitude maneuver description file below.

[0046] Table 1 Attitude Maneuver Description File

[0047]

[0048] Step S104: Obtain the correlation information of the correlation events of the spacecraft. The correlation information includes the target attitude maneuver event to be correlated and the second relative time of the second characteristic action to be correlated. The second characteristic action is one of the multiple characteristic actions of the correlation information, and the second relative time is the relative time of the corresponding second characteristic action with respect to the first characteristic action to be referenced.

[0049] It should be noted that the above correlation events may be events that the spacecraft needs to assist or execute simultaneously while performing the attitude maneuver event. For example, when the spacecraft performs an attitude maneuver event, it needs to send data to the ground station simultaneously, that is, downlink communication, which is a correlation event with respect to the attitude maneuver event. In this embodiment, the correlation events include space segment events and ground segment events. The space correlation event is an event executed by the spacecraft or other space equipment in space, and both it and the attitude maneuver event are executed in the outer space, which is called a space segment event. The above ground correlation event is an event that the ground station and other equipment need to execute simultaneously. It is executed on the ground with respect to the spacecraft, which is called a ground segment event.

[0050] The above correlation events can be pre-designed by technicians and stored in the database. As a stored database file, it can include the identifier of the correlation event, such as the event ID (Identity document, encoding), event name, etc., and can also include the parameters required to specifically execute the correlation event.

[0051] Step S106: Determine the attitude maneuver control parameters of the target attitude maneuver event and the attitude prediction data for the target time period according to the absolute time of the reference action, the element information of multiple attitude maneuver events, and the orbit where the spacecraft is located. The attitude prediction data includes multiple absolute times of the target time period and the attitude corresponding to each absolute time.

[0052] It should be noted that the reference action is a reference object during the execution of the spacecraft mission, and the time it is located belongs to absolute time. According to this absolute time, the element information of multiple attitude maneuver events, and the orbit where the spacecraft is located at the current time, the attitude maneuver control parameters required to reach the target attitude and the attitude prediction data for the target time period can be obtained through calculation.

[0053] In the embodiment of the present invention, step S106 includes: determining the attitude maneuver control parameters of the target attitude maneuver event according to the absolute time of the reference action and the element information of multiple attitude maneuver events; determining the attitude prediction data according to at least one attitude maneuver event in the target time period, the attitude maneuver control parameters of each attitude maneuver event, and the orbit where the spacecraft is located.

[0054] In an embodiment of the present invention, the steps of determining attitude maneuver control parameters for a target attitude maneuver event include: determining the absolute times of a plurality of first characteristic actions according to the absolute time of a reference action and the first relative times of the plurality of first characteristic actions in element information, where the relative time is the relative time of the plurality of first characteristic actions with respect to the reference action; determining the plurality of first characteristic actions of the attitude maneuver event according to the attitude maneuver type in the element information; and determining the attitude maneuver control parameters of the attitude maneuver event according to the absolute times of the plurality of first characteristic actions and the plurality of first characteristic actions, where the attitude maneuver control parameters include the first absolute times of the plurality of first characteristic actions and the action instructions of the first characteristic actions corresponding to each first absolute time.

[0055] In an embodiment of the present invention, the steps of determining attitude prediction data include: determining the attitude maneuver control parameters of the attitude maneuver event of the spacecraft in a target time period; determining the attitude parameters of the plurality of first characteristic actions of the spacecraft during the attitude maneuver event according to the attitude maneuver control parameters; determining the first attitude prediction data of the attitude maneuver event according to the attitude parameters; determining the second attitude prediction data of the non-attitude maneuver event in the target time period according to the attitude parameters and time when the attitude of the spacecraft remains unchanged during the non-attitude maneuver period of the target time period; and combining the first attitude prediction data and the second attitude prediction data according to the time process to determine the attitude prediction data.

[0056] Step S108: Plan and execute an associated event according to the attitude maneuver control parameters and the attitude prediction data.

[0057] In an embodiment of the present invention, step S108 includes: when the associated event is a space segment event, determining the absolute time of the second characteristic action of the space segment event according to the association information and the attitude maneuver control parameters, and planning and executing the space segment event according to the absolute time of the second characteristic action; when the associated event is a ground segment event, determining the start time and end time required for planning the ground segment event according to the attitude prediction data, and planning and executing the ground segment event according to the start time and end time.

[0058] Determining the start time and end time required for planning the ground segment event according to the attitude prediction data, and planning and executing the ground segment event according to the start time and end time includes: determining the tracking and control elevation angles of the spacecraft by a plurality of ground stations according to the attitude prediction data; determining the start time and end time when the tracking and control elevation angles of each ground station for the spacecraft satisfy the first angle range required for communication; and planning and arranging the ground segment event within the start time and end time.

[0059] It should be noted that although ground segment events are associated events on the ground, they are not independent and are still associated with the spacecraft. Therefore, it is necessary to maintain the communication conditions between the spacecraft and the ground station. The ground station requires the spacecraft to be in a certain attitude in order to communicate with the spacecraft.

[0060] Specifically, Figure 2 it is the tracking and control elevation angle of the ground station for the spacecraft according to the embodiment of the present invention. As Figure 2 shown, the first ground station requires the tracking and control elevation angle of the spacecraft to be within the first preset angle range corresponding to the first ground station. If it exceeds the first preset angle range corresponding to the first ground station, the first ground station cannot communicate with the spacecraft. Relative to the spacecraft, if its tracking and control elevation angle exceeds the allowable range of the above-mentioned first ground station, it may fall into the second preset angle range corresponding to other second ground stations, then it can communicate with the second ground station, and the ground associated events corresponding to the second ground station can also be set. Therefore, according to the preset angle range corresponding to the tracking and control elevation angle, the ground station corresponding to the preset angle range and the ground associated events corresponding to the ground station are determined for the spacecraft. The start time and end time when the tracking and control elevation angle of each ground station for the spacecraft satisfies the first angle range required for communication are determined, so as to arrange as many associated events as possible during the time period when the spacecraft and the ground station can communicate, and to efficiently control the spacecraft.

[0061] In the embodiment of the present invention, the ground segment events include telemetry reception events, remote control transmission events, and point frequency switching events. The planning and arrangement of the ground segment events within the start time and end time include: within the start time and end time, execute the telemetry reception events and remote control transmission events; determine the included angle between the tracking and control antenna direction of the spacecraft and the line connecting the spacecraft and the ground within the start time and end time; when the included angle exceeds 90°, execute the point frequency switching event.

[0062] It should be noted that Figure 3 it is a schematic diagram of the included angle between the receiving antenna of the spacecraft and the line connecting the spacecraft and the ground according to the embodiment of the present invention. As Figure 3 shown, in the embodiment of the present invention, it is indicated by the β angle. When the β angle satisfies the set second angle range, the arrangement of the ground segment events is carried out.

[0063] It should be noted that the ground equipment tracking and control performs uplink and downlink point frequency switching according to the magnitude of the β angle. Assume that the two tracking and control antennas symmetrically pointed by the spacecraft respectively correspond to two point frequencies f1 and f2 for tracking and control. In order to maintain effective communication between the ground station and the spacecraft, when β ≤ 90°, the communication between the spacecraft and the ground station is realized by using the f1 point frequency for uplink and downlink; when β > 90°, the communication between the spacecraft and the ground station is realized by using the f2 point frequency for uplink and downlink.

[0064] Optionally, when the included angle exceeds 90°, the execution of the point frequency switching event includes: when the included angle changes from less than 90° to greater than 90°, executing the event of switching the point frequency of ground station f1 to f2; when the included angle changes from greater than 90° to less than 90°, executing the event of switching the point frequency of ground station f2 to f1.

[0065] In the embodiments of the present invention, according to multiple element information of the spacecraft attitude maneuver event and the association information of the associated event, the associated event is planned and executed, achieving the purpose of effectively coordinating the consistency between the associated event and the attitude maneuver event, thereby realizing the improvement of the consistency of the spacecraft event planning, avoiding the planning conflicts in different stages, achieving the effect of reducing the safety risk, and further solving the technical problem in the related art that during the aerospace flight control process, personnel in different stages will plan the spacecraft attitude maneuver event according to the current state of the spacecraft, resulting in easy conflicts and safety risks.

[0066] The present invention will be described below in conjunction with another optional embodiment.

[0067] Example 2

[0068] This embodiment provides a device for jointly planning a spacecraft attitude maneuver event and an associated event. Each implementation unit included in the device for jointly planning a spacecraft attitude maneuver event and an associated event corresponds to each implementation step in Embodiment 1.

[0069] Figure 4 is a schematic diagram of a device for jointly planning a spacecraft attitude maneuver event and an associated event according to an embodiment of the present invention, as Figure 4 shown, the device includes: a first acquisition module 42, a second acquisition module 44, a determination module 46, and a planning module 48, wherein,

[0070] The first acquisition unit 42 is configured to acquire element information of multiple attitude maneuver events of the spacecraft, wherein the element information includes the attitude maneuver type and the first relative time of multiple first characteristic actions during the attitude maneuver process, and the first relative time is the relative time of the corresponding first characteristic action with respect to the reference action of the spacecraft;

[0071] The second acquisition unit 44 is configured to acquire the association information of the associated event of the spacecraft, wherein the association information includes the target attitude maneuver event to be associated and the second relative time of the second characteristic action to be associated, the second characteristic action is one of the multiple characteristic actions of the association information, and the second relative time is the relative time of the corresponding second characteristic action with respect to the first characteristic action to be referenced;

[0072] A determination unit 46, configured to determine attitude maneuver control parameters of a target attitude maneuver event and attitude prediction data for a target period according to the absolute time of a reference action, element information of multiple attitude maneuver events, and the orbit in which the spacecraft is located, where the attitude prediction data includes multiple absolute times of the target period and the attitude corresponding to each absolute time;

[0073] A planning unit 48, configured to plan and execute associated events according to the attitude maneuver control parameters and the attitude prediction data.

[0074] The above-mentioned spacecraft attitude maneuver event and associated event joint planning device obtains element information of multiple attitude maneuver events of the spacecraft through a first acquisition unit 42; obtains associated information of the associated events of the spacecraft through a second acquisition unit 44; determines attitude maneuver control parameters of a target attitude maneuver event and attitude prediction data for a target period according to the absolute time of a reference action, element information of multiple attitude maneuver events, and the orbit in which the spacecraft is located through the determination unit 46, where the attitude prediction data includes multiple absolute times of the target period and the attitude corresponding to each absolute time; and plans and executes associated events according to the attitude maneuver control parameters and the attitude prediction data through the planning unit 48.

[0075] In this embodiment, by planning and executing associated events according to multiple element information of spacecraft attitude maneuver events and associated information of associated events, the purpose of effectively coordinating the consistency between associated events and attitude maneuver events is achieved, thereby improving the consistency of spacecraft event planning, avoiding planning conflicts in different stages, achieving the effect of reducing safety risks, and further solving the technical problem in the related art that during the space flight control process, personnel in different stages will plan attitude maneuver events of the spacecraft according to the current state of the spacecraft, resulting in easy occurrence of conflicts and safety risks.

[0076] Optionally, the planning unit 48 includes: a first execution subunit, configured to, when the associated event is a space segment event, determine the absolute time of a second characteristic action of the space segment event according to the associated information and the attitude maneuver control parameters, and plan and execute the space segment event according to the absolute time of the second characteristic action; a second execution subunit, configured to, when the associated event is a ground segment event, determine the start time and end time required for planning the ground segment event according to the attitude prediction data, and plan and execute the ground segment event according to the start time and end time.

[0077] Optionally, the determination unit 46 includes: a first determination subunit, configured to determine the attitude maneuver control parameters of the target attitude maneuver event according to the absolute time of the reference action and the element information of multiple attitude maneuver events; and a second determination subunit, configured to determine the attitude prediction data according to at least one attitude maneuver event in the target time period, the attitude maneuver control parameters of each attitude maneuver event, and the orbit where the spacecraft is located.

[0078] Optionally, the first determination subunit includes: a first determination module, configured to determine the absolute time of multiple first characteristic actions according to the absolute time of the reference action and the first relative moments of multiple first characteristic actions in the element information, where the relative time is the relative time of multiple first characteristic actions with respect to the reference action; a second determination module, configured to determine multiple first characteristic actions of the attitude maneuver event according to the attitude maneuver type in the element information; and a third determination module, configured to determine the attitude maneuver control parameters of the attitude maneuver event according to the absolute time of multiple first characteristic actions and multiple first characteristic actions, where the attitude maneuver control parameters include the first absolute time of multiple first characteristic actions and the action instructions of the first characteristic actions corresponding to each first absolute time.

[0079] Optionally, the second determination subunit includes: a fourth determination module, configured to determine the attitude maneuver control parameters of the attitude maneuver events of the spacecraft in the target time period; a fifth determination module, configured to determine the attitude parameters of multiple first characteristic actions of the spacecraft during the attitude maneuver event according to the attitude maneuver control parameters; a sixth determination module, configured to determine the first attitude prediction data of the attitude maneuver event according to the attitude parameters; a seventh determination module, configured to determine the second attitude prediction data of the non-attitude maneuver event in the target time period according to the attitude parameters and time when the attitude of the spacecraft remains unchanged during the non-attitude maneuver period in the target time period; and a first combination module, configured to combine the first attitude prediction data and the second attitude prediction data according to the time process to determine the attitude prediction data.

[0080] Optionally, the second execution subunit includes: an eighth determination module, configured to determine the tracking and control elevation angles of multiple ground stations for the spacecraft according to the attitude prediction data; a ninth determination module, configured to determine the start time and end time when the tracking and control elevation angles of each ground station for the spacecraft satisfy the first angle range required for communication; and a first planning module, configured to plan and arrange the ground segment events within the start time and the end time.

[0081] Optionally, the first planning module includes: a first execution sub-module, configured to execute the telemetry reception event and the remote control transmission event within the start time and the end time; a first determination sub-module, configured to determine the included angle between the tracking and control antenna pointing of the spacecraft and the line connecting the spacecraft and the ground within the start time and the end time; and a second execution sub-module, configured to execute the frequency point switching event when the included angle exceeds 90°.

[0082] The above-mentioned joint planning device for spacecraft attitude maneuver events and associated events may further include a processor and a memory. The first acquisition module 42, the second acquisition module 44, the determination module 46, the planning module 48, etc. are all stored in the memory as program units, and the processor executes the above program units stored in the memory to implement corresponding functions.

[0083] The above processor contains a kernel, which retrieves the corresponding program units from the memory. One or more kernels can be set, and the spacecraft attitude maneuver events and associated events are unifiedly planned by adjusting the kernel parameters.

[0084] The above memory may include non-permanent memory in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. The memory includes at least one memory chip.

[0085] According to another aspect of the embodiments of the present invention, an electronic device is further provided, including one or more processors and a memory. The memory is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned joint planning method for any spacecraft attitude maneuver event and associated event.

[0086] According to another aspect of the embodiments of the present invention, a computer storage medium is further provided. The computer storage medium includes a stored program, and when the program runs, it controls the device where the computer storage medium is located to execute the above-mentioned joint planning method for any spacecraft attitude maneuver event and associated event.

[0087] The present application also provides a computer program product, which is suitable for executing a program initialized with the following method steps when executed on a data processing device: obtaining the element information of multiple attitude maneuver events of a spacecraft, where the element information includes the attitude maneuver type and the first relative moments of multiple first characteristic actions during the attitude maneuver process; obtaining the association information of the associated events of the spacecraft; determining the attitude maneuver control parameters of the target attitude maneuver event and the attitude prediction data for the target time period according to the absolute time of the reference action, the element information of multiple attitude maneuver events, and the orbit where the spacecraft is located; and planning and executing the associated events according to the attitude maneuver control parameters and the attitude prediction data.

[0088] Figure 5 It is a hardware structure block diagram of an electronic device (or mobile device) for a joint planning method of spacecraft attitude maneuver events and associated events according to an embodiment of the present invention. As Figure 5As shown, the electronic device may include one or more processors 502 (illustrated as 502a, 502b,......, 502n in the figure) (the processor 502 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 50 for storing data. In addition, it may further include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a keyboard, a power supply, and / or a camera. Those of ordinary skill in the art can understand that Figure 5 the structure shown is only schematic and does not limit the structure of the above-mentioned electronic device. For example, the electronic device may further include more or fewer components than Figure 5 shown therein, or have a different configuration from Figure 5 shown.

[0089] The serial numbers of the above embodiments of the present invention are only for description and do not represent the superiority or inferiority of the embodiments.

[0090] In the above embodiments of the present invention, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0091] In the several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of units can be a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings or direct couplings or communication connections shown or discussed with each other can be through some interfaces, and the indirect couplings or communication connections of units or modules can be in electrical or other forms.

[0092] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0093] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0094] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0095] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A method for jointly planning spacecraft attitude maneuver events and associated events, characterized in that Including: Obtaining element information of multiple attitude maneuver events of a spacecraft, where the element information includes: an attitude maneuver type and first relative times of multiple first characteristic actions during the attitude maneuver, and the first relative time is the relative time of the corresponding first characteristic action relative to a reference action of the spacecraft; Obtaining association information of associated events of the spacecraft, where the associated events include: space segment events and ground segment events, and the association information includes: a target attitude maneuver event to be associated and a second relative time of a second characteristic action to be associated, the second characteristic action being one of multiple characteristic actions of the association information, and the second relative time being the relative time of the corresponding second characteristic action relative to the first characteristic action to be referenced; Determining attitude maneuver control parameters of the target attitude maneuver event and attitude prediction data for a target period according to the absolute time of the reference action, the element information of the multiple attitude maneuver events, and the orbit in which the spacecraft is located, where the attitude prediction data includes multiple absolute times of the target period and the attitude corresponding to each absolute time; Planning and executing the associated events according to the attitude maneuver control parameters and the attitude prediction data.

2. The method according to claim 1, wherein Planning and executing the associated events according to the attitude maneuver control parameters and the attitude prediction data includes: In the case where the associated event is a space segment event, determining the absolute time of the second characteristic action of the space segment event according to the association information and the attitude maneuver control parameters, and planning and executing the space segment event according to the absolute time of the second characteristic action; In the case where the associated event is a ground segment event, determining the start time and end time required for planning the ground segment event according to the attitude prediction data, and planning and executing the ground segment event according to the start time and the end time.

3. The method according to claim 2, wherein Determining the attitude maneuver control parameters of the target attitude maneuver event and the attitude prediction data for the target period according to the absolute time of the reference action, the element information of the multiple attitude maneuver events, and the orbit in which the spacecraft is located includes: Determining the attitude maneuver control parameters of the target attitude maneuver event according to the absolute time of the reference action and the element information of the multiple attitude maneuver events; Determining the attitude prediction data according to at least one attitude maneuver event of the target period, the attitude maneuver control parameters of each attitude maneuver event, and the orbit in which the spacecraft is located.

4. The method according to claim 3, wherein Determining the attitude maneuver control parameters of the target attitude maneuver event according to the absolute time of the reference action and the element information of the multiple attitude maneuver events includes: Determining the absolute times of the multiple first characteristic actions according to the absolute time of the reference action and the first relative times of the multiple first characteristic actions in the element information, where the relative time is the relative time of the multiple first characteristic actions relative to the reference action; Determining the multiple first characteristic actions of the attitude maneuver event according to the attitude maneuver type in the element information; Determine the attitude maneuver control parameters of the attitude maneuver event according to the absolute time of the multiple first characteristic actions and the multiple first characteristic actions, wherein the attitude maneuver control parameters include the first absolute time of the multiple first characteristic actions and the action instructions of the first characteristic actions corresponding to each first absolute time.

5. The method according to claim 3, wherein Determining the attitude prediction data according to at least one attitude maneuver event in the target period, the attitude maneuver control parameters of each attitude maneuver event, and the orbit in which the spacecraft is located includes: Determine the attitude maneuver control parameters of the attitude maneuver event of the spacecraft in the target period; Determine the attitude parameters of the multiple first characteristic actions of the spacecraft during the attitude maneuver event according to the attitude maneuver control parameters; Determine the first attitude prediction data of the attitude maneuver event according to the attitude parameters; Determine the second attitude prediction data of the non-attitude maneuver event in the target period according to the attitude parameters and time when the attitude of the spacecraft remains unchanged during the non-attitude maneuver period in the target period; Combine the first attitude prediction data and the second attitude prediction data according to the time process to determine the attitude prediction data.

6. The method according to claim 5, wherein Determine the start time and end time of the ground segment event planning requirements according to the attitude prediction data, and plan to execute the ground segment event according to the start time and the end time, including: Determine the tracking and control elevation angles of multiple ground stations for the spacecraft according to the attitude prediction data; Determine the start time and end time when the tracking and control elevation angles of each ground station for the spacecraft satisfy the first angle range required for communication; Plan and arrange the ground segment event within the start time and the end time.

7. The method according to claim 6, wherein The ground segment event includes a telemetry reception event, a remote control transmission event, and a frequency point switching event. Planning and arranging the ground segment event within the start time and the end time includes: Execute the telemetry reception event and the remote control transmission event within the start time and the end time; Determine the included angle between the tracking and control antenna pointing of the spacecraft and the line connecting the spacecraft and the ground within the start time and the end time; Execute the frequency point switching event at the moment when the included angle exceeds 90°.

8. A device for jointly planning spacecraft attitude maneuver events and associated events, characterized in that Includes: A first acquisition unit for acquiring the element information of multiple attitude maneuver events of the spacecraft, wherein the element information includes: the attitude maneuver type and the first relative moment of multiple first characteristic actions during the attitude maneuver process, and the first relative moment is the relative time of the corresponding first characteristic action relative to the reference action of the spacecraft; A second acquisition unit for acquiring the association information of the associated events of the spacecraft, wherein the associated events include: space segment events, ground segment events, and the association information includes: the target attitude maneuver event to be associated and the second relative moment of the second characteristic action to be associated, the second characteristic action is one of the multiple characteristic actions of the association information, and the second relative moment is the relative time of the corresponding second characteristic action relative to the first characteristic action to be referenced; A determination unit, configured to determine attitude maneuver control parameters of the target attitude maneuver event and attitude prediction data for a target period according to the absolute time of the reference action, element information of the multiple attitude maneuver events, and the orbit in which the spacecraft is located, where the attitude prediction data includes multiple absolute times of the target period and the attitude corresponding to each absolute time; A planning unit, configured to plan and execute the associated event according to the attitude maneuver control parameters and the attitude prediction data; 9. An electronic device, characterized in that, It includes one or more processors and a memory, where the memory is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method for jointly planning a spacecraft attitude maneuver event and an associated event according to any one of claims 1 to 7; 10. A computer storage medium, characterized in that, The computer storage medium includes a stored program, where when the program runs, it controls the device where the computer storage medium is located to execute the method for jointly planning a spacecraft attitude maneuver event and an associated event according to any one of claims 1 to 7.

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