A rapid response rendezvous mission planning method for multiple spacecraft on the same orbit

Abstract

The present invention discloses a rendezvous mission planning method for rapid response of multi-target spacecraft on the same orbit, which belongs to the field of aerospace technology. According to the target orbit altitude and the total mission time constraint, the present invention uses phase difference to characterize the relative position of the mission spacecraft and the target on the same orbit, establishes and solves the Lambert problem of the rendezvous between the mission spacecraft and the target on the same orbit for all discretized phase difference situations, and obtains a database of speed increments required for the rendezvous between the mission spacecraft and the target on the same orbit. The positions of all targets that need to be rendezvoused are obtained, and the time required for the mission spacecraft to transfer between adjacent targets is used as the optimization variable, and the minimum total speed increment of each transfer is used as the optimization goal to establish a mission time allocation optimization problem. The mission time allocation problem is solved using a gradient-based solution algorithm. If the speed increment of the mission spacecraft exceeds the constraint, the number of targets to be rendezvoused is reduced until the total speed increment required for each transfer meets the constraint, thereby realizing the rendezvous mission planning.

Description

Technical Field

[0001] The present invention relates to a rendezvous mission planning method for rapid response of co-orbital multi-target spacecraft, in particular to a rendezvous mission planning method for rapid response of co-orbital multi-target spacecraft in GEO or large constellations, and belongs to the field of aerospace technology. Background Art

[0002] Mission planning for multi-spacecraft rendezvous and docking is crucial for rapid response to on-orbit servicing missions. It not only provides information on the transfer maneuvers of each mission spacecraft but also generates mission sequences for multi-target scenarios. Estimating the total number of spacecraft required to complete a multi-target rendezvous mission is crucial for ensuring successful mission completion. Currently, multi-target rendezvous mission planning techniques are primarily based on space debris removal. These techniques, assuming sufficient mission duration, consider only orbital plane changes and then solve the mission by converting it into a dynamic traveling salesman problem. While these mission planning methods are well-established, they require numerous iterations of intelligent algorithms, resulting in slow computational speeds and difficulties meeting rapid response requirements and onboard computing capacity constraints. Furthermore, these mission planning methods, designed for space debris removal, often face very loose time constraints, which are inconsistent with the requirements of rapid response mission planning. This reduces the applicability of these methods and fails to exploit the short duration of missions. Based on this, this patent proposes a rendezvous mission planning method for rapid response to multi-target spacecraft in the same orbit. It can not only solve the rendezvous mission planning problem under emergency response requirements, but also provide a way to simplify the problem by using shorter mission time constraints, thereby meeting the rapid calculation needs of more spacecraft on-orbit service missions.

[0003] Among the developed multi-objective mission planning methods for spacecraft, the prior art (see: Yang Zhou, Ye Yan, Xu Huang, Linjie Kong. Mission planning optimization for multiple geosynchronous satellites refueling [J]. Advances in Space Research, 2015, 56 (11).) proposed an optimization model for single-objective planning of a "one-to-many" on-orbit refueling mission. The model uses a genetic algorithm to solve the most fuel-efficient path for a single service satellite to visit a target satellite. However, the mission time constraint in the mission context is relatively loose, and although the heuristic algorithm used can solve the generalized multi-target rendezvous problem, its computational efficiency is low and it can only be used for offline calculations. Summary of the Invention

[0004] The technical problem to be solved by the rendezvous mission planning method for rapid response of multiple target spacecraft on the same orbit disclosed in the present invention is: to rendezvous with any number of target spacecraft at any position in the same orbital plane in sequence, to give the number of required mission spacecraft and the initial deployment position through planning, and to give the time allocation and the required speed increment for each transfer of the mission spacecraft between targets under the constraints of the total mission time and speed increment, so as to realize the whole process planning of the rapid response rendezvous mission of multiple spacecraft targets; the method has the following advantages: (1) convenient operation and high repeatability; (2) good flexibility and high planning efficiency; (3) wide scope of application, and is suitable for the rendezvous mission planning of target spacecraft with similar common orbit characteristics.

[0005] The object of the present invention is achieved through the following technical solutions:

[0006] The present invention discloses a rendezvous mission planning method for rapid response of multiple co-orbital spacecraft. Based on the target orbital altitude and total mission time constraints, the relative position of the mission spacecraft and the co-orbital target is characterized by phase difference. For each discretized phase difference, a Lambert rendezvous problem is established and solved, yielding a database of velocity increments required for rendezvous. The positions of all targets to be rendezvoused are obtained, and a mission time allocation optimization problem is established, using the time required for the mission spacecraft to transfer between adjacent targets as the optimization variable and minimizing the total velocity increment for each transfer as the optimization objective. This mission time allocation problem is solved using a gradient-based solution algorithm. If the velocity increment of the mission spacecraft exceeds the constraint, the number of targets to be rendezvoused is reduced until the total velocity increment required for each transfer satisfies the constraint. This process is then repeated for the remaining targets to be rendezvoused. The resulting rendezvous mission planning results are applied to the guidance and control of the multi-target spacecraft rendezvous mission, improving the efficiency of the guidance and control of the spacecraft rendezvous mission while ensuring accuracy, thereby achieving rapid rendezvous of multiple target spacecraft.

[0007] The present invention discloses a rendezvous mission planning method for rapid response of multiple spacecraft on the same orbit, comprising the following steps:

[0008] Step 1: Based on the target orbit altitude and total mission time constraints, the phase difference is used to represent the relative position of the mission spacecraft and the co-orbital target. For all discretized phase difference situations, the Lambert problem of rendezvous between the mission spacecraft and the co-orbital target is established and solved to obtain a database of the velocity increments required for rendezvous between the mission spacecraft and the co-orbital target. Since the rendezvous mission requires a rapid response, the allocation ratio of waiting time and transfer time is ignored, and the total mission time is directly used for transfer flight. Therefore, the independent variable when constructing the database is only the phase difference dimension between the mission spacecraft and the co-orbital target spacecraft. This simplifies the database variable dimension, improves the efficiency of database construction, and thus improves the efficiency of rendezvous mission planning for rapid spacecraft response in subsequent steps 2 to 4.

[0009] Step 1.1 Set the mission spacecraft's orbit to the same circular orbit as the target, discretize the transfer time within the transfer time constraint, denoted by t; discretize the phase difference within the range of 0 to 360°, denoted by δ, and use Indicates the phase difference between targets numbered k and j on the same track.

[0010] Step 1.2: For each combination of phase difference and transfer time discretized in step 1.1, establish the Lambert problem of the mission spacecraft transfer flight.

[0011] As a preferred method, the Gauss algorithm is used to solve the Lambert problem of spacecraft transfer flight.

[0012] Step 1.3: Solve all Lambert problems established in step 1.2 to obtain the database of velocity increments required for the mission spacecraft to rendezvous with the co-orbital target. Any transfer time and phase difference corresponds to a required velocity increment Δv, and the corresponding relationship is expressed as

[0013] Δv=f(t,δ) (1)

[0014] Step 2: Obtain the locations of all targets requiring rendezvous, set an upper limit on the velocity increment for a single mission spacecraft, and set the maximum number of rendezvous targets. Using the time required for the mission spacecraft to transfer between adjacent targets as the optimization variable, and minimizing the total velocity increment for each transfer as the optimization objective, the velocity increment required for the mission spacecraft to transfer between adjacent target spacecraft, as constructed in Step 1, is interpolated to calculate the velocity increment required for the mission spacecraft to transfer between adjacent target spacecraft, thus establishing a mission time allocation optimization problem. Since the flight distance of mission spacecraft in rapid response missions does not exceed half a revolution, the relationship between the transfer flight phase span and the required velocity increment is weakly nonlinear. Therefore, constructing a unimodal objective function for the mission time allocation optimization problem significantly improves the convergence and computational efficiency of mission planning.

[0015] Step 2.1: Obtain the locations of all targets that need to be rendezvoused, and set the upper limit of the speed increment of a single mission spacecraft and the maximum number of rendezvous targets according to the mission spacecraft capabilities.

[0016] The upper limit of the velocity increment of a single mission spacecraft is denoted as Δv max , the upper limit of transfer time is recorded as t max , the maximum number of targets that can be rendezvoused is denoted as m max . The number of intersection targets currently being calculated is recorded as m, and m≤m max The mission spacecraft needs to perform m-1 transfers to rendezvous with m targets, and the corresponding transfer time distribution results are recorded as t1, t2, ..., t m-1 The speed increment consumed by each transfer is recorded as Δv1, Δv2,…, Δv m-1 .

[0017] Step 2.2: Take the time required for the mission spacecraft to transfer between adjacent targets as the optimization variable and the minimum total speed increment of each transfer as the optimization goal to establish the mission time allocation optimization problem.

[0018] Taking the minimum total speed increment of each transfer as the optimization goal, the objective function is constructed as follows:

[0019]

[0020] The optimization problem of task time allocation is established as follows:

[0021]

[0022]

[0023] Where f(t,δ) is the velocity increment database required for the rendezvous between the mission spacecraft and the co-orbital target calculated in step 1, Δv i It is calculated by interpolation from the database f(t,δ). In the optimization problem of intersection of m targets formed by equations (3) and (4), the optimization variables are the transfer time distribution results t1, t2, ..., t m-1 Since the total transfer time is fixed, the optimization variables in the actual solution are t1, t2, ..., t m-2 , t m-1 It can be calculated according to the second constraint of formula (4).

[0024] In step three, the initial position of the mission spacecraft is set to coincide with the first target. Using any nonlinear optimization solver, starting from the maximum number of targets that a single mission spacecraft can rendezvous with, the mission time allocation optimization problem established in step two is solved, and the number of rendezvous targets is reduced in sequence, and the solution is repeated until the total velocity increment obtained is less than the upper limit constraint of the velocity increment of the mission spacecraft.

[0025] Step 3.1 sets the initial position of the mission spacecraft to coincide with the first target.

[0026] Step 3.2 starts from the maximum number of targets that a single mission spacecraft can rendezvous with, and gradually reduces the number of rendezvous targets. Use any nonlinear optimization solver, interpolate using the database established in step 1, and repeatedly solve the mission time allocation optimization problem established in step 2 until the total speed increment obtained is less than the speed increment upper limit constraint of the mission spacecraft.

[0027] Since the time constraint is short in the fast response task, the relationship between the optimization variable and the objective function in equations (3) and (4) presents the characteristics of a single-peak function. As a preference, the gradient descent algorithm is used to solve the task time allocation optimization problem to improve the convergence and calculation speed of the task time allocation optimization problem.

[0028] If the total speed increment required to complete the rendezvous mission is greater than the upper limit, that is, Then reduce the number of intersection targets and set m:=m-1, and then solve the optimization problem. Repeat the above process until Get the optimal task time allocation result

[0029] Step 4: The velocity increment database required for rendezvous between the mission spacecraft and the co-orbital target has been constructed offline in Step 1 and pre-stored in the onboard computer. Using this pre-stored database, repeat Steps 2 and 3 for multiple mission spacecraft until all target spacecraft have completed mission spacecraft assignment and rendezvous mission planning. Because the velocity increment database for rendezvous between the mission spacecraft and the co-orbital target can be calculated offline, using database interpolation to obtain the velocity increments required for transfers between adjacent target spacecraft reduces the computational overhead of formulating the mission time allocation optimization problem and further improves online computational efficiency.

[0030] It also includes step five: applying the multi-target spacecraft task allocation and rendezvous task planning results in step four to the multi-target spacecraft rendezvous task guidance and control, improving the efficiency of the spacecraft rendezvous task guidance and control while ensuring accuracy, and realizing rapid rendezvous of multi-target spacecraft.

[0031] Beneficial effects:

[0032] The present invention discloses a rendezvous mission planning method for rapid response of multiple spacecraft on the same orbit. The method utilizes the characteristics that the flight distance of the mission spacecraft does not exceed half a circle under the rapid response requirement and the weak nonlinear relationship between the transfer flight phase span and the required speed increment. An objective function with the characteristics of a single-peak function is constructed in the transfer time allocation optimization problem. The method can allocate transfer time between targets at any position and any number of targets in the same circular orbital plane, and realize the full process planning of the rapid response rendezvous mission for multiple spacecraft targets. The method has the characteristics of high computational efficiency and good convergence, and has obvious advantages.

[0033] 1. The present invention discloses a rendezvous mission planning method for rapid response of multiple target spacecraft in the same orbit. Since the rendezvous mission requires a rapid response, the allocation ratio of waiting time and transfer time is ignored, and the total mission time is directly used for transfer flight. Therefore, the independent variable when constructing the database is only the phase difference dimension between the mission spacecraft and the target spacecraft in the same orbit, which simplifies the database variable dimension and improves the efficiency of database construction.

[0034] 2. The present invention discloses a rendezvous mission planning method for rapid response of multi-target spacecraft in the same orbit. Since the flight distance of the mission spacecraft in the rapid response mission does not exceed half a circle, there is a weak nonlinear relationship between the transfer flight phase span and the required speed increment. Therefore, the objective function of the mission time allocation optimization problem constructed by utilizing this feature has the characteristics of a unimodal function, which makes the problem easy to solve. The constructed mission time allocation optimization problem can be solved using any nonlinear optimization solver, which can significantly improve the convergence and computational efficiency of the rendezvous mission planning.

[0035] 3. The present invention discloses a rendezvous mission planning method for rapid response of co-orbital multi-target spacecraft. When constructing the mission time allocation optimization problem, the speed increment required for transfer between adjacent target spacecraft is obtained by interpolation of the speed increment database required for rendezvous between the mission spacecraft and the co-orbital target. The database is pre-calculated offline and stored in the onboard computer, which can reduce the computational overhead when establishing the mission time allocation optimization problem and further improve the online computing efficiency.

[0036] 4. The present invention discloses a rendezvous mission planning method for rapid response of multi-target spacecraft on the same orbit. Since the offline constructed velocity increment database required for the rendezvous between the mission spacecraft and the target on the same orbit contains arbitrary phase differences, the database has the ability to be reused in mission scenarios with different target positions, which can avoid repeated calculations, improve computing efficiency, and support autonomous mission planning calculations for multiple targets while the spacecraft is in orbit.

[0037] 5. The present invention discloses a rendezvous mission planning method for rapid response to multiple target spacecraft on the same orbit. It has no requirements on the specific location and distribution characteristics of the target spacecraft. It is applicable to all target spacecraft with similar co-orbit characteristics and has a certain universality. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a flow chart of a rendezvous mission planning method for rapid response of multiple target spacecraft on the same orbit disclosed in the present invention;

[0039] Figure 2 : is a schematic diagram of the unimodal function characteristics of the optimization variable and the objective function in step 3 of this embodiment 1, wherein: Figure 2 (a) is the case when a flight time is used as the single independent variable. Figure 2 (b) The case where two flight times are used as independent variables;

[0040] Figure 3 is a schematic diagram of the target distribution phase in this embodiment 1;

[0041] Figure 4 This is a schematic diagram of the task allocation result in this embodiment 1. DETAILED DESCRIPTION

[0042] In order to better illustrate the purpose and advantages of the present invention, the present invention is explained in detail below by performing a simulation analysis on a GEO multi-target rapid rendezvous mission planning problem.

[0043] Example 1:

[0044] like Figure 1 As shown, this embodiment discloses a rendezvous mission planning method for rapid response of multiple target spacecraft on the same orbit, and the specific implementation steps are as follows:

[0045] Step 1: Based on the target orbit altitude and total mission time constraints, the phase difference is used to represent the relative position of the mission spacecraft and the co-orbital target. For all discretized phase difference situations, the Lambert problem of rendezvous between the mission spacecraft and the co-orbital target is established and solved to obtain a database of the velocity increments required for rendezvous between the mission spacecraft and the co-orbital target. Since the rendezvous mission requires a rapid response, the allocation ratio of waiting time and transfer time is ignored, and the total mission time is directly used for transfer flight. Therefore, the independent variable when constructing the database is only the phase difference dimension between the mission spacecraft and the co-orbital target spacecraft. This simplifies the database variable dimension, improves the efficiency of database construction, and thus improves the efficiency of rendezvous mission planning for rapid spacecraft response in subsequent steps 2 to 4.

[0046] Step 1.1 Set the mission spacecraft's orbit to the same circular orbit as the target, discretize the transfer time within the transfer time constraint, denoted by t; discretize the phase difference within the range of 0 to 360°, denoted by δ, and use Indicates the phase difference between targets numbered k and j on the same track.

[0047] Step 1.2: For each combination of phase difference and transfer time discretized in step 1.1, establish the Lambert problem of the mission spacecraft transfer flight.

[0048] As a preferred method, the Gauss algorithm is used to solve the Lambert problem of spacecraft transfer flight.

[0049] Step 1.3: Solve all Lambert problems established in step 1.2 to obtain the database of velocity increments required for the mission spacecraft to rendezvous with the co-orbital target. Any transfer time and phase difference corresponds to a required velocity increment Δv, and the corresponding relationship is expressed as

[0050] Δv=f(t,δ) (5)

[0051] Step 2: Obtain the locations of all targets requiring rendezvous, set an upper limit on the velocity increment for a single mission spacecraft, and set the maximum number of rendezvous targets. Using the time required for the mission spacecraft to transfer between adjacent targets as the optimization variable, and minimizing the total velocity increment for each transfer as the optimization objective, the velocity increment required for the mission spacecraft to transfer between adjacent target spacecraft, as constructed in Step 1, is interpolated to calculate the velocity increment required for the mission spacecraft to transfer between adjacent target spacecraft, thus establishing a mission time allocation optimization problem. Since the flight distance of mission spacecraft in rapid response missions does not exceed half a revolution, the relationship between the transfer flight phase span and the required velocity increment is weakly nonlinear. Therefore, constructing a unimodal objective function for the mission time allocation optimization problem significantly improves the convergence and computational efficiency of mission planning.

[0052] Step 2.1: Obtain the locations of all targets that need to be rendezvoused, and set the upper limit of the speed increment of a single mission spacecraft and the maximum number of rendezvous targets according to the mission spacecraft capabilities.

[0053] The upper limit of the velocity increment of a single mission spacecraft is denoted as Δv max , the upper limit of transfer time is recorded as t max , the maximum number of targets that can be rendezvoused is denoted as m max . The number of intersection targets currently being calculated is recorded as m, and m≤m max The mission spacecraft needs to perform m-1 transfers to rendezvous with m targets, and the corresponding transfer time distribution results are recorded as t1, t2, ..., t m-1The speed increment consumed by each transfer is recorded as Δv1, Δv2,…, Δv m-1 .

[0054] Step 2.2: Take the time required for the mission spacecraft to transfer between adjacent targets as the optimization variable and the minimum total speed increment of each transfer as the optimization goal to establish the mission time allocation optimization problem.

[0055] Taking the minimum total speed increment of each transfer as the optimization goal, the objective function is constructed as follows:

[0056]

[0057] The optimization problem of task time allocation is established as follows:

[0058]

[0059]

[0060] Where f(t,δ) is the velocity increment database required for the rendezvous between the mission spacecraft and the co-orbital target calculated in step 1, Δv i It is calculated by interpolation from the database f(t,δ). In the optimization problem of intersection of m targets formed by equations (7) and (8), the optimization variables are the transfer time distribution results t1, t2, ..., t m-1 Since the total transfer time is fixed, the optimization variables in the actual solution are t1, t2, ..., t m-2 , t m-1 It can be calculated according to the second constraint of formula (8).

[0061] In step three, the initial position of the mission spacecraft is set to coincide with the first target. Using any nonlinear optimization solver, starting from the maximum number of targets that a single mission spacecraft can rendezvous with, the mission time allocation optimization problem established in step two is solved, and the number of rendezvous targets is reduced in sequence, and the solution is repeated until the total velocity increment obtained is less than the upper limit constraint of the velocity increment of the mission spacecraft.

[0062] Step 3.1 sets the initial position of the mission spacecraft to coincide with the first target.

[0063] Step 3.2 starts from the maximum number of targets that a single mission spacecraft can rendezvous with, and gradually reduces the number of rendezvous targets. Use any nonlinear optimization solver, interpolate using the database established in step 1, and repeatedly solve the mission time allocation optimization problem established in step 2 until the total speed increment obtained is less than the speed increment upper limit constraint of the mission spacecraft.

[0064] Since the time constraint is short in the fast response task, the relationship between the optimization variable and the objective function in Equations (7) and (8) presents the characteristics of a single-peak function. As a preferred method, the gradient descent algorithm is used to solve the task time allocation optimization problem to improve the convergence and calculation speed of the task time allocation optimization problem.

[0065] If the total speed increment required to complete the rendezvous mission is greater than the upper limit, that is, Then reduce the number of intersection targets and set m:=m-1, and then solve the optimization problem. Repeat the above process until Get the optimal task time allocation result

[0066] Step 4: The velocity increment database required for rendezvous between the mission spacecraft and the co-orbital target has been constructed offline in Step 1 and pre-stored in the onboard computer. Using this pre-stored database, repeat Steps 2 and 3 for multiple mission spacecraft until all target spacecraft have completed mission spacecraft assignment and rendezvous mission planning. Because the velocity increment database for rendezvous between the mission spacecraft and the co-orbital target can be calculated offline, using database interpolation to obtain the velocity increments required for transfers between adjacent target spacecraft reduces the computational overhead of formulating the mission time allocation optimization problem and further improves online computational efficiency.

[0067] Step 5: Apply the multi-target spacecraft task allocation and rendezvous mission planning results in step 4 to the multi-target spacecraft rendezvous mission guidance and control, improve the efficiency of spacecraft rendezvous mission guidance and control while ensuring accuracy, and realize rapid rendezvous of multi-target spacecraft.

[0068] To verify the feasibility of the method, the orbital altitude of the spacecraft is selected to be 35788.1km, the transfer time limit of a single spacecraft is set to 5 hours, the speed increment limit is set to 1.2km / s, and the radius of the earth is 6378.14km. 50 targets are randomly assigned to the circular orbit at an altitude of 35788.1km and numbered in order of increasing phase. The relative phase of the target distribution is shown in Figure 3 The proposed method is used to calculate the mission planning results of the aircraft rendezvous with the following target. The unimodal function characteristics of the transfer time and velocity increment in Example 1 are as follows: Figure 2 shown.

[0069] By solving the task time allocation problem formed by equations (6) to (8), and judging the calculation stop conditions and executing the loop according to steps 3 and 4, the task planning results are given in Table 1.

[0070] Table 1. Planning results of the multi-target rapid rendezvous mission on the same track

[0071]

[0072]

[0073] The task assignment results are shown in Figure 4 , the allocation results of adjacent mission spacecraft are distinguished by different shapes. From the results in Table 1, it can be seen that the method proposed in this invention can achieve a more reasonable transfer time allocation, can allocate more time when the rendezvous phase difference is large, and can make full use of the speed increment of the mission spacecraft to rendezvous with multiple targets as much as possible. Combining the results in Table 1 and Figure 3 As can be seen, a total of 11 mission vehicles are required to complete the 5-hour rapid rendezvous mission for 50 targets. Using the proposed multi-target rapid rendezvous task allocation method to solve the aforementioned 50-target mission planning problem, the computation time is 7.81 seconds. Because the proposed method uses a gradient-based algorithm for solution, its computational efficiency is significantly superior to mission planning methods based on traditional evolutionary algorithms.

[0074] The above specific description further illustrates the purpose, technical solutions and beneficial effects of the invention in detail. It should be understood that the above description is only a specific embodiment of the present invention, which is used to explain the present invention and is not used to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A rendezvous mission planning method for rapid response of multiple spacecraft on the same orbit, characterized by: The following steps are included: Step 1: Based on the target orbital altitude and total mission time constraints, the relative position of the mission spacecraft and the co-orbital target is characterized by phase difference. For all discretized phase difference cases, the Lambert problem for rendezvous between the mission spacecraft and the co-orbital target is established and solved. This yields a database of velocity increments required for rendezvous between the mission spacecraft and the co-orbital target. Since the rendezvous mission requires a fast response, the allocation ratio of waiting time and transfer time is ignored, and the entire total mission time is directly used for transfer flight. Therefore, the only independent variable in constructing the database is the phase difference dimension between the mission spacecraft and the co-orbital target spacecraft. Step 2: Obtain the locations of all targets that need to be rendezvoused, set the upper limit of the speed increment of a single mission spacecraft and the maximum number of rendezvous targets; The time required for the mission spacecraft to transfer between adjacent targets is used as the optimization variable, and the optimization goal is to minimize the total speed increment of each transfer. The speed increment database required for the mission spacecraft to rendezvous with the co-orbital target constructed in step 1 is used to interpolate and calculate the speed increment required for the mission spacecraft to transfer between adjacent target spacecraft, thus establishing a mission time allocation optimization problem. The implementation method of step 2 is: Step 2.1: Get the locations of all targets that need to be intersected; The upper limit of the velocity increment of a single mission spacecraft is denoted as Δv max , the upper limit of transfer time is recorded as t max , the maximum number of targets that can be rendezvoused is denoted as m max ; The number of intersection targets currently being calculated is recorded as m, and m≤m max ; The mission spacecraft rendezvouses with m targets, and a total of m-1 transfers are required. The corresponding transfer time distribution results are recorded as t1, t2, ..., t m-1 The speed increment consumed by each transfer is recorded as Δv1, Δv2, ..., Δv m-1 ; Step 2.2 takes the minimum total speed increment of each transfer as the optimization goal, and constructs the objective function as follows: The optimization problem of task time allocation is established as follows: Where f(t,δ) is the velocity increment database required for the rendezvous between the mission spacecraft and the co-orbital target calculated in step 1, Δv i Obtained by interpolation calculation of the database f(t,δ); represents the phase difference between two adjacent targets on the same track, which is a constant after the target position is determined. In the optimization problem of intersection of m targets composed of equations (3) and (4), the optimization variables are the transfer time distribution results t1, t2, ..., t m-1 Since the total transfer time is fixed, the optimization variables in the actual solution are t1, t2, ..., t m-2 , t m-1 It can be calculated based on the second constraint of formula (4); In step 3, the initial position of the mission spacecraft is set to coincide with the first target. Using any nonlinear optimization solver, starting from the maximum number of targets that a single mission spacecraft can rendezvous with, the mission time allocation optimization problem established in step 2 is solved, and the number of rendezvous targets is reduced in turn, and the solution is repeated until the total velocity increment obtained is less than the upper limit constraint of the velocity increment of the mission spacecraft. Step 4: Using the velocity increment database required for rendezvous between the mission spacecraft and the co-orbital target pre-stored in the onboard computer, repeat steps 2 to 3 for multiple mission spacecraft one by one until the mission spacecraft allocation and rendezvous mission planning are completed for all target spacecraft; since the velocity increment database required for rendezvous between the mission spacecraft and the co-orbital target can be calculated offline.

2. The method for rapid response rendezvous mission planning for multiple spacecraft on the same orbit as claimed in claim 1, characterized in that: It also includes step five: applying the multi-target spacecraft task allocation and rendezvous task planning results in step four to the multi-target spacecraft rendezvous task guidance and control, improving the efficiency of the spacecraft rendezvous task guidance and control while ensuring accuracy, and realizing rapid rendezvous of multi-target spacecraft.

3. A method for rapid response rendezvous mission planning for multiple spacecraft on the same orbit as claimed in claim 1 or 2, characterized in that: The implementation method of step one is: Step 1.1 Set the mission spacecraft's orbit to the same circular orbit as the target, discretize the transfer time within the transfer time constraint, denoted by t; discretize the phase difference within the range of 0 to 360°, denoted by δ, and use Indicates the phase difference between the targets numbered k and j on the same track; Step 1.2: For each combination of phase difference and transfer time discretized in step 1.1, establish the Lambert problem of the mission spacecraft transfer flight; Step 1.3: Solve all Lambert problems established in step 1.2 to obtain the database of velocity increments required for the mission spacecraft to rendezvous with the co-orbital target. Any transfer time and phase difference corresponds to a required transfer velocity increment Δv, and the corresponding relationship is expressed as Δv=f(t,δ) (1).

4. The method for rapid response rendezvous mission planning for multiple spacecraft on the same orbit as claimed in claim 1, characterized in that: The implementation method of step three is: Step 3.1 sets the initial position of the mission spacecraft to coincide with the first target; Step 3.2: Starting from the maximum number of targets that a single mission spacecraft can rendezvous with, reduce the number of rendezvous targets in sequence, use any nonlinear optimization solver, interpolate using the database established in step 1, and repeatedly solve the mission time allocation optimization problem established in step 2 until the total velocity increment obtained is less than the upper velocity increment constraint of the mission spacecraft; Since the time constraint is short in the fast response task, the relationship between the optimization variable and the objective function in equations (3) and (4) presents the characteristics of a single-peak function. As a preferred method, the gradient descent algorithm is used to solve the task time allocation optimization problem to improve the convergence and calculation speed of the task time allocation optimization problem. If the total speed increment required to complete the rendezvous mission is greater than the upper limit, that is, Then reduce the number of intersection targets and set m:=m-1, and then solve the optimization problem; repeat the above process until Get the optimal task time allocation result 5. The method for rapid response rendezvous mission planning for multiple spacecraft on the same orbit as claimed in claim 1, characterized in that: The Gauss algorithm is used to solve the Lambert problem of spacecraft transfer flight.

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