Asteroid selection method and device, computer equipment and storage medium

Abstract

The application relates to an asteroid selection method and device, computer equipment and a storage medium. The method comprises the following steps: first, dividing the orbit of a target detector into a first time period to obtain a plurality of time periods after division; then, dividing each time period into a second time period to obtain a plurality of sub-time periods corresponding to each time period; then, clustering asteroids around the target detector in each sub-time period to obtain a plurality of clustered asteroid sets; then, determining a candidate asteroid set corresponding to each sub-time period according to the position information of each asteroid in each clustered asteroid set in each sub-time period; and finally, selecting a candidate asteroid set corresponding to a sub-time period from the candidate asteroid sets corresponding to each time period to construct a target asteroid set. The asteroids screened by the above method can achieve higher navigation accuracy.

Description

Technical Field

[0001] This application relates to the field of deep space exploration technology, and in particular to a method, apparatus, computer equipment, and storage medium for selecting asteroids. Background Technology

[0002] Deep space exploration refers to exploration that breaks free from Earth's gravitational field and enters the space of the solar system and outer space. It is one of the current hot research areas, and its objects of exploration are the outer space and celestial bodies inside and outside the solar system.

[0003] Autonomous optical navigation technology is one of the key technologies in deep space exploration, and the selection of beacon asteroids is an important aspect of autonomous navigation in deep space exploration. Currently, the existing selection method directly uses parameters such as visible magnitude, the angle between the asteroid and the probe, and the distance between the asteroid and the probe as standards to select beacon asteroids.

[0004] However, autonomous navigation using beacon asteroids identified by the above method suffers from low navigation accuracy. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, apparatus, computer equipment, and storage medium for accurately selecting beacon asteroids to address the aforementioned technical problems.

[0006] Firstly, this application provides a method for selecting asteroids, including:

[0007] The target detector's orbit is divided into a first time period, resulting in multiple subsequent time periods;

[0008] Each time period is further divided into a second time period to obtain multiple sub-time periods corresponding to each time period;

[0009] Clustering of asteroids around the target probe within each sub-time period yields multiple clustered asteroid sets;

[0010] Based on the position information of each asteroid in each cluster of asteroids within each sub-time period, determine the candidate asteroid set corresponding to each sub-time period;

[0011] The target asteroid set is constructed by selecting a sub-time period's candidate asteroid set from the candidate asteroid set corresponding to each time period.

[0012] In one embodiment, determining the candidate asteroid set corresponding to each sub-time period based on the position information of each asteroid in each clustered asteroid set within each sub-time period includes:

[0013] Based on the position information of each asteroid in each cluster of asteroids within each sub-time period, the center point of each cluster of asteroids is determined.

[0014] The central asteroid of each cluster is determined based on the distance of the center point of each cluster to the asteroids in other clusters.

[0015] Construct a candidate asteroid set for each sub-time period based on the central asteroid of all clustered asteroid sets within that sub-time period.

[0016] In one embodiment, determining the central asteroid of each cluster asteroid set based on the distance of the central point of each cluster asteroid set from other cluster asteroids includes:

[0017] The cluster of asteroids with the smallest distance from the center point is taken as the central asteroid of the cluster.

[0018] In one embodiment, the above-mentioned selection of a candidate asteroid set corresponding to a sub-time period from the candidate asteroid set corresponding to each time period to construct the target asteroid set includes:

[0019] For any pair of candidate asteroids in each candidate asteroid set, determine the angle between any pair of candidate asteroids and the target probe at different times, and obtain the sum of the angles between all pairs of candidate asteroids in each candidate asteroid set;

[0020] In each time period, select the candidate asteroid set with the largest sum of angles to construct the target asteroid set.

[0021] In one embodiment, for any pair of candidate asteroids in each candidate asteroid set, the angle between any pair of candidate asteroids and the target probe at different times is determined, resulting in the sum of the angles between all pairs of candidate asteroids in each asteroid set, including:

[0022] For any pair of candidate asteroids in each candidate asteroid set, determine the angle between any pair of candidate asteroids and the target probe at different times, and obtain the angles between all pairs of candidate asteroids in each asteroid set.

[0023] The sum of the angles between each candidate asteroid and the candidate asteroid in each candidate asteroid set is obtained by summing the angles between each candidate asteroid set.

[0024] In one embodiment, the method further includes:

[0025] Based on preset filtering criteria, asteroids surrounding the target probe within each time period were selected from the asteroid database.

[0026] In one embodiment, the preset filtering conditions mentioned above include all of the following:

[0027] The visible magnitude parameters of the asteroid at the target probe's location satisfy the first value; the angles between the target probe and the lines connecting the asteroid and the sun satisfy the second value; the distance between the target probe and the asteroid satisfies the third value; the line-of-sight angular velocity of the asteroid at the target probe's location satisfies the fourth value; and the angles between the target probe and any two asteroids satisfy the fifth value.

[0028] Secondly, this application also provides an asteroid selection device, comprising:

[0029] The first segmentation module is used to divide the target detector's orbit into a first time period, resulting in multiple segmented time periods;

[0030] The second division module is used to divide each time period into a second time period, resulting in multiple sub-time periods corresponding to each time period.

[0031] The clustering module is used to cluster the asteroids around the target probe in each sub-time period to obtain multiple clustered asteroid sets.

[0032] The determination module is used to determine the candidate asteroid set corresponding to each sub-time period based on the position information of each asteroid in each clustered asteroid set within each sub-time period;

[0033] The construction module is used to select a set of candidate asteroids corresponding to a sub-time period from the candidate asteroid set corresponding to each time period to construct the target asteroid set.

[0034] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0035] The target detector's orbit is divided into a first time period, resulting in multiple subsequent time periods;

[0036] Each time period is further divided into a second time period to obtain multiple sub-time periods corresponding to each time period;

[0037] Clustering of asteroids around the target probe within each sub-time period yields multiple clustered asteroid sets;

[0038] Based on the position information of each asteroid in each cluster of asteroids within each sub-time period, determine the candidate asteroid set corresponding to each sub-time period;

[0039] The target asteroid set is constructed by selecting a sub-time period's candidate asteroid set from the candidate asteroid set corresponding to each time period.

[0040] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0041] The target detector's orbit is divided into a first time period, resulting in multiple subsequent time periods;

[0042] Each time period is further divided into a second time period to obtain multiple sub-time periods corresponding to each time period;

[0043] Clustering of asteroids around the target probe within each sub-time period yields multiple clustered asteroid sets;

[0044] Based on the position information of each asteroid in each cluster of asteroids within each sub-time period, determine the candidate asteroid set corresponding to each sub-time period;

[0045] The target asteroid set is constructed by selecting a sub-time period's candidate asteroid set from the candidate asteroid set corresponding to each time period.

[0046] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0047] The target detector's orbit is divided into a first time period, resulting in multiple subsequent time periods;

[0048] Each time period is further divided into a second time period to obtain multiple sub-time periods corresponding to each time period;

[0049] Clustering of asteroids around the target probe within each sub-time period yields multiple clustered asteroid sets;

[0050] Based on the position information of each asteroid in each cluster of asteroids within each sub-time period, determine the candidate asteroid set corresponding to each sub-time period;

[0051] The target asteroid set is constructed by selecting a sub-time period's candidate asteroid set from the candidate asteroid set corresponding to each time period.

[0052] The aforementioned method, apparatus, computer equipment, and storage medium for selecting asteroids first divide the target probe's orbit into a first time period, resulting in multiple time periods. Then, each time period is further divided into a second time period, resulting in multiple sub-time periods. Next, asteroids surrounding the target probe within each sub-time period are clustered, resulting in multiple clustered asteroid sets. Based on the positional information of asteroids within each clustered asteroid set within each sub-time period, a candidate asteroid set corresponding to each sub-time period is determined. Finally, a candidate asteroid set corresponding to one sub-time period is selected from the candidate asteroid sets corresponding to each time period to construct the target asteroid set. This method, by dividing the probe's orbit twice, determines the target asteroid set within a larger time period based on the spatial positional changes of asteroids within a smaller time period. This fully considers the changes in the spatial position of each asteroid over time, enabling the selected asteroids to provide more accurate position and velocity information for the probe, thus achieving higher navigation accuracy. Furthermore, the introduction of a clustering algorithm to cluster and filter asteroids surrounding the target probe within each sub-time period reduces the screening difficulty to some extent, thereby improving the efficiency of target asteroid selection. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a diagram illustrating the application environment of an asteroid selection method in one embodiment.

[0055] Figure 2 This is a flowchart illustrating an asteroid selection method in one embodiment;

[0056] Figure 3 This is a flowchart illustrating the asteroid selection method in another embodiment;

[0057] Figure 4 This is a flowchart illustrating the asteroid selection method in another embodiment;

[0058] Figure 5 This is a flowchart illustrating the asteroid selection method in another embodiment;

[0059] Figure 6 This is a flowchart illustrating the asteroid selection method in another embodiment;

[0060] Figure 7This is a flowchart illustrating the asteroid selection method in another embodiment;

[0061] Figure 8 This is a structural block diagram of an asteroid selection device in one embodiment. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0064] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0065] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0066] Deep space exploration refers to exploration that escapes Earth's gravitational field and enters the solar system and outer space. It is currently a hot research area, with its targets being celestial bodies and the outer reaches of the solar system. During deep space exploration, deep spacecraft use their onboard optical cameras to photograph beacons such as asteroids in the solar system. By extracting image information and using certain filtering and estimation methods, parameters such as the spacecraft's position and velocity in a specific coordinate system are obtained. In autonomous optical navigation, the selection of navigation asteroids affects navigation accuracy; therefore, selecting suitable beacon asteroids is a crucial step. Currently, existing selection methods directly use parameters such as visible magnitude, the asteroid-probe angle, and the asteroid-probe distance as standards to select beacon asteroids. However, these methods suffer from low accuracy in beacon asteroid selection. This application aims to solve this problem.

[0067] Having described the background technology of the asteroid selection method provided in the embodiments of this application, the following is a brief description of the implementation environment involved in the asteroid selection method provided in the embodiments of this application. The asteroid selection method provided in the embodiments of this application can be applied to, for example... Figure 1 The computer device shown includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a method for selecting asteroids. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0068] Those skilled in the art will understand that Figure 1 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0069] Having described the application scenarios of the asteroid selection method provided in the embodiments of this application above, the following focuses on the asteroid selection method described in this application.

[0070] In one embodiment, such as Figure 2 As shown, a method for selecting asteroids is provided, which can be applied to... Figure 1 Taking a computer device as an example, the explanation includes the following steps:

[0071] S201. Divide the target detector's orbit into a first time period to obtain multiple time periods after the division.

[0072] In this context, a target probe refers to an unmanned spacecraft used for exploring the Moon and other celestial bodies and space. It is a primary tool for space exploration. Target probes can be launched into space by launch vehicles, fly close to the Moon or planets for close-range observation, and collect samples for research and analysis. The orbit of the target probe refers to the various orbits selected for space exploration, including geocentric orbits, heliocentric orbits, equilibrium point orbits, and orbits exiting the solar system. The first time period can be 10 days, 20 days, or 15 days, etc., and this application does not limit the specific duration.

[0073] In this embodiment of the application, when it is necessary to select and determine multiple target asteroids around the location of the target probe, the orbital period of the target probe can be divided according to a preset first time period, thereby obtaining multiple time periods. For example, if the orbital period of the target probe is 100 days and the preset first time period is 10 days, then dividing the orbital period of the target probe according to the first time period will result in 10 time periods of 10 days each.

[0074] S202. Divide each time period into a second time period to obtain multiple sub-time periods corresponding to each time period.

[0075] The second time period can be 5 days, 2 days, or 2.5 days, etc. This application embodiment does not limit it. It should be noted that the second time period is shorter than the first time period.

[0076] In this embodiment of the application, after dividing the target detector's orbit into a first time period to obtain multiple time periods, the orbit can be further divided according to the second time period to obtain multiple sub-time periods corresponding to each time period. For example, continuing the previous example, assuming the second time period is 2 days, after obtaining 10 10-day time periods, each 10-day time period is further divided according to the second time period, resulting in 5 two-day sub-time periods for each 10-day time period.

[0077] S203. Cluster the asteroids around the target probe in each sub-time period to obtain multiple clustered asteroid sets.

[0078] In this context, asteroids surrounding the target probe refer to multiple asteroids in the asteroid database that meet preset conditions with respect to the target probe. These preset conditions may include the distance between the asteroid and the target probe meeting a preset value one, and the angle between the asteroid and the target probe meeting a preset value two, etc. Clustering refers to grouping data with similar characteristics together using specific rules. In this embodiment, similar asteroids among those surrounding the target probe are grouped into a cluster. Clustering can be implemented using the k-means algorithm. Each clustered asteroid set must include at least two asteroids.

[0079] In this embodiment of the application, after obtaining multiple sub-time periods corresponding to each time period, clustering operations can be performed on the asteroids around the target probe within each sub-time period to obtain clustered asteroid sets corresponding to each sub-time period. For example, continuing the previous example, each 10-day time period is divided into 5 two-day sub-time periods. Clustering is performed on the asteroids around the target probe within each two-day sub-time period. Assuming that the number of clusters for each sub-time period is set to 10, then each two-day sub-time period will yield 10 clustered asteroid sets.

[0080] S204. Based on the position information of each asteroid in each cluster of asteroids within each sub-time period, determine the candidate asteroid set corresponding to each sub-time period.

[0081] In this embodiment, after obtaining multiple clustered asteroid sets for each sub-time period, candidate asteroids corresponding to each clustered asteroid set can be determined based on the position information of each asteroid in each sub-time period. Then, the candidate asteroid set corresponding to that sub-time period is determined based on the candidate asteroids corresponding to each clustered asteroid set. This process is repeated for all sub-time periods to obtain the candidate asteroid set for each sub-time period. Optionally, selecting candidate asteroids from the clustered asteroid sets can involve first obtaining the position information of each asteroid in the clustered asteroid sets, then determining the center position based on the position information of each asteroid, comparing the distance between the position information of each asteroid and this center position, and selecting the asteroid farthest from the center position as the asteroid.

[0082] For example, continuing from the previous example, each two-day sub-time period yields 10 clustered asteroid sets. From each of the 10 clustered asteroid sets in the current two-day sub-time period, a candidate asteroid is selected to obtain 10 candidate asteroids for the current two-day sub-time period. These 10 candidate asteroids form the candidate asteroid set corresponding to the current two-day sub-time period. By traversing all sub-time periods, the candidate asteroid set corresponding to each sub-time period is obtained.

[0083] S205. Select a candidate asteroid set corresponding to a sub-time period from the candidate asteroid set corresponding to each time period to construct the target asteroid set.

[0084] In this embodiment, after obtaining the candidate asteroid sets corresponding to each sub-time period, a candidate asteroid set corresponding to one sub-time period is selected from the candidate asteroid sets corresponding to each sub-time period of a given time period as the first target asteroid set for that time period. This process is repeated for all time periods along the target probe's orbit to obtain the second target asteroid sets corresponding to each time period. Based on these second target asteroid sets, the target asteroid set for the entire time period along the target probe's orbit is constructed. For example, continuing the previous example, each sub-time period corresponds to a candidate asteroid set, and a time period includes multiple sub-time periods. Therefore, a time period corresponds to multiple candidate asteroid sets. From these multiple candidate asteroid sets, one candidate asteroid set is determined as the first target asteroid set for that time period. Then, all time periods are repeated to obtain the second target asteroid sets corresponding to each time period. Based on these second target asteroid sets, the target asteroid set for the entire time period along the target probe's orbit is constructed.

[0085] The asteroid selection method provided in this application first divides the target probe's orbit into a first time period, resulting in multiple time periods. Then, each time period is further divided into a second time period, resulting in multiple sub-time periods. Next, the asteroids surrounding the target probe within each sub-time period are clustered, resulting in multiple clustered asteroid sets. Based on the positional information of each asteroid in each clustered asteroid set within each sub-time period, a candidate asteroid set corresponding to each sub-time period is determined. Finally, a candidate asteroid set corresponding to one sub-time period is selected from the candidate asteroid sets corresponding to each time period to construct the target asteroid set. This method, by dividing the probe's orbit twice, determines the target asteroid set within a larger time period based on the spatial position changes of asteroids within a smaller time period. This fully considers the changes in the spatial position of each asteroid over time, enabling the selected asteroids to provide more accurate position and velocity information for the probe. In other words, the asteroids selected through this method achieve higher navigation accuracy. Furthermore, the introduction of a clustering algorithm to cluster and filter asteroids surrounding the target probe within each sub-time period reduces the screening difficulty to some extent, thus improving the efficiency of target asteroid selection.

[0086] In one embodiment, in Figure 2 Based on the illustrated embodiment, the process of determining the candidate asteroid set corresponding to each sub-time period according to the position information of each asteroid in each clustered asteroid set within each sub-time period can be described, such as... Figure 3As shown, S204 above, "Based on the position information of each asteroid in each clustered asteroid set within each sub-time period, determine the candidate asteroid set corresponding to each sub-time period", includes:

[0087] S301. Based on the position information of each asteroid in each cluster of asteroids within each sub-time period, determine the center point of each cluster of asteroids.

[0088] In this embodiment of the application, after obtaining the clustered asteroid sets in each sub-time period, the center point of the clustered asteroid set can be determined based on the position information of each asteroid in the clustered asteroid set. By traversing the clustered asteroid sets in each sub-time period, the center point of each clustered asteroid set in each sub-time period can be obtained.

[0089] S302. Determine the central asteroid of each cluster asteroid set based on the distance of the central point of each cluster asteroid set from the asteroids in other clusters.

[0090] In this embodiment of the application, after obtaining the center point of each clustered asteroid set in each sub-time period, the distance between the center point of any clustered asteroid set and each clustered asteroid in that clustered asteroid set is determined, and the center asteroid of the clustered asteroid set is determined based on the distance between the center point of any clustered asteroid set and each clustered asteroid in that clustered asteroid set. Similarly, the sub-time period in which the clustered asteroid set is located is traversed, and the center asteroid corresponding to each clustered asteroid set in that sub-time period is determined in the same way.

[0091] Optionally, the following method is provided to determine the central asteroid of each cluster asteroid set based on the distance of the central point of each cluster asteroid set from the asteroids in other clusters, including:

[0092] The cluster of asteroids with the smallest distance from the center point is taken as the central asteroid of the cluster.

[0093] In this embodiment of the application, after obtaining the center point of each clustered asteroid set in each sub-time period, the distance between the center point of any clustered asteroid set and each clustered asteroid in that clustered asteroid set is determined, and the clustered asteroid with the smallest distance from the center point of any clustered asteroid set is taken as the center asteroid of that clustered asteroid set. Similarly, the sub-time period in which the clustered asteroid set is located is traversed, and the center asteroid corresponding to each clustered asteroid set in that sub-time period is determined in the same way.

[0094] S303. Construct a candidate asteroid set for each sub-time period based on the central asteroid of all clustered asteroid sets within each sub-time period.

[0095] In this embodiment of the application, after obtaining the central asteroids corresponding to all clustered asteroid sets within the sub-time period, a first candidate asteroid set corresponding to the sub-time period is constructed, and the entire orbit of the target probe is traversed to determine the candidate asteroid set corresponding to each sub-time period.

[0096] The asteroid selection method provided in this application embodiment determines the central asteroids that meet the requirements based on the position information of each asteroid in each sub-time period, and then constructs a candidate asteroid set based on each central asteroid. This fully considers the change of the spatial position of each asteroid over time, so that the selected asteroids can provide the detector with more accurate position and velocity. That is, the asteroids selected by the above method can achieve higher navigation accuracy.

[0097] In one embodiment, in Figure 2-3 Based on the illustrated embodiment, the process of selecting a set of candidate asteroids corresponding to a sub-time period from the candidate asteroid set corresponding to each time period to construct the target asteroid set can be described, such as... Figure 4 As shown, the above-mentioned S205 "selecting a candidate asteroid set corresponding to a sub-time period from the candidate asteroid set corresponding to each time period to construct the target asteroid set" includes:

[0098] S401. For any pair of candidate asteroids in each candidate asteroid set, determine the angle between any pair of candidate asteroids and the target probe at different times, and obtain the sum of the angles between all pairs of candidate asteroids in each candidate asteroid set.

[0099] In this embodiment of the application, for any pair of candidate asteroids in the candidate asteroid set corresponding to each sub-time period, the angle between the pair of candidate asteroids and the target detector at different times within the time period of the sub-time period is determined, thereby obtaining the sum of the angles between the pair of candidate asteroids and the target detector at different times within the time period of the sub-time period. The other pairs of candidate asteroids in the candidate asteroid set are traversed, thereby obtaining the sum of the angles between all pairs of candidate asteroids in the candidate asteroid set. The process is further traversed for each candidate asteroid set, thereby obtaining the sum of the angles between all pairs of candidate asteroids in each candidate asteroid set.

[0100] Optionally, the following method provides a way to obtain the sum of the angles between all pairs of candidate asteroids in each asteroid set, namely, S401 above: "For any pair of candidate asteroids in each candidate asteroid set, determine the angles between any pair of candidate asteroids and the target probe at different times, and obtain the sum of the angles between all pairs of candidate asteroids in each asteroid set," such as... Figure 5 As shown, it includes:

[0101] S4011. For any pair of candidate asteroids in each candidate asteroid set, determine the angle between any pair of candidate asteroids and the target probe at different times, and obtain the angles between all pairs of candidate asteroids in each asteroid set.

[0102] In this embodiment of the application, for any pair of candidate asteroids in the candidate asteroid set corresponding to each sub-time period, the angle between the candidate asteroid and the target detector at different times within the time period of the sub-time period is determined, thereby obtaining the angle between all pairs of candidate asteroids in each asteroid set.

[0103] S4012. Sum the angles between each candidate asteroid and the candidate asteroid in each candidate asteroid set to obtain the sum of the angles between each candidate asteroid set.

[0104] In this embodiment of the application, after obtaining the included angles of all pairs of candidate asteroids in each asteroid set, the included angles of all pairs of candidate asteroids in each candidate asteroid set are summed to obtain the sum of included angles of each candidate asteroid set. The other pairs of candidate asteroids in the candidate asteroid set are traversed to obtain the sum of included angles of all pairs of candidate asteroids in the candidate asteroid set. The process is repeated to obtain the sum of included angles of all pairs of candidate asteroids in each candidate asteroid set.

[0105] S402. Select the candidate asteroid set with the largest angle from the candidate asteroid sets corresponding to each time period to construct the target asteroid set.

[0106] In this embodiment of the application, after obtaining the sum of the angles between all pairs of candidate asteroids in the candidate asteroid set corresponding to each sub-time period, the maximum sum of the angles between all pairs of candidate asteroids in the candidate asteroid set corresponding to multiple sub-time periods in each time period is determined, and the candidate asteroid set corresponding to the maximum sum of the angles is taken as the target asteroid set.

[0107] In one embodiment, in Figure 2 Based on the illustrated embodiments, as Figure 6 As shown, the above method also includes:

[0108] S206. Based on preset filtering conditions, filter out asteroids around the target probe in each time period from the asteroid database.

[0109] The preset screening criteria can include all of the following: the visible magnitude of the asteroid at the target probe's location meets the first value; the angles between the target probe and the lines connecting the asteroid and the Sun meet the second value; the distance between the target probe and the asteroid meets the third value; the line-of-sight angular velocity of the asteroid at the target probe's location meets the fourth value; and the angles between the target probe and the lines connecting any two asteroids meet the fifth value. Specifically, the preset screening criteria can include: the visible magnitude of the asteroid at the target probe's location is less than 12.0; the angles between the target probe and the lines connecting the asteroid and the Sun meet the second value; the angles between the target probe and the lines connecting the asteroid and the Sun are greater than 130°; the distance between the target probe and the asteroid is less than 1.0 AU; and the line-of-sight angular velocity of the asteroid at the target probe's location is less than 1.0 × 10⁻⁶. - 6 The rad / s and the angle between the target probe and the lines connecting any two asteroids are greater than 5°.

[0110] In this embodiment of the application, after dividing the orbit of the target probe into a first time period and obtaining multiple time periods, asteroids around the target probe can be selected from the asteroid database according to the above-mentioned preset screening conditions in each time period. After dividing each time period into a second time period and obtaining multiple sub-time periods corresponding to each time period, the asteroids around the target probe selected according to the preset screening conditions can be clustered in each sub-time period to obtain multiple clustered asteroid sets.

[0111] The screening method provided in this application selects asteroids that meet the requirements from an asteroid database based on preset screening conditions. Compared with the method of directly processing all asteroids in the asteroid database, this scheme first filters asteroids in the asteroid database based on preset screening conditions, which greatly simplifies the computational workload of subsequent target asteroid determination and improves the efficiency of target asteroid determination to a certain extent.

[0112] In one embodiment, such as Figure 7 As shown, a complete method for selecting asteroids is also provided, including:

[0113] S10. Divide the target detector's orbit into a first time period to obtain multiple time periods after the division;

[0114] S11. Select asteroids around the target probe in each time period from the asteroid database according to preset screening conditions;

[0115] S12. Divide each time period into a second time period to obtain multiple sub-time periods corresponding to each time period;

[0116] S13. Cluster the asteroids around the target probe in each sub-time period to obtain multiple clustered asteroid sets;

[0117] S14. Based on the position information of each asteroid in each cluster of asteroids within each sub-time period, determine the center point of each cluster of asteroids.

[0118] S15. The cluster of asteroids with the smallest distance from the center point is taken as the central asteroid of the cluster set;

[0119] S16. Construct a candidate asteroid set for each sub-time period based on the central asteroid of all clustered asteroid sets within each sub-time period.

[0120] S17. For any pair of candidate asteroids in each candidate asteroid set, determine the angle between any pair of candidate asteroids and the target probe at different times, and obtain the angle between all pairs of candidate asteroids in each asteroid set.

[0121] S18. Sum the angles between each candidate asteroid set and the candidate asteroid to obtain the sum of the angles between each candidate asteroid set.

[0122] S19. Select the candidate asteroid set with the largest sum of angles from the candidate asteroid sets corresponding to each time period to construct the target asteroid set.

[0123] The above method divides the probe's orbit into two parts, and then determines the target asteroid set within a larger time period based on the spatial position changes of asteroids over a smaller time period. This fully considers the changes in the spatial position of each asteroid over time, enabling the selected asteroids to provide the probe with more accurate position and velocity. In other words, the asteroids selected by the above method can achieve higher navigation accuracy. In addition, the introduction of a clustering algorithm to cluster and filter asteroids around the target probe in each sub-time period reduces the screening difficulty to a certain extent, which improves the screening efficiency of target asteroids to a certain extent.

[0124] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0125] Based on the same inventive concept, this application also provides an asteroid selection device for implementing the asteroid selection method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of the one or more asteroid selection device embodiments provided below can be found in the limitations of the asteroid selection method described above, and will not be repeated here.

[0126] In one exemplary embodiment, such as Figure 8 As shown, an asteroid selection device is provided, comprising: a first partitioning module 10, a second partitioning module 11, a clustering module 12, a determination module 13, and a construction module 14, wherein:

[0127] The first division module 10 is used to divide the orbit of the target detector into a first time period, resulting in multiple time periods after the division.

[0128] The second division module 11 is used to divide each time period into a second time period to obtain multiple sub-time periods corresponding to each time period.

[0129] Clustering module 12 is used to cluster the asteroids around the target probe in each sub-time period to obtain multiple clustered asteroid sets.

[0130] The determination module 13 is used to determine the candidate asteroid set corresponding to each sub-time period based on the position information of each asteroid in each clustered asteroid set within each sub-time period.

[0131] Module 14 is used to select a set of candidate asteroids corresponding to a sub-time period from the candidate asteroid set corresponding to each time period to construct the target asteroid set.

[0132] In one embodiment, the determining module 13 includes: a first determining unit, a second determining unit, and a constructing unit, wherein:

[0133] The first determining unit is specifically used to determine the center point of each cluster of asteroids based on the position information of each asteroid in each cluster of asteroids within each sub-time period.

[0134] The second determining unit is specifically used to determine the central asteroid of each clustered asteroid set based on the distance between the center point of each clustered asteroid set and other clustered asteroids;

[0135] The construction unit is specifically used to construct a candidate asteroid set corresponding to each sub-time period based on the central asteroid of all clustered asteroid sets within each sub-time period.

[0136] In one embodiment, the second determining unit is specifically used to select the clustered asteroid with the smallest distance from the center point as the central asteroid of the clustered asteroid set.

[0137] In one embodiment, the above-mentioned construction module 14 includes: an acquisition unit and a construction unit, wherein:

[0138] The acquisition unit is specifically used to determine the angle between any pair of candidate asteroids and the target probe at different times for any pair of candidate asteroids in each candidate asteroid set, and to obtain the sum of the angles between all pairs of candidate asteroids in each candidate asteroid set.

[0139] The construction unit is specifically used to select a candidate asteroid set with the largest included angle from the candidate asteroid set corresponding to each time period to construct the target asteroid set.

[0140] In one embodiment, the aforementioned acquisition unit is specifically used to determine the angle between any pair of candidate asteroids and the target probe at different times for any pair of candidate asteroids in each candidate asteroid set, thereby obtaining the angles between all pairs of candidate asteroids in each asteroid set; and to sum the angles between all pairs of candidate asteroids in each candidate asteroid set to obtain the sum of the angles of each candidate asteroid set.

[0141] In one embodiment, the above-mentioned device further includes a screening module, used to screen out asteroids around the target probe in each time period from the asteroid database according to preset screening conditions.

[0142] In one embodiment, the above preset filtering conditions include all of the following:

[0143] The visible magnitude parameters of the asteroid at the target probe's location satisfy the first value; the angles between the target probe and the lines connecting the asteroid and the sun satisfy the second value; the distance between the target probe and the asteroid satisfies the third value; the line-of-sight angular velocity of the asteroid at the target probe's location satisfies the fourth value; and the angles between the target probe and any two asteroids satisfy the fifth value.

[0144] The modules in the aforementioned asteroid selection device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0145] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 1As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores target asteroid data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When executed by the processor, the computer program implements an asteroid selection method.

[0146] Those skilled in the art will understand that Figure 1 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0147] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0148] The target detector's orbit is divided into a first time period, resulting in multiple subsequent time periods;

[0149] Each time period is further divided into a second time period to obtain multiple sub-time periods corresponding to each time period;

[0150] Clustering of asteroids around the target probe within each sub-time period yields multiple clustered asteroid sets;

[0151] Based on the position information of each asteroid in each cluster of asteroids within each sub-time period, determine the candidate asteroid set corresponding to each sub-time period;

[0152] The target asteroid set is constructed by selecting a sub-time period's candidate asteroid set from the candidate asteroid set corresponding to each time period.

[0153] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0154] Based on the position information of each asteroid in each cluster of asteroids within each sub-time period, the center point of each cluster of asteroids is determined.

[0155] The central asteroid of each cluster is determined based on the distance of the center point of each cluster to the asteroids in other clusters.

[0156] Construct a candidate asteroid set for each sub-time period based on the central asteroid of all clustered asteroid sets within that sub-time period.

[0157] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0158] The cluster of asteroids with the smallest distance from the center point is taken as the central asteroid of the cluster.

[0159] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0160] For any pair of candidate asteroids in each candidate asteroid set, determine the angle between any pair of candidate asteroids and the target probe at different times, and obtain the sum of the angles between all pairs of candidate asteroids in each candidate asteroid set;

[0161] In each time period, select the candidate asteroid set with the largest sum of angles to construct the target asteroid set.

[0162] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0163] For any pair of candidate asteroids in each candidate asteroid set, determine the angle between any pair of candidate asteroids and the target probe at different times, and obtain the angles between all pairs of candidate asteroids in each asteroid set.

[0164] The sum of the angles between each candidate asteroid and the candidate asteroid in each candidate asteroid set is obtained by summing the angles between each candidate asteroid set.

[0165] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0166] Based on preset filtering criteria, asteroids surrounding the target probe within each time period were selected from the asteroid database.

[0167] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0168] The visible magnitude parameters of the asteroid at the target probe's location satisfy the first value; the angles between the target probe and the lines connecting the asteroid and the sun satisfy the second value; the distance between the target probe and the asteroid satisfies the third value; the line-of-sight angular velocity of the asteroid at the target probe's location satisfies the fourth value; and the angles between the target probe and any two asteroids satisfy the fifth value.

[0169] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0170] The target detector's orbit is divided into a first time period, resulting in multiple subsequent time periods;

[0171] Each time period is further divided into a second time period to obtain multiple sub-time periods corresponding to each time period;

[0172] Clustering of asteroids around the target probe within each sub-time period yields multiple clustered asteroid sets;

[0173] Based on the position information of each asteroid in each cluster of asteroids within each sub-time period, determine the candidate asteroid set corresponding to each sub-time period;

[0174] The target asteroid set is constructed by selecting a sub-time period's candidate asteroid set from the candidate asteroid set corresponding to each time period.

[0175] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0176] Based on the position information of each asteroid in each cluster of asteroids within each sub-time period, the center point of each cluster of asteroids is determined.

[0177] The central asteroid of each cluster is determined based on the distance of the center point of each cluster to the asteroids in other clusters.

[0178] Construct a candidate asteroid set for each sub-time period based on the central asteroid of all clustered asteroid sets within that sub-time period.

[0179] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0180] The cluster of asteroids with the smallest distance from the center point is taken as the central asteroid of the cluster.

[0181] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0182] For any pair of candidate asteroids in each candidate asteroid set, determine the angle between any pair of candidate asteroids and the target probe at different times, and obtain the sum of the angles between all pairs of candidate asteroids in each candidate asteroid set;

[0183] In each time period, select the candidate asteroid set with the largest sum of angles to construct the target asteroid set.

[0184] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0185] For any pair of candidate asteroids in each candidate asteroid set, determine the angle between any pair of candidate asteroids and the target probe at different times, and obtain the angles between all pairs of candidate asteroids in each asteroid set.

[0186] The sum of the angles between each candidate asteroid and the candidate asteroid in each candidate asteroid set is obtained by summing the angles between each candidate asteroid set.

[0187] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0188] Based on preset filtering criteria, asteroids surrounding the target probe within each time period were selected from the asteroid database.

[0189] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0190] The visible magnitude parameters of the asteroid at the target probe's location satisfy the first value; the angles between the target probe and the lines connecting the asteroid and the sun satisfy the second value; the distance between the target probe and the asteroid satisfies the third value; the line-of-sight angular velocity of the asteroid at the target probe's location satisfies the fourth value; and the angles between the target probe and any two asteroids satisfy the fifth value.

[0191] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0192] The target detector's orbit is divided into a first time period, resulting in multiple subsequent time periods;

[0193] Each time period is further divided into a second time period to obtain multiple sub-time periods corresponding to each time period;

[0194] Clustering of asteroids around the target probe within each sub-time period yields multiple clustered asteroid sets;

[0195] Based on the position information of each asteroid in each cluster of asteroids within each sub-time period, determine the candidate asteroid set corresponding to each sub-time period;

[0196] The target asteroid set is constructed by selecting a sub-time period's candidate asteroid set from the candidate asteroid set corresponding to each time period.

[0197] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0198] Based on the position information of each asteroid in each cluster of asteroids within each sub-time period, the center point of each cluster of asteroids is determined.

[0199] The central asteroid of each cluster is determined based on the distance of the center point of each cluster to the asteroids in other clusters.

[0200] Construct a candidate asteroid set for each sub-time period based on the central asteroid of all clustered asteroid sets within that sub-time period.

[0201] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0202] The cluster of asteroids with the smallest distance from the center point is taken as the central asteroid of the cluster.

[0203] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0204] For any pair of candidate asteroids in each candidate asteroid set, determine the angle between any pair of candidate asteroids and the target probe at different times, and obtain the sum of the angles between all pairs of candidate asteroids in each candidate asteroid set;

[0205] In each time period, select the candidate asteroid set with the largest sum of angles to construct the target asteroid set.

[0206] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0207] For any pair of candidate asteroids in each candidate asteroid set, determine the angle between any pair of candidate asteroids and the target probe at different times, and obtain the angles between all pairs of candidate asteroids in each asteroid set.

[0208] The sum of the angles between each candidate asteroid and the candidate asteroid in each candidate asteroid set is obtained by summing the angles between each candidate asteroid set.

[0209] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0210] Based on preset filtering criteria, asteroids surrounding the target probe within each time period were selected from the asteroid database.

[0211] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0212] The visible magnitude parameters of the asteroid at the target probe's location satisfy the first value; the angles between the target probe and the lines connecting the asteroid and the sun satisfy the second value; the distance between the target probe and the asteroid satisfies the third value; the line-of-sight angular velocity of the asteroid at the target probe's location satisfies the fourth value; and the angles between the target probe and any two asteroids satisfy the fifth value.

[0213] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0214] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0215] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0216] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for selecting asteroids, characterized in that, The method includes: The target detector's orbit is divided into a first time period, resulting in multiple subsequent time periods; Each of the aforementioned time periods is further divided into a second time period to obtain multiple sub-time periods corresponding to each of the aforementioned time periods; Clustering is performed on the asteroids surrounding the target probe within each sub-time period to obtain multiple clustered asteroid sets; Based on the position information of each asteroid in each clustered asteroid set within each sub-time period, determine the candidate asteroid set corresponding to each sub-time period; From the candidate asteroid set corresponding to each of the aforementioned time periods, select a candidate asteroid set corresponding to a sub-time period to construct the target asteroid set.

2. The method according to claim 1, characterized in that, The step of determining the candidate asteroid set corresponding to each sub-time period based on the position information of each asteroid in each clustered asteroid set within each sub-time period includes: Based on the position information of each asteroid in each clustered asteroid set within each sub-time period, determine the center point of each clustered asteroid set; The central asteroid of each cluster of asteroids is determined based on the distance of the center point of each cluster of asteroids from the other clusters of asteroids. Construct a candidate asteroid set for each sub-time period based on the central asteroid of all clustered asteroid sets within each sub-time period.

3. The method according to claim 2, characterized in that, The step of determining the central asteroid of each clustered asteroid set based on the distance of the central point of each clustered asteroid set from other clustered asteroids includes: The cluster of asteroids with the smallest distance from the center point is taken as the central asteroid of the cluster.

4. The method according to any one of claims 1-3, characterized in that, The step of selecting a candidate asteroid set corresponding to a sub-time period from the candidate asteroid set corresponding to each of the aforementioned time periods to construct the target asteroid set includes: For any pair of candidate asteroids in each candidate asteroid set, determine the angle between the pair of candidate asteroids and the target probe at different times, and obtain the sum of the angles between all pairs of candidate asteroids in each candidate asteroid set; In each of the aforementioned time periods, a candidate asteroid set with the largest sum of its angles is selected from the candidate asteroid sets to construct the target asteroid set.

5. The method according to claim 4, characterized in that, For any pair of candidate asteroids in each candidate asteroid set, the angle between the pair of candidate asteroids and the target probe at different times is determined, resulting in the sum of the angles between all pairs of candidate asteroids in each asteroid set, including: For any pair of candidate asteroids in each candidate asteroid set, determine the angle between the pair of candidate asteroids and the target probe at different times, and obtain the angles between all pairs of candidate asteroids in each asteroid set. The sum of the angles between each candidate asteroid and the candidate asteroid in each candidate asteroid set is obtained by summing the angles between each candidate asteroid set.

6. The method according to claim 1, characterized in that, The method further includes: Asteroids surrounding the target probe within each specified time period are selected from the asteroid database based on preset filtering criteria.

7. The method according to claim 6, characterized in that, The preset filtering criteria include all of the following: The visible magnitude parameter of the asteroid at the location of the target probe satisfies a first value; the angle between the target probe and the lines connecting the asteroid and the sun satisfies a second value; the distance between the target probe and the asteroid satisfies a third value; the line-of-sight angular velocity of the asteroid at the location of the target probe satisfies a fourth value; and the angle between the target probe and any two of the asteroids satisfies a fifth value.

8. An asteroid selection device, characterized in that, The device includes: The first segmentation module is used to divide the target detector's orbit into a first time period, resulting in multiple segmented time periods; The second division module is used to divide each of the time periods into a second time period to obtain multiple sub-time periods corresponding to each of the time periods. A clustering module is used to cluster the asteroids around the target probe in each sub-time period to obtain multiple clustered asteroid sets. The determination module is used to determine the candidate asteroid set corresponding to each sub-time period based on the position information of each asteroid in each clustered asteroid set within each sub-time period. The construction module is used to select a candidate asteroid set corresponding to a sub-time period from the candidate asteroid set corresponding to each time period to construct the target asteroid set.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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