Method and device for controlling spacecraft to avoid multistage collision

Abstract

The invention provides a method and device for controlling a spacecraft to avoid multistage collision, and belongs to the technical field of aerospace. According to the method, each collision object in a plurality of collision objects of the spacecraft is used as a repulsive force source, and according to a dynamic mapping matrix of the spacecraft and each collision object at a predicted collision moment, a repulsive force acceleration generated by each collision object to the spacecraft is calculated; and taking the sum of the repulsive force accelerations of the plurality of collision objects as a control acceleration for controlling the spacecraft to avoid the target collision object. The method not only can ensure that the spacecraft avoids the target collision object, but also can ensure that the spacecraft does not collide with other collision objects.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a method and device for controlling a spacecraft to avoid multi-level collisions. Background Art

[0002] In the process of spacecraft running in the set orbit to perform space missions, there are collision objects such as space debris, failed satellites and other in-orbit targets in space. In addition, with the development of science and technology, various satellite constellations (i.e. satellite clusters composed of multiple satellites, such as Starlink, etc.) are deployed in space, and the orbital space is becoming more and more crowded. On this basis, the possibility of spacecraft colliding with multiple objects in a short period of time (i.e. multi-level collision) increases in the process of performing space missions. Therefore, it is necessary to control the spacecraft to adjust the orbit of the spacecraft to ensure that the spacecraft does not collide with other objects and enable the spacecraft to successfully complete the space mission.

[0003] However, the existing method of controlling a spacecraft to avoid collision can only perform collision avoidance control on a spacecraft for one collision object. In the process of controlling a spacecraft to avoid one collision object, there is a risk that the spacecraft will collide with another collision object. Summary of the invention

[0004] The present invention proposes a method and device for controlling a spacecraft to avoid multi-level collisions, which can control the spacecraft not to collide with other collision objects during the process of the spacecraft avoiding a target collision object, thereby avoiding multi-level collisions of the spacecraft.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides a method for controlling a spacecraft to avoid multi-stage collisions, and the method is used to avoid multi-stage collisions when the spacecraft avoids a target collision object. The method includes: in the process of controlling the spacecraft to avoid a target collision object among multiple collision objects, for each of the multiple collision objects, determining the predicted collision moment between the spacecraft and the collision object, and the distance between the spacecraft and the collision object at the predicted collision moment. According to the predicted collision moment and distance, the dynamic mapping matrix of the spacecraft at the predicted collision moment is determined; wherein the dynamic mapping matrix is ​​used to describe the mapping relationship between the position change of the spacecraft and the control acceleration. Based on the dynamic mapping matrix of the spacecraft at the predicted collision moment, the repulsive acceleration generated by the collision object on the spacecraft when the collision object is the repulsive source is determined. And the sum of the repulsive accelerations generated by multiple collision objects on the spacecraft is used as the control acceleration of the spacecraft to avoid the target collision object.

[0007] From the above content, it can be seen that in the process of controlling the spacecraft to avoid the target collision object among multiple collision objects, for each collision object among the multiple collision objects of the spacecraft, each collision object is used as the repulsive force source of the spacecraft, and the repulsive acceleration generated by each collision object on the spacecraft is determined based on the dynamic mapping matrix of the spacecraft and each collision object at the time of collision between the spacecraft and each collision object, and then the sum of the repulsive accelerations of the multiple collision objects is used as the control acceleration of the spacecraft to avoid the target collision object. In the process of controlling the spacecraft to avoid the target collision object among multiple collision objects, the method uses each collision object among the multiple collision objects of the spacecraft as the repulsive force source, and according to the dynamic mapping matrix of the spacecraft and each collision object at the predicted collision time, the repulsive acceleration generated by each collision object on the spacecraft is calculated, and then the sum of the repulsive accelerations of the multiple collision objects is used as the control acceleration of the spacecraft to avoid the target collision object. From the above content, it can be seen that the embodiment of the present application utilizes the mutual repulsion characteristics between each object in the repulsive field, so that when the spacecraft is subjected to the repulsive effect (i.e., repulsion) of multiple collision objects as repulsive force sources, the spacecraft does not collide with any of the multiple collision objects. Therefore, using the sum of the repulsive accelerations generated by multiple repulsive sources as the control acceleration of the spacecraft can not only ensure that the spacecraft avoids the target collision object, but also ensure that the spacecraft does not collide with other collision objects, thereby avoiding multi-level collisions in the spacecraft and ensuring that the spacecraft successfully completes its space mission.

[0008] In an implementation of the first aspect, based on the predicted dynamic mapping matrix of the spacecraft at the collision moment, determining the repulsive acceleration generated by the collision object on the spacecraft when the collision object is the repulsive source includes: predicting the distance between the spacecraft and the collision object at the collision moment when the collision object is the repulsive source based on the dynamic mapping matrix. Then, taking the maximum distance between the spacecraft and the collision object at the predicted collision moment as the optimization target, solving the direction of the repulsive acceleration.

[0009] Wherein, when the collision object is represented as the i-th collision object among multiple collision objects, the direction v of the repulsive acceleration generated by the i-th collision object on the spacecraft is opt,i satisfy:

[0010] v opt,i =-(A i -λ opt,i I) + b i

[0011] A i =M i T QM i , M i represents the dynamic mapping matrix of the spacecraft at the predicted collision moment, Mi T M i The transpose of

[0012] λ opt,i Represents the influence factor of the unit repulsion on the predicted distance, λ opt,i satisfy:

[0013]

[0014] in,(*) T Indicates the transpose of a vector or matrix, (*) + represents the pseudo-inverse of the matrix, λ1 represents A i The first non-zero eigenvalue of , λ2 represents A i The second non-zero eigenvalue of , s1 represents the eigenvector corresponding to λ1, and s2 represents the eigenvector corresponding to λ2;

[0015] I is a 3×3 identity matrix;

[0016] b i =(r e,i T QM i / Δv) -T , r e,i represents the intersection position vector between the spacecraft and the i-th collision object, Δv represents the velocity change of the spacecraft;

[0017] According to the predicted collision time, the distance between the spacecraft and the collision object at the predicted collision time, and the dynamic mapping matrix, the magnitude of the repulsive acceleration generated by the collision object on the spacecraft is solved according to the following formula:

[0018] The magnitude u of the repulsive acceleration generated by the i-th collision object on the spacecraft i satisfy:

[0019]

[0020] Among them, C r Represents the safety redundancy factor of the spacecraft; D threshold Indicates the distance threshold; d i 'Used to indicate the distance between the spacecraft and the collision object at the predicted collision time; Δt i Represents the current time t and the predicted collision time TCA i The time difference; t b Indicates the time threshold.

[0021] In the above implementation, multiple collision objects of multi-stage collision are used as repulsive sources, and the sum of the repulsive accelerations generated by the multiple repulsive sources on the spacecraft is used as the control acceleration of the spacecraft. Since the process of calculating the repulsive acceleration based on the repulsive source is relatively simple and the amount of calculation is small, the control acceleration of the spacecraft can be quickly calculated. Moreover, the above calculation process does not require the computing resources of ground equipment, which can improve the efficiency of the spacecraft in avoiding multi-stage collisions.

[0022] In an implementation of the first aspect, the collision time TCA is predicted i satisfy:

[0023]

[0024] Among them, t 0,i represents the warning collision time between the spacecraft and the i-th collision object;

[0025] represents the speed of the spacecraft at the time of warning collision, Indicates the speed of the i-th collision object at the time of warning collision;

[0026] (x1, y1, z1) represents the position of the spacecraft at the warning collision moment, and (x2, y2, z2) represents the position of the i-th collision object at the warning collision moment.

[0027] In an implementation of the first aspect, the distance d between the spacecraft and the i-th collision object at the time of collision is predicted. i satisfy:

[0028]

[0029] Among them, c i =(x1-x2) 2 +(y1-y2) 2 +(z1-z2) 2 .

[0030] In an implementation of the first aspect, for the i-th collision object among the multiple collision objects, the dynamic mapping matrix M of the spacecraft at the collision moment is predicted. i satisfy:

[0031] M i =R i K i D i

[0032] in,

[0033] β i express and The angle between

[0034] v1 represents the velocity of the spacecraft at the time of warning collision, k1∈(-1, +1), k2∈(-1, +1);

[0035] Δθ i represents the periapsis angle of the spacecraft relative to the ith collision object at the current time t, n1 represents the angular velocity of the spacecraft, and r1 represents the semi-major axis of the spacecraft's orbit.

[0036] In the above implementation, the predicted collision time TCA is solved i and the distance d i The process is based on the reasonable assumption that the spacecraft and the collision object are moving in a straight line at a uniform speed and approaching each other and colliding. The predicted collision time TCA is obtained by calculating the square sum of both sides of the distance formula between the spacecraft and the i-th collision object and simplifying it. i and distance d i Compared with the existing method of predicting the collision time TCA by iterative solution i and distance d i The above calculation process is simpler and more efficient.

[0037] In a second aspect, the present invention provides a device for controlling a spacecraft to avoid multiple collisions. The device is used to avoid multiple collisions when the spacecraft avoids a target collision object. The device includes a collision time and distance determination module, a mapping matrix determination module, an acceleration determination module, and a control amount determination module. The collision time and distance determination module is used to determine the predicted collision time between the spacecraft and the collision object, and the distance between the spacecraft and the collision object at the predicted collision time for each of the multiple collision objects in the process of controlling the spacecraft to avoid a target collision object among multiple collision objects. The mapping matrix determination module is used to determine the dynamic mapping matrix of the spacecraft at the predicted collision time according to the predicted collision time and distance; the dynamic mapping matrix is ​​used to describe the mapping relationship between the position change of the spacecraft and the control acceleration. The acceleration determination module is used to determine the repulsive acceleration generated by the collision object on the spacecraft when the collision object is a repulsive source based on the dynamic mapping matrix of the spacecraft at the predicted collision time. The control amount determination module is used to use the sum of the repulsive accelerations generated by multiple collision objects on the spacecraft as the control acceleration of the spacecraft to avoid the target collision object.

[0038] In an implementation of the second aspect, the acceleration determination module is specifically used to predict the distance between the spacecraft and the collision object at the collision time when the collision object is a repulsive force source based on the dynamic mapping matrix prediction. Then, the maximum distance between the spacecraft and the collision object at the predicted collision time is used as the optimization target to solve the direction of the repulsive acceleration.

[0039] Wherein, when the collision object is represented as the i-th collision object among multiple collision objects, the direction v of the repulsive acceleration generated by the i-th collision object on the spacecraft is opt,i satisfy:

[0040] v opt,i =-(A i -λ opt,i I) + b i

[0041] A i =M i T QM i , M i represents the dynamic mapping matrix of the spacecraft at the predicted collision moment, M i T M i The transpose of

[0042] λ opt,i Represents the influence factor of the unit repulsion on the predicted distance, λ opt,i satisfy:

[0043]

[0044] in,(*) T Indicates the transpose of a vector or matrix, (*) + represents the pseudo-inverse of the matrix, λ1 represents A i The first non-zero eigenvalue of , λ2 represents A i The second non-zero eigenvalue of , s1 represents the eigenvector corresponding to λ1, and s2 represents the eigenvector corresponding to λ2;

[0045] I is a 3×3 identity matrix;

[0046] b i =(r e,i T QM i / Δv) -T , r e,i represents the intersection position vector of the spacecraft and the i-th collision object, and Δv represents the velocity change of the spacecraft.

[0047] According to the predicted collision time, the distance between the spacecraft and the collision object at the predicted collision time, and the dynamic mapping matrix, the magnitude of the repulsive acceleration generated by the collision object on the spacecraft is solved according to the following formula:

[0048] The magnitude u of the repulsive acceleration generated by the i-th collision object on the spacecraft i satisfy:

[0049]

[0050] Among them, C r Represents the safety redundancy factor of the spacecraft; D threshold Indicates the distance threshold; d i 'Used to indicate the distance between the spacecraft and the collision object at the predicted collision time; Δt i Represents the current time t and the predicted collision time TCA i The time difference; t b Indicates the time threshold.

[0051] In a third aspect, the present invention provides an electronic device, comprising a processor and a memory coupled to the processor; the memory is used to store computer instructions, and when the electronic device is running, the processor executes the computer instructions stored in the memory, so that the electronic device performs the method described in the first aspect or any one of its implementations.

[0052] In a fourth aspect, the present invention provides a computer-readable storage medium, comprising computer program instructions, which, when executed by a computer, enable the computer to execute the method as described in the first aspect or any one of its implementations.

[0053] In a fifth aspect, the present invention provides a computer program product, comprising computer program instructions, which, when executed on a computer, enable the computer to execute the method as described in the first aspect or any one of its implementations.

[0054] The technical effects corresponding to the above-mentioned second to fifth aspects and their possible implementations can refer to the above-mentioned description of the technical effects of the first aspect and its possible implementations, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 is a schematic diagram of a multi-stage collision scenario of a spacecraft provided by an embodiment of the present application;

[0056] Figure 2 This is one of the schematic diagrams of a method for controlling a spacecraft to avoid multi-level collisions provided in an embodiment of the present application;

[0057] Figure 3is a schematic diagram of a reference coordinate system provided in an embodiment of the present application;

[0058] Figure 4 This is a second schematic diagram of a method for controlling a spacecraft to avoid multi-level collisions provided in an embodiment of the present application;

[0059] Figure 5 is a schematic diagram of the relationship between the control acceleration and time provided in an embodiment of the present application;

[0060] Figure 6 is a schematic diagram of the relationship between the distance between the satellite and the debris and time provided by an embodiment of the present application;

[0061] Figure 7 It is a schematic diagram of the structure of a device for controlling a spacecraft to avoid multi-stage collisions provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] The terms "first" and "second" etc. in the description and claims of the present invention are used to distinguish different objects rather than to describe a specific order of the objects.

[0063] The “and / or” in the embodiments of the present application indicates the relationship between objects. For example, A and / or B may indicate the following three situations: A exists alone, B exists alone, and A and B exist at the same time.

[0064] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0065] In the description of the present invention, unless otherwise specified, the meaning of "multiple" refers to two or more than two. For example, multiple collision objects refers to two or more collision objects.

[0066] The method and device provided in the embodiments of the present application can be used to control a spacecraft to avoid multi-stage collisions. Specifically, by controlling the acceleration to adjust the orbit of a spacecraft (for example, a satellite, etc.), the spacecraft can achieve collision avoidance control of multiple collision objects in a multi-stage collision (for example, space debris, failed satellites, and other on-orbit targets, etc.).

[0067] Understandable, reference Figure 1 In the present application, multiple collision refers to the spacecraft ( Figure 1In the process of a satellite in a set orbit to perform a space mission, due to the change in the position of the spacecraft, the spacecraft collides with multiple collision objects ( Figure 1 The situation where space debris 1 to space debris n) in the space are too close and collide.

[0068] For example, a multi-level collision scenario is: in the process of controlling the spacecraft to avoid the target collision object, the spacecraft collides with other collision objects. It should be noted that the embodiment of the present application mainly takes this scenario as an example to describe in detail the method of controlling the spacecraft to avoid multi-level collisions.

[0069] Based on the description of the background technology, it can be known that the existing method of controlling spacecraft to avoid collision can only perform collision avoidance control on the spacecraft for one collision object. Therefore, in the process of avoiding collision with one collision object, there is a risk that the spacecraft will collide with another collision object. In order to solve this problem, the embodiment of the present application provides a method and device for controlling a spacecraft to avoid multi-level collisions. In the process of controlling a spacecraft to avoid a target collision object among multiple collision objects, for each collision object among the multiple collision objects of the spacecraft, each collision object is used as a repulsive force source of the spacecraft, and the repulsive acceleration generated by each collision object on the spacecraft is determined based on the dynamic mapping matrix of the spacecraft at the time of collision between the spacecraft and each collision object, and then the sum of the repulsive accelerations of the multiple collision objects is used as the control acceleration of the spacecraft to avoid the target collision object. In this technical solution, applying the above control acceleration to the spacecraft can prevent the spacecraft from colliding with other collision objects in the process of avoiding the target collision object, thereby avoiding multi-level collisions of the spacecraft, and then ensuring that the spacecraft successfully completes the space mission.

[0070] Exemplarily, the method for controlling a spacecraft to avoid multi-level collisions provided in the embodiment of the present invention may be performed by an electronic device having a processing function, such as a computer, a server, etc. The electronic device may be an electronic device on the spacecraft, or an electronic device capable of communicating with the spacecraft, which is not limited in the embodiment of the present application.

[0071] Taking the electronic device as a computer as an example, the hardware part of the computer may include: a processor, a memory, a network interface, a user interface, a communication bus, etc.

[0072] The processor is used to control the electronic device to perform related processing and computing tasks, for example, to determine the predicted collision moment, the distance between the spacecraft and the collision object, the dynamic mapping matrix, the repulsive acceleration, and the control acceleration, etc. The processor may include a central processing unit (CPU) or other processors, and the processor may be single-core or multi-core, for example, the processor may include multiple CPUs.

[0073] The memory is used to store computer instructions and related data, for example, to store collision warning information, predicted collision time, predicted distance between the spacecraft and the collision object at the collision time, dynamic mapping matrix, repulsive acceleration and control acceleration, etc. The memory can be a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, or an optical memory, a disk storage medium or other magnetic storage device, or any other medium that can be used to store program code or data that can be accessed by a computer. Optionally, the memory can be integrated into the processor, and the memory can also be independent of the processor.

[0074] The network interface is used for the computer to communicate with other devices or communication networks. For example, the network interface can be used to obtain warning information issued by the ground control station. The network interface can be a transceiver with transceiver functions. Optionally, the network interface can include a standard wired interface, a wireless interface (such as a WI-FI interface, a Bluetooth interface, a 5G interface).

[0075] The communication bus is used to realize the connection and communication between various components. For example, the processor, memory, network interface and user interface mentioned above can be interconnected through the communication bus.

[0076] The user interface may include a display screen and an input unit (such as a keyboard). Optionally, the user interface may also include a standard wired interface and a wireless interface.

[0077] Those skilled in the art will appreciate that the above-mentioned computer may also include more or fewer components, or a combination of certain components, or different arrangements of components, which is not limited in the embodiments of the present application.

[0078] In combination with the above, the embodiment of the present application provides a method for controlling a spacecraft to avoid multi-level collisions, which can be used to avoid multi-level collisions when a spacecraft avoids a target collision object. Figure 2 As shown, the method includes S101-S104.

[0079] S101. In a process of controlling a spacecraft to avoid a target collision object among multiple collision objects, for each of the multiple collision objects of the spacecraft, determining a predicted collision moment between the spacecraft and the collision object, and a distance between the spacecraft and the collision object at the predicted collision moment.

[0080] The above-mentioned multiple collision objects refer to multiple collision objects that may collide with the spacecraft while the spacecraft is performing a space mission on a set orbit in the future (i.e., multiple collision objects of multi-level collision).

[0081] Optionally, the spacecraft receives warning information from a ground tracking and control station via a transmission link, and obtains a predicted collision moment between the spacecraft and each of a plurality of collision objects, as well as a distance between the spacecraft and the collision object at the predicted collision moment, by solving the warning information.

[0082] The above-mentioned warning information includes the warning collision time between the spacecraft and each collision object, the position and speed of the spacecraft at each warning collision time, and the position and speed of the collision object at each warning collision time.

[0083] It can be understood that the ground measurement and control station can generate early warning information based on the space target position speed forecast obtained by integrating ground measurement and control information and satellite GNSS information.

[0084] The following takes a collision object as an example to explain in detail how to solve the predicted collision time TCA between the spacecraft and the collision object based on the warning information. i And the distance d between the spacecraft and the collision object at the predicted collision time i process.

[0085] The first step is to build a reference coordinate system.

[0086] A three-dimensional reference coordinate system is constructed based on the speed v1 of the spacecraft at the warning collision moment and the speed v2 of the collision object at the warning collision moment in the above warning information.

[0087] like Figure 3 As shown, the three axes of the three-dimensional reference coordinate system are respectively recorded as the ξ axis, the η axis and the ζ axis. Specifically, the position of the collision object is taken as the origin O of the reference coordinate system, the direction of the common perpendicular line of the plane constructed by v1 and v2 is taken as the positive direction of the ξ axis of the reference coordinate system, and the direction of v1-v2 is taken as the positive direction of the η axis of the reference coordinate system. The positive directions of the ζ axis, the ξ axis and the η axis form a right-handed coordinate system. The unit vector u of the ξ axis of the reference coordinate system is ξ , the unit vector u of the η axis η and the unit vector u of the ζ axis ζ The relationship described by the following formula (1) is satisfied:

[0088]

[0089] Where * represents the modulus of the vector.

[0090] The second step is to construct the distance formula between the spacecraft and the collision object based on the reference coordinate system.

[0091] Compared with the spacecraft's operating cycle on the set orbit, the time it takes for the spacecraft to collide with the collision object is very short. Based on this, it can be assumed that in a short period of time, the spacecraft and the collision object are both running in a straight line at a uniform speed and approaching each other and then colliding. Based on the above assumption, the warning collision time t 0,i , the position r1 and velocity v1 of the spacecraft at the time of warning collision, and the position r2 and velocity v2 of the collision object at the time of warning collision, and construct the distance formula between the spacecraft and the collision object.

[0092] In the following, when a collision object is represented as the i-th collision object among multiple collision objects, the distance formula between the above-mentioned spacecraft and the i-th collision object is the following formula (2):

[0093] d i (t) = r1-r2+(tt 0,i )(v1-v2) Formula (2)

[0094] Among them, d i (t) represents the distance between the spacecraft and the i-th collision object at the current time t; the position r1 of the spacecraft can be expressed by the position coordinates of the spacecraft in three directions in the geocentric inertial coordinate system (the three coordinate axes are the x-axis, the y-axis and the z-axis), that is, r1 = (x1, y1, z1), and the position r2 of the collision object can be expressed by the position coordinates of the collision object in three directions in the geocentric inertial coordinate system, that is, r2 = (x2, y2, z2). Similarly, the speed v1 of the spacecraft and the speed v2 of the collision object can also be expressed by the speeds in three directions in the geocentric inertial coordinate system, that is, Since the geocentric inertial coordinate system is a common coordinate system in this field, it will not be described here in detail.

[0095] Step 3: Based on the distance formula constructed in step 2, solve the predicted collision time TCA between the spacecraft and the collision object i (TCA i is the distance d i The time t when the minimum value is taken, and the distance d between the spacecraft and the collision object at the predicted collision time i .

[0096] Let Δt i =tt 0,i , the above formula (2) can be transformed into formula (3):

[0097] d i (Δt i +t)=r1-r2+Δt i(v1-v2) Formula (3)

[0098] Square the above formula (3) to obtain:

[0099] d i (Δt i +t) 2 =r1-r2+Δt i (v1-v2) 2 Formula (4)

[0100] Further, r1 = (x1, y1, z1), r2 = (x2, y2, z2), as well as Substituting into formula (4), we get formula (5):

[0101]

[0102] The above formula (5) is transformed into the following formulas (6) to (8) in sequence:

[0103]

[0104]

[0105]

[0106] Simplifying formula (8), we get:

[0107] d i (Δt i +t) 2 =a i Δt i 2 +b i Δt i +c i Formula (9)

[0108] in,

[0109]

[0110] c i =(x1-x2) 2 +(y1-y2) 2 +(z1-z2) 2 .

[0111] Since r1, r2, v1 and v2 are all known quantities obtained from the warning information, then a i 、b i and c i It is also a known quantity.

[0112] In a i 、b i and c i When is a known quantity, when formula (9) takes the minimum value, the distance between the spacecraft and the collision object is the smallest (that is, the two are most likely to collide). Then, it can be considered that the time (t) corresponding to when formula (9) takes the minimum value is the predicted collision time TCA between the spacecraft and the collision object. i The minimum value of formula (9) is the distance d between the spacecraft and the collision object at the predicted collision time. i .

[0113] The above formula (9) is solved by solving the quadratic equation, and the predicted collision time TCA between the spacecraft and the i-th collision object is obtained: i Satisfy the following formula;

[0114]

[0115] Predict the distance d between the spacecraft and the i-th collision object at the time of collision i The following formula is satisfied.

[0116]

[0117] The above process of solving the predicted collision time and the distance between the spacecraft and a collision object is based on the reasonable assumption that the spacecraft and the collision object are moving in a straight line at a uniform speed and approaching each other and colliding. By calculating the square sum of both sides of the distance formula shown in formula (2) and simplifying it, the predicted collision time TCA is obtained. i and distance d i Compared with the existing solution method of approaching the collision time by shortening the step length compared to the binary method, the warning information is solved to obtain the predicted collision time TCA i and distance d i The calculation process of the method provided in the embodiment of the present application is simpler and more efficient.

[0118] Optionally, after obtaining the predicted collision moment between the spacecraft and each collision object, and the distance between the spacecraft and the corresponding collision object at each predicted collision moment, the motion state of the spacecraft can be adjusted multiple times to control the spacecraft to avoid the target collision object. Specifically, a control acceleration is designed for the spacecraft, and then the control acceleration is applied to adjust the motion state of the spacecraft.

[0119] In the process of avoiding the target collision object, the process of determining the control acceleration of the spacecraft includes the following S102-S104.

[0120] S102, determining a dynamic mapping matrix of the spacecraft at the predicted collision moment according to the predicted collision moment between the spacecraft and the collision object and the distance between the two at the predicted collision moment, wherein the dynamic mapping matrix is ​​used to describe the mapping relationship between the position change of the spacecraft and the control acceleration.

[0121] It is understandable that the spacecraft is usually maneuvered to change its orbit to avoid the target collision object. Specifically, the maneuvering control of the spacecraft is achieved by applying a maneuvering control amount to the spacecraft. The maneuvering control amount may be a maneuvering control force or a control acceleration, etc. In the embodiment of the present application, the control acceleration is used as the maneuvering control amount to describe the spacecraft avoiding the target collision object.

[0122] Taking one of the multiple collision objects (denoted as the i-th collision object) as an example, according to the collision avoidance dynamics linear equation proposed by Bombaredelli, the thrust acceleration vector u (i.e., the control acceleration of the spacecraft) and the reference coordinate system (mentioned above) can be obtained. Figure 3 The change in the position of the spacecraft in the coordinate system shown in i The linear relationship between them satisfies:

[0123] δr i =R i K i D i uδt=M i uδt formula (12)

[0124] Wherein, δt represents the action time of the thrust acceleration vector u.

[0125] From the above formula (12), the dynamic mapping matrix M of the spacecraft at the predicted collision moment can be derived: i , M i satisfy:

[0126] M i =R i K i D i Formula (13)

[0127] in, β i express and The angle between them; v1 represents the velocity of the spacecraft at the time of warning collision, k1∈(-1, +1), k2∈(-1, +1); Δθ i represents the periapsis angle of the spacecraft relative to the ith collision object at the current time t, n1 represents the angular velocity of the spacecraft, r1 represents the semi-major axis of the spacecraft's orbit, Δθ i =(TCAi -t) / n1,TCA i The solution of is shown in the above formula (10).

[0128] For the above K i There are four possible values ​​for :

[0129] in u ξ In the case of the same direction as r1, k1 = -1, k2 = -1;

[0130] in u ξ In the opposite direction to r1, k1=1, k2=1.

[0131] S103, based on the dynamic mapping matrix of the spacecraft at the predicted collision moment, determining the repulsive acceleration generated by the collision object on the spacecraft when the collision object is the repulsive force source.

[0132] In the embodiment of the present application, multiple collision objects of the spacecraft are used as repulsive force sources to construct the repulsive force field of the spacecraft; then, the repulsive force acceleration generated by each repulsive force source (i.e., collision object) in the repulsive force field of the spacecraft on the spacecraft is calculated by predicting the dynamic mapping matrix of the spacecraft at the collision moment. Among them, the repulsive force acceleration refers to the repulsive force generated by the collision object on the spacecraft, which causes the spacecraft to generate a velocity change.

[0133] It should be understood that determining the repulsive acceleration generated by the collision object on the spacecraft when the collision object is a repulsive source includes determining the direction and magnitude of the repulsive acceleration.

[0134] Optionally, combined Figure 2 ,like Figure 4 As shown, the above S103 includes S1031-S1033. Among them, S1031-S1032 describe the process of determining the direction of the repulsive acceleration, and S1033 describes the process of determining the magnitude of the repulsive acceleration.

[0135] S1031. Based on the prediction of the dynamic mapping matrix, when the collision object is a repulsive force source, predict the distance between the spacecraft and the collision object at the time of collision.

[0136] When the collision object is represented as the i-th collision object among multiple collision objects, the distance d between the spacecraft and the collision object at the collision moment is predicted when the i-th collision object is the repulsive force source. im The following formula is satisfied.

[0137]

[0138] Among them, r e,i is the intersection position vector between the spacecraft and the i-th collision object; and r e,i =(ξ i ,ζi ),ξ i To predict the projection of the distance between the spacecraft and the collision object on the ξ axis of the reference coordinate system at the moment of collision, ζ i The projection of the distance between the spacecraft and the collision object on the ζ axis of the reference coordinate system at the predicted collision moment. i and i satisfy:

[0139] ξ i =r rel,i ·u ξ , i =r rel,i ·u ζ Formula (14)

[0140] Among them, r rel,i represents the position of the spacecraft relative to the collision object at the predicted collision time, r rel,i =r1-r2+(TCA i -t i,0 )(v1-v2),u ζ and u ξ The solution of is shown in the above formula (1), TCA i The solution of is shown in the above formula (10).

[0141] S1032. Taking the maximum distance between the spacecraft and the collision object at the predicted collision moment based on the dynamic mapping matrix as the optimization goal, solve the direction of the repulsive acceleration.

[0142] It should be understood that in the process of controlling a spacecraft to avoid multiple collisions, under the condition of a given velocity pulse Δv (Δv=uδt, u is the thrust acceleration vector of the spacecraft), there is an optimal maneuvering direction, so that the spacecraft can move away from the collision object to the greatest extent under the action of the velocity pulse Δv in the optimal maneuvering direction. Then, when the direction v of the repulsive acceleration generated by the collision object on the spacecraft is opt,i When the optimal maneuvering direction is the same, the repulsive force generated by the collision object on the spacecraft can make the spacecraft as far away from the collision object as possible, so that the distance between the spacecraft and the collision object at the predicted collision moment is maximized.

[0143] According to the above, optionally, the square of the distance d between the spacecraft and the collision object is 2 As the optimization goal, when the distance between the spacecraft and the collision object is the largest, the direction v of the repulsive acceleration generated by the collision object on the spacecraft is solved. opt,i .

[0144] In the above case, the optimization target J satisfies the following formula.

[0145] J=dim 2 =(r e,i +M i Δv) T Q(r e,i +M i Δv)=r e,i T QUR e,i +ΔvA i Δv+2r e,i T QM i Δv Formula (15)

[0146] It can be understood that the above formula (15) is a quadratic programming problem. By solving formula (15) through the optimal gradient solution method of convex optimization, the direction v of the repulsive acceleration can be obtained. opt,i , v opt,i satisfy:

[0147] v opt,i =-(A i -λ opt,i I) + b i Formula (16)

[0148] Among them, A i =M i T QM i , M i represents the dynamic mapping matrix of the spacecraft, M i T M i The transpose of

[0149] λ opt,i Represents the influence factor of the unit repulsion on the predicted distance, λ opt,i satisfy:

[0150]

[0151] in,(*) T Indicates the transpose of a vector or matrix, (*) + represents the pseudo-inverse of the matrix, λ1 represents A i The first non-zero eigenvalue of , λ2 represents A i The second non-zero eigenvalue of , s1 represents the eigenvector corresponding to λ1, and s2 represents the eigenvector corresponding to λ2; the solution method of λ1, λ2, s1 and s2 is a common method in the art and will not be described here.

[0152] I is the 3×3 identity matrix, (*) + Represents the pseudoinverse of a matrix.

[0153] b i T =r e,i T QM i / Δv, Δv represents the size of the spacecraft's velocity pulse (a known quantity).

[0154] S1033. Calculate the magnitude of the repulsive acceleration generated by the collision object on the spacecraft.

[0155] In an embodiment of the present application, based on the predicted collision time, the distance between the spacecraft and the collision object at the predicted collision time, and the dynamic mapping matrix, the magnitude of the repulsive acceleration generated by the collision object on the spacecraft is solved according to the following formula.

[0156] The magnitude u of the repulsive acceleration generated by the i-th collision object on the spacecraft i satisfy:

[0157]

[0158] Among them, C r represents the safety redundancy factor of the spacecraft (known quantity); D threshold represents the distance threshold (known quantity); t b Indicates the time threshold (known quantity); Δt i Represents the current time t and the predicted collision time TCA i The time difference, Δt i =TCA i -t.

[0159] d i 'Used to indicate the distance between the spacecraft and the collision object at the predicted collision time, specifically, d i ' is the projection of the distance between the spacecraft and the collision object at the predicted collision moment in the ξ,ζ plane (i.e., collision plane) of the reference coordinate system, and ξ i and i It can be calculated by the above formula (15).

[0160] From the above formula (17), it can be seen that in the process of controlling the spacecraft to avoid the target collision object, the repulsive acceleration generated by each collision object on the spacecraft must be considered.

[0161] When the collision is predicted, the projection d of the distance between the spacecraft and the i-th collision object in the collision plane i 'Less than the distance threshold D threshold , and the time difference Δt between the current time and the predicted collision time i Greater than or equal to the time threshold t bWhen the repulsive acceleration is u i Depend on The size of The larger the value, the magnitude of the repulsive acceleration u generated by the collision object on the spacecraft i The bigger.

[0162] When the collision is predicted, the projection d of the distance between the spacecraft and the i-th collision object in the collision plane i 'Less than the distance threshold D threshold , and the time difference Δt between the current time and the predicted collision time i Less than the time threshold t b When the repulsive acceleration is u i Depend on and The size (i.e. The size of The larger the value, the magnitude of the repulsive acceleration u generated by the collision object on the spacecraft i The bigger.

[0163] When the collision is predicted, the projection d of the distance between the spacecraft and the i-th collision object in the collision plane i 'Greater than or equal to the distance threshold D threshold , indicating that the spacecraft will not collide with the i-th collision object at the predicted collision time, or the time difference Δt from the current time to the predicted collision time i When it is less than 0, it means that the current moment has exceeded the control time limit for the spacecraft to perform multi-level collision avoidance on the i-th collision object. In the above two cases, the i-th collision object does not need to be used as the repulsive force source of the spacecraft. The i-th collision object does not produce repulsive acceleration on the spacecraft. At this time, the magnitude of the repulsive acceleration is expressed as 0.

[0164] S104: taking the sum of the repulsive accelerations generated by the multiple collision objects on the spacecraft as the control acceleration for the spacecraft to avoid the target collision object.

[0165] Control acceleration u used to control the spacecraft to avoid the target collision object sat satisfy:

[0166]

[0167] Where n represents the number of collision objects.

[0168] In one implementation, after calculating the control acceleration u sat Then, the above control acceleration u sat The acceleration u is applied to the spacecraft to change its motion state, so that the position of the spacecraft relative to the collision object changes. satThe change in the position of the spacecraft relative to the collision object is used to update the predicted position r of the spacecraft relative to the collision object at the time of collision. rel,i , and then in the next control process, according to the position r of the collision object rel,i Calculate the new repulsive acceleration.

[0169] Optionally, the change in position of the spacecraft relative to the collision object after the above control acceleration is δr i satisfy:

[0170] δr i =M i u sat δt s

[0171] Among them, δt s Represents the maneuvering time of the spacecraft (i.e. the time to apply control acceleration).

[0172] Then the updated position r of the collision object rel,i satisfy:

[0173] r rel,i =r rel,i ′+δr i

[0174] Among them, r rel,i ′ represents the position of the spacecraft relative to the collision object at the predicted collision time before updating.

[0175] It can be understood that the embodiment of the present application gradually adjusts the orbit of the spacecraft to avoid the target collision object by executing the above S102-S104 multiple times.

[0176] In summary, a method for controlling a spacecraft to avoid multi-stage collisions provided in an embodiment of the present application is used to avoid multi-stage collisions in the process of a spacecraft avoiding a target collision object. In the process of controlling a spacecraft to avoid a target collision object among multiple collision objects, the method uses each collision object among multiple collision objects of the spacecraft as a repulsive force source, and calculates the repulsive acceleration generated by each collision object on the spacecraft according to the dynamic mapping matrix between the spacecraft and each collision object at the predicted collision moment, and then uses the sum of the repulsive accelerations of multiple collision objects as the control acceleration for controlling the spacecraft to avoid the target collision object. As can be seen from the above content, the embodiment of the present application utilizes the mutual repulsion characteristics between each object in the repulsive field, so that the spacecraft does not collide with any of the collision objects in the above multiple collision objects when it is subjected to the repulsive effect (i.e., repulsion) of multiple collision objects as repulsive force sources. Therefore, using the sum of the repulsive accelerations generated by multiple repulsive force sources as the control acceleration of the spacecraft can not only ensure that the spacecraft avoids the target collision object, but also ensure that the spacecraft does not collide with other collision objects, thereby avoiding multi-stage collisions of the spacecraft, and then ensuring that the spacecraft successfully completes the space mission.

[0177] Furthermore, the embodiment of the present application uses multiple collision objects of a multi-stage collision as repulsive force sources, and uses the sum of the repulsive accelerations generated by the multiple repulsive force sources on the spacecraft as the control acceleration of the spacecraft. Since the process of calculating the repulsive acceleration based on the repulsive force source is relatively simple and the amount of calculation is small, the control acceleration of the spacecraft can be quickly calculated. Moreover, the above-mentioned calculation process does not require the computing resources of ground equipment, which can improve the efficiency of the spacecraft in avoiding multi-stage collisions.

[0178] The following takes the spacecraft as a satellite and the collision object as space debris as an example, and combines the warning information provided in Table 1 and Table 2 to illustrate the avoidance effect of the above method.

[0179] The following Table 1 shows the positions and velocities of four space debris (Debris1, Debris2, Debris3, and Debris4) at the predicted collision time, as well as the time distance from the current moment to the predicted collision time (TCA-t); the following Table 2 shows the positions and velocities of the satellites at the four predicted collision times (corresponding to SatRV1, SatRV2, SatRV3, and SatRV4) without performing multi-level collision avoidance, as well as the time distance from the current moment to the predicted collision time (TCA-t).

[0180] Table 1

[0181]

[0182] Table 2

[0183]

[0184] Based on Table 1 and Table 2, the satellite is controlled to avoid one of the four space debris (i.e., the target collision object) by the method provided in the embodiment of the present application. In this process, the magnitude of the maneuvering control amount (i.e., the control force) of the satellite is as follows: Figure 5 As shown, the position changes of the satellite and the four space debris are as follows Figure 6 As shown. Figure 6 It can be seen that, based on the method provided in the embodiment of the present application, in the process of controlling the satellite to avoid the above-mentioned target collision object, the distance between the satellite and the four space debris is greater than 500m. It can be seen that the above method can not only control the satellite to avoid the above-mentioned target collision object, but also control the satellite not to collide with the other three space debris, thereby effectively eliminating the multi-level collision risk of the spacecraft, so that the spacecraft does not have multi-level collisions in the process of avoiding the target collision object.

[0185] Accordingly, an embodiment of the present application provides a device for controlling a spacecraft to avoid multi-level collisions, and the device is used to avoid multi-level collisions when the spacecraft avoids a target collision object, such as Figure 7 As shown, the above device includes a collision time and distance determination module 701, a mapping matrix determination module 702, an acceleration determination module 703 and a control amount determination module 704.

[0186] The collision time and distance determination module 701 is used to determine the predicted collision time between the spacecraft and the collision object and the distance between the spacecraft and the collision object at the predicted collision time for each of the multiple collision objects during the process of controlling the spacecraft to avoid the target collision object among the multiple collision objects. For example, the collision time and distance determination module 701 is used to implement S101 of the above-mentioned spacecraft multi-stage collision avoidance control method.

[0187] The mapping matrix determination module 702 is used to determine the dynamic mapping matrix of the spacecraft at the predicted collision time according to the predicted collision time and distance; the dynamic mapping matrix is ​​used to describe the mapping relationship between the position change of the spacecraft and the control acceleration. For example, the mapping matrix determination module 702 is used to implement S102 of the above-mentioned spacecraft multi-level collision avoidance control method.

[0188] The acceleration determination module 703 is used to determine the repulsive acceleration generated by the collision object on the spacecraft when the collision object is the repulsive force source based on the dynamic mapping matrix of the spacecraft at the predicted collision moment. For example, the acceleration determination module 703 is used to implement S103 of the above-mentioned spacecraft multi-level collision avoidance control method.

[0189] The control amount determination module 704 is used to use the sum of the repulsive accelerations generated by multiple collision objects on the spacecraft as the control acceleration for the spacecraft to avoid the target collision object. For example, the control amount determination module 704 is used to implement S104 of the above-mentioned spacecraft multi-level collision avoidance control method.

[0190] Optionally, the acceleration determination module 703 is specifically used to: predict the distance between the spacecraft and the collision object at the collision moment when the collision object is a repulsive force source based on the dynamic mapping matrix prediction;

[0191] Taking the maximum distance between the spacecraft and the collision object at the predicted collision moment as the optimization goal, the direction of the repulsive acceleration is solved;

[0192] Wherein, when the collision object is represented as the i-th collision object among multiple collision objects, the direction v of the repulsive acceleration generated by the i-th collision object on the spacecraft is opt,i satisfy:

[0193] v opt,i =-(A i -λ opt,i I) + b i

[0194] A i =M i T QM i , M i represents the dynamic mapping matrix of the spacecraft at the predicted collision moment, M i T M i The transpose of

[0195] λ opt,i Represents the influence factor of the unit repulsion on the predicted distance, λ opt,i satisfy:

[0196]

[0197] in,(*) T Indicates the transpose of a vector or matrix, (*) + represents the pseudo-inverse of the matrix, λ1 represents A i The first non-zero eigenvalue of , λ2 represents A i The second non-zero eigenvalue of , s1 represents the eigenvector corresponding to λ1, and s2 represents the eigenvector corresponding to λ2;

[0198] I is a 3×3 identity matrix;

[0199] b i =(r e,iT QM i / Δv) -T , r e,i represents the intersection position vector between the spacecraft and the i-th collision object, Δv represents the velocity change of the spacecraft;

[0200] According to the predicted collision time, the distance between the spacecraft and the collision object at the predicted collision time, and the dynamic mapping matrix, the magnitude of the repulsive acceleration generated by the collision object on the spacecraft is solved according to the following formula:

[0201] The magnitude u of the repulsive acceleration generated by the i-th collision object on the spacecraft i satisfy:

[0202]

[0203] Among them, C r Represents the safety redundancy factor of the spacecraft; D threshold Indicates the distance threshold; d i 'Used to indicate the distance between the spacecraft and the collision object at the predicted collision time; Δt i Represents the current time t and the predicted collision time TCA i The time difference; t b For example, the acceleration determination module 703 is specifically used to implement S1031-S1033 of the above-mentioned spacecraft multi-level collision avoidance control method.

[0204] In one implementation, the above device further includes an updating module 705 .

[0205] The updating module 705 is used, for example, to update the position of the spacecraft relative to the collision object at the predicted collision moment for each of the multiple collision objects of the spacecraft according to the amount of position change of the spacecraft relative to the collision object after the control acceleration is applied. The updating module 705 is specifically used to implement S105 of the above-mentioned spacecraft multi-stage collision avoidance control method.

[0206] The various modules of the above-mentioned device for controlling a spacecraft to avoid multi-stage collisions can also be used to execute other steps in the above-mentioned method embodiment. All relevant contents involved in the above-mentioned method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0207] The embodiment of the present application also provides an electronic device, including: a processor and a memory coupled to the processor; the memory is used to store computer instructions, and when the electronic device is running, the processor executes the computer instructions stored in the memory, so that the electronic device executes the method in the above embodiment. Among them, the processor can implement the above collision time and distance determination module 701, mapping matrix determination module 702, acceleration determination module 703, control amount determination module 704 and update module 705; the above memory can also be used to store the predicted collision time, the distance between the spacecraft and the collision object at the predicted collision time, repulsive acceleration and control acceleration, etc.

[0208] An embodiment of the present application further provides a computer-readable storage medium, which includes a computer program. When the computer program runs on a computer, the method described in the above embodiment is executed.

[0209] An embodiment of the present application further provides a computer program product, which includes computer program instructions. When the computer program instructions are run on a computer, the method described in the above embodiment is executed.

[0210] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0211] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling a spacecraft to avoid multi-level collisions, characterized in that: The method is used to avoid multiple collisions during the process of the spacecraft avoiding a target collision object, and the method comprises: In a process of controlling the spacecraft to avoid a target collision object among a plurality of collision objects, for each of the plurality of collision objects, determining a predicted collision moment between the spacecraft and the collision object, and a distance between the spacecraft and the collision object at the predicted collision moment; Determine a dynamic mapping matrix of the spacecraft at the predicted collision moment according to the predicted collision moment and the distance; the dynamic mapping matrix is ​​used to describe a mapping relationship between a position change of the spacecraft and the control acceleration; Based on the dynamic mapping matrix of the spacecraft at the predicted collision moment, determining the repulsive acceleration generated by the collision object on the spacecraft when the collision object is a repulsive force source; The sum of the repulsive accelerations generated by the multiple collision objects on the spacecraft is used as the control acceleration for the spacecraft to avoid the target collision object.

2. The method according to claim 1, characterized in that The determining, based on the dynamic mapping matrix of the spacecraft at the predicted collision moment, the repulsive acceleration generated by the collision object on the spacecraft when the collision object is a repulsive force source, comprises: The distance between the spacecraft and the collision object at the predicted collision moment when the collision object is a repulsive force source is predicted based on the dynamic mapping matrix; Taking the maximum distance between the spacecraft and the collision object at the predicted collision moment as an optimization goal, solving the direction of the repulsive acceleration; Wherein, when the collision object is represented as the i-th collision object among the multiple collision objects, the direction v of the repulsive acceleration generated by the i-th collision object on the spacecraft is opt,i satisfy: v opt,i =-(A i -λ opt,i I) + b i A i =M i T QM i , M i represents the dynamic mapping matrix of the spacecraft at the predicted collision moment, M i T M i The transpose of λ opt,i represents the influence factor of the unit repulsion on the predicted distance, λ opt,i satisfy: in,(*) T Indicates the transpose of a vector or matrix, (*) + represents the pseudo-inverse of the matrix, λ1 represents A i The first non-zero eigenvalue of , λ2 represents A i The second non-zero eigenvalue of , s1 represents the eigenvector corresponding to λ1, and s2 represents the eigenvector corresponding to λ2; I is a 3×3 identity matrix; b i =(r e,i T QM i / Δv) -T , r e,i represents the intersection position vector between the spacecraft and the i-th collision object, Δv represents the velocity change of the spacecraft; According to the predicted collision time, the distance between the spacecraft and the collision object at the predicted collision time, and the dynamic mapping matrix, the magnitude of the repulsive acceleration generated by the collision object on the spacecraft is solved according to the following formula: The magnitude u of the repulsive acceleration generated by the i-th collision object on the spacecraft i satisfy: Among them, C r represents the safety redundancy factor of the spacecraft; D threshold Indicates the distance threshold; d i 'Used to indicate the distance between the spacecraft and the collision object at the predicted collision time; Δt i Represents the current time t and the predicted collision time TCA i The time difference; t b Indicates the time threshold.

3. The method according to claim 2, characterized in that The predicted collision time TCA i satisfy: Among them, t 0,i represents the warning collision time between the spacecraft and the i-th collision object; represents the speed of the spacecraft at the time of the warning collision, represents the speed of the i-th collision object at the warning collision moment; (x1, y1, z1) represents the position of the spacecraft at the warning collision moment, and (x2, y2, z2) represents the position of the i-th collision object at the warning collision moment.

4. The method according to claim 3, characterized in that The distance d between the spacecraft and the i-th collision object at the predicted collision time i satisfy: Among them, c i =(x1-x2) 2 +(y1-y2) 2 +(z1-z2) 2 .

5. The method according to claim 3, characterized in that For the ith collision object among the plurality of collision objects, the dynamic mapping matrix M of the spacecraft at the predicted collision time i satisfy: M i =R i K i D i in, β i express and The angle between v1 represents the velocity of the spacecraft at the time of the warning collision, k1∈(-1, +1), k2∈(-1, +1); Δθ i represents the anomaly angle of the spacecraft relative to the i-th collision object at the current time t, n1 represents the angular velocity of the spacecraft, and r1 represents the semi-major axis of the orbit of the spacecraft.

6. A device for controlling a spacecraft to avoid multi-level collisions, characterized in that: The device is used to avoid multi-level collisions when the spacecraft avoids a target collision object, and the device includes a collision time and distance determination module, a mapping matrix determination module, an acceleration determination module, and a control amount determination module; The collision time and distance determination module is used to determine, for each of the multiple collision objects, a predicted collision time between the spacecraft and the collision object and a distance between the spacecraft and the collision object at the predicted collision time in a process of controlling the spacecraft to avoid a target collision object among the multiple collision objects; The mapping matrix determination module is used to determine the dynamic mapping matrix of the spacecraft at the predicted collision moment according to the predicted collision moment and the distance; the dynamic mapping matrix is ​​used to describe the mapping relationship between the position change of the spacecraft and the control acceleration; The acceleration determination module is used to determine the repulsive acceleration generated by the collision object on the spacecraft when the collision object is a repulsive force source based on the dynamic mapping matrix of the spacecraft at the predicted collision moment; The control amount determination module is used to use the sum of the repulsive accelerations generated by the multiple collision objects on the spacecraft as the control acceleration for the spacecraft to avoid the target collision object.

7. An electronic device, characterized in that: It comprises a processor and a memory coupled to the processor; the memory is used to store computer instructions, and when the electronic device is running, the processor executes the computer instructions stored in the memory, so that the electronic device executes the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The method comprises computer program instructions, which, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 5.

9. A computer program product, characterized in that The method comprises computer program instructions, and when the computer program instructions are executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 5.

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