Interception planning method for leveraging track

Abstract

The invention discloses a leveraging orbit-oriented interception planning method and system and electronic equipment, and belongs to the technical field of spaceflight. The method comprises the steps that according to the initial state of an intercepted target, a mechanical model is used for simulating the intercepted target orbit to be extrapolated near an interceptor, and the state of the intercepted target near the interceptor is obtained; according to the state of the intercepted target near the interceptor, a two-body mechanical model is used for forward pushing and reverse pushing, and the state of the intercepted target at the intercepted moment is obtained; the method comprises the following steps: optimizing waiting time and transfer time of Lanbert transfer through a state of an interception target at an intercepted moment and a current state of the interception target to obtain a rough interception pulse; and according to the rough interception pulse, extrapolation is carried out to obtain an extrapolation error, and if the extrapolation error accords with allowable precision, the interceptor forms an interception plan according to the rough interception pulse. According to the method, the leveraging orbit interception path under different dynamics dominant conditions can be obtained by calculating the leveraging target and the hyperbolic orbit target.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to an interception planning method, system and electronic equipment for a leveraged orbit. Background Art

[0002] As a specific form of orbital game, orbital interception is centered on the precise trajectory design and control strategy to enable a spacecraft (interceptor) to successfully meet another spacecraft (target), thereby achieving interception or capture of the target. This process not only involves precise orbital mechanics calculations, but also needs to consider a variety of factors, such as the attitude control of the spacecraft, the performance of the propulsion system, and the impact of the space environment.

[0003] In traditional orbital interception research, most methods are analyzed and designed based on the two-body dynamics model. This model assumes that there are only two particles interacting in the system, and ignores all other external influences. Although this simplification is helpful for theoretical analysis and preliminary design, it has obvious limitations in practical applications. In particular, when it comes to more complex dynamic scenarios, such as restricted three-body dynamics or multi-body dynamics, these traditional methods are often difficult to apply directly. For example, in cases involving leveraged orbits (i.e., spacecraft use the gravitational field of celestial bodies to change their orbits and speeds), the dynamic behavior of the spacecraft (as an interception target) is mainly affected by multi-body dynamics. In this case, if the dynamics of the interceptor are still dominated by two-body dynamics, there will be a mismatch problem in the conversion and coordination between the two dynamic models when planning and executing orbital interception missions. Summary of the invention

[0004] In view of the problem that the existing leverage orbit interception methods in the prior art are difficult to use in restrictive three-body dynamics or more complex dynamic scenarios, the present invention provides an interception planning method for leverage orbit, which obtains the leverage orbit interception path under different dynamics by calculating the leverage target and the hyperbolic orbit target.

[0005] In order to achieve the above object, the present invention provides the following technical solutions.

[0006] In a first aspect, the present invention provides an interception planning method for a leveraged track, comprising:

[0007] According to the initial state of the interception target, the mechanical model is used to simulate the trajectory of the interception target and extrapolate it to the vicinity of the interceptor to obtain the state of the interception target near the interceptor;

[0008] According to the state of the interception target near the interceptor, the two-body mechanics model is used for forward and reverse calculation to obtain the state of the interception target at the moment of being intercepted;

[0009] According to the state of the interception target at the moment of being intercepted and the current state of the interception target, the waiting time and transfer time of Lambert transfer are optimized to obtain a rough interception pulse;

[0010] Based on the rough interception pulse, extrapolation is performed to obtain the extrapolation error. If the extrapolation error meets the allowable accuracy, the interceptor forms an interception plan based on the rough interception pulse.

[0011] As a further improvement of the present invention, the mechanical model includes a multi-body mechanical model and a restricted three-body dynamics model.

[0012] As a further improvement of the present invention, according to the initial state of the interception target, the interception target orbit is simulated and extrapolated to the vicinity of the leveraged celestial body using a multi-body mechanics model to obtain the state of the interception target near the leveraged celestial body, including:

[0013] According to the initial state X of the interception target in the multi-body coordinate system E,0,N , the multi-body dynamics model is used to simulate the orbital extrapolation of the interception target, and the extrapolation is performed until the vicinity of the celestial body where the interceptor is deployed. The state of the interception target near the interceptor is obtained as X E,1,N =Φ N (X E,0,N ,t1)·X E,0,N ;

[0014] Among them, t1 is the extrapolation duration, X E,1 is the result of extrapolation, Φ N For extrapolation.

[0015] As a further improvement of the present invention, the state of the interception target at the time of being intercepted is obtained by forward and reverse calculation using a two-body mechanics model according to the state of the interception target near the interceptor, including:

[0016] Construct a two-body mechanics model with the interceptor as the center;

[0017] According to the accurate state of the interception target near the interceptor, the two-body dynamics model is used for forward and reverse calculation to convert the state of both the interception target and the interceptor from the multi-body coordinate system to the two-body coordinate system and the interceptor's inertial system.

[0018] Where I is the inertial system of the interceptor; Φ N→I is the transformation matrix from the multi-body coordinate system to the inertial system; X E,1,N is the state of the interception target near the interceptor; t 1 is the extrapolated duration; X P,0,I is the initial state of the interceptor in the inertial system; X P,0,N is the initial state of the interceptor in the multi-body coordinate system.

[0019] As a further improvement of the present invention, the waiting time and transfer time of the Lambert transfer are optimized by the state of the interception target at the time of being intercepted and the current state of the interception target to obtain a rough interception pulse, including:

[0020] Using multi-circle Lambert transfer under two-body gravity, the current state of the interceptor is taken as the initial state of the transfer in the borrowed celestial body coordinate system, and the position of the interception target at the time of interception is taken as the final position of the transfer. The waiting time and transfer time of the Lambert transfer are optimized to obtain the optimization results:

[0021]

[0022] Where, ΔV Lambert is the velocity change ΔV obtained by the Lambert problem; m is the number of Lambert transfers, where the number of turns is an integer; Δt1 is the waiting time of Lambert transfer; Δt2 is the transfer time of Lambert transfer, X begin is the initial position of Lambert transfer; X end The final position for Lambert's transfer;

[0023] The states of the interceptor and the target are extrapolated under two-body dynamics, denoted as Φ I get:

[0024]

[0025] Among them, X P,0,I is the initial state of the interceptor in the inertial system; X E,1,N is the state of the interception target near the interceptor; the moment corresponding to the interception target state is moment t1, and the actual time that needs to be extrapolated is Δt1+Δt2-t1.

[0026] As a further improvement of the present invention, the rough interception pulse is extrapolated to obtain an extrapolation error. If the extrapolation error meets the allowable accuracy, the interceptor forms an interception plan according to the rough interception pulse, including:

[0027] Using the rough interception pulse, the interception target and interceptor are extrapolated under the multi-body mechanics model to obtain the actual state and interception error of the interception target and interceptor at the interception time:

[0028] X E,end,N =Φ N (X E,0,N ,Δt 1,best +Δt 2,best )·X E,0,N

[0029]

[0030] Among them, Δt 1,bestis the waiting time; Δt 2,best is the transfer time, ΔX P,best is the transfer pulse; Δt 1,best is the waiting time; Δt 2,b est is the transfer time, ΔX P,b est is the transfer pulse; X E,end,N is the actual state of the interception target at the time of interception; X P,end,N is the actual state of the interceptor at the time of interception; X P,0,N is the initial state of the interceptor in the multi-body coordinate system; X E,0,N is the initial state of the interception target in the multi-body coordinate system; X P,1,N is the accurate state of the interceptor in the multi-body coordinate system after executing the rough pulse; X P,2,N It is the exact state of the interceptor at the original interception time after executing the rough pulse;

[0031] If the actual state of the interception target and the interceptor and the interception error at the time of interception meet the allowed accuracy, the interceptor forms an interception plan based on the rough interception pulse;

[0032] If the actual state of the intercept target and the interceptor and the interception error at the interception moment do not meet the allowed accuracy, the waiting time and transfer time of the Lambert transfer are re-optimized to obtain a rough interception pulse.

[0033] As a further improvement of the present invention, if the actual state of the interception target and the interceptor and the interception error at the interception time do not meet the allowable accuracy, the waiting time and transfer time of the Lambert transfer are re-optimized to obtain a rough interception pulse, including:

[0034] Using the actual state of the interception target at the time of interception X E,end,N And the actual state of the interceptor at the time of interception X P,end,N , calculate the intercept error δ N =X E,end,N -X P,end,N ;

[0035] The error δ N =X E,end,N -X P,end,N After coordinate system transformation, we get:

[0036] δ I =Φ N→I (δ N ,Δt 1,best +Δt 2,best )·δ N

[0037] The optimization results The final position of the Lambert shift is converted into the position where the interceptor should actually aim after considering the error, X end =X end -δ I , re-optimize and get new optimization results:

[0038]

[0039] According to the new optimization results, the rough interception pulse is obtained again;

[0040] Based on the rough intercept pulse, extrapolate until the error meets the tolerance, δ N <δ Desired , the interceptor forms an interception plan based on the rough interception pulse.

[0041] As a further improvement of the present invention, it is determined whether the optimal interception ΔV in the interception plan converges. If converged, the optimal interception ΔV with the smallest value is selected for transfer to obtain the decision result of the interceptor;

[0042] If it does not converge, the two-body mechanics model is optimized according to Lambert's waiting and transfer time to obtain an optimized two-body mechanics model;

[0043] According to the state of the interception target near the interceptor, the optimized two-body mechanics model is used for forward and reverse calculations.

[0044] In a second aspect, the present invention provides an interception planning system for leveraging tracks, comprising:

[0045] Interception target state module: used to simulate the interception target trajectory and extrapolate it to the vicinity of the interceptor based on the initial state of the interception target using a mechanical model to obtain the state of the interception target near the interceptor;

[0046] State module at the moment of being intercepted: used to obtain the state of the intercepted target at the moment of being intercepted by forward and reverse inference using the two-body mechanics model according to the state of the intercepted target near the interceptor;

[0047] Rough interception pulse module: used to optimize the waiting time and transfer time of Lambert transfer according to the state of the interception target at the time of being intercepted and the current state of the interception target, and obtain the rough interception pulse;

[0048] Interception planning module: It is used to perform extrapolation based on the rough interception pulse to obtain the extrapolation error. If the extrapolation error meets the allowable accuracy, the interceptor forms an interception plan based on the rough interception pulse.

[0049] In a third aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the interception planning method for a leveraged track when executing the computer program.

[0050] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the interception planning method for a leveraged track are implemented.

[0051] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the interception planning method for a leveraged track.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] The present invention can flexibly combine multiple mechanical models for comprehensive analysis according to the specific needs of the interception mission. First, the initial orbit of the interception target is extrapolated using a high-precision mechanical model until it is close to the position of the interceptor, and the precise position and speed of the interception target at a certain moment in the future are accurately predicted, providing reliable basic data for subsequent interception planning. Subsequently, the present invention uses a two-body mechanical model for forward and reverse calculations. Although the two-body mechanical model is simple, it can provide sufficiently accurate orbit predictions under certain conditions (such as when the distance between the two bodies is much larger than the influence range of the third body). Through forward calculation, the orbital state of the interception target at the moment of being intercepted in the future can be simulated; and reverse calculation is used to determine what path and speed the interceptor needs to take from the current position to accurately reach the interception point, preliminarily determine the maneuvering strategy required for interception, and provide direction for subsequent optimization. Next, the present invention uses the Lambert Transfer theory to optimize the waiting time and transfer time during the interception process. Lambert transfer is an efficient and flexible orbit transfer method that can transfer a spacecraft from one orbit point to another orbit point within a given time interval while satisfying specific energy and orbit constraints. By optimizing the waiting time and the transfer time, the present invention can calculate the minimum pulse required to achieve the interception (i.e., the thrust that the interceptor needs to apply), which is the so-called "rough interception pulse". Finally, based on the rough interception pulse, the present invention performs extrapolation calculations to evaluate the error of the pulse in practical applications. If the extrapolation error is within the allowable range, that is, it meets the accuracy standard required by the mission, then the interceptor can formulate the final interception plan based on this rough interception pulse. This step ensures the feasibility and reliability of the interception plan and avoids interception failures caused by model errors or external disturbances. Therefore, the present invention successfully solves the problem of interception by leveraging orbits in complex dynamic scenarios by comprehensively applying a variety of mechanical models and optimization algorithms. It not only improves the accuracy and success rate of the interception mission, but also has strong adaptability and scalability. It can flexibly adjust parameters and strategies according to the requirements and constraints of different tasks to achieve more efficient, economical and safe interception missions. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure in any way. In the drawings:

[0055] Figure 1 It is a flow chart of an interception planning method for leveraging track of the present invention;

[0056] Figure 2 It is a specific flow chart of an interception planning method for leveraging track of the present invention;

[0057] Figure 3Schematic diagram of the initial state of the interception target and the interceptor in the embodiment of the present invention;

[0058] Figure 4 It is a structural schematic diagram of an interception planning system for leveraging tracks of the present invention;

[0059] Figure 5 Schematic diagram of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0060] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. The described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present invention.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0062] Aiming at the problem that the existing interception method of leveraging orbit in the prior art is difficult to use in restrictive three-body dynamics or more complex dynamic scenarios, the present invention provides an interception planning method for leveraging orbit, such as Figure 1 As shown, the method includes:

[0063] S100: according to the initial state of the interception target, the interception target trajectory is simulated by using a mechanical model and extrapolated to the vicinity of the interceptor to obtain the state of the interception target near the interceptor;

[0064] S200: According to the state of the interception target near the interceptor, the two-body mechanics model is used to perform forward and reverse calculations to obtain the state of the interception target at the time of being intercepted;

[0065] S300: optimizing the waiting time and transfer time of Lambert transfer according to the state of the interception target at the time of being intercepted and the current state of the interception target, and obtaining a rough interception pulse;

[0066] S400: extrapolating based on the rough interception pulse to obtain an extrapolation error. If the extrapolation error meets the allowable accuracy, the interceptor forms an interception plan based on the rough interception pulse.

[0067] The present invention can obtain a leveraged track interception path dominated by different dynamics according to the calculated leveraged target and the hyperbolic track target.

[0068] The present invention will be further explained below in conjunction with the accompanying drawings.

[0069] like Figure 2 As shown, an interception planning method for a leverage track includes the following steps:

[0070] Given the initial state of the interception target, the orbit of the interception target is extrapolated to the vicinity of its leveraged celestial body under multi-body mechanics.

[0071] Based on its state near the celestial body, two-body mechanics is used for forward / reverse calculation to obtain the state of the interception target near the time of interception.

[0072] The interceptor uses the current state of the interceptor and the state of the target near the time of interception to optimize the Lambert problem under two-body gravity and obtain a rough interception pulse.

[0073] Assume that the interceptor uses this rough pulse and extrapolates it under multi-body mechanics to obtain the error corresponding to the result of two-body gravity; bring this error back to the Lambert problem and iterate until the allowable accuracy is reached, thereby obtaining the interception plan for the leverage orbit.

[0074] The present invention is further explained below in conjunction with specific embodiments.

[0075] Example 1

[0076] S1: For the initial state of the interception target, the orbit is extrapolated under the multi-body mechanics model until it reaches the vicinity of the celestial body where the interceptor is deployed.

[0077] Let the initial time be t0, the interception target be E, and the interceptor be P.

[0078] The initial state X of the interception target in the multi-body coordinate system (denoted as N in the subscript) E,0,N , the orbit is extrapolated under multi-body dynamics until it reaches the vicinity of the celestial body, that is, the celestial body where the interceptor is deployed; the extrapolation time is t1, and the result of the extrapolation is X E,1 , extrapolated to Φ N , this process can be described as:

[0079] X E,1,N =Φ N (X E,0,N ,t1)·X E,0,N

[0080] Among them, X E,1,N is the state of the interception target near the interceptor; t1 is the extrapolation duration, XE,1 is the result of extrapolation, Φ N For extrapolation.

[0081] In S1, orbital extrapolation can also be performed using restricted three-body dynamics.

[0082] S2: For the accurate state of the interception target near the leveraged celestial body obtained in S1, use the two-body dynamics centered on the leveraged celestial body to perform forward and reverse calculations to obtain a rough state of the interception target at the moment of interception.

[0083] The states of both parties are converted from the multi-body coordinate system to the two-body coordinate system, using the inertial system of the celestial body, the inertial system is denoted as I, and the conversion matrix is ​​Φ N→I , then:

[0084]

[0085] Where I is the inertial system of the interceptor; Φ N→I is the transformation matrix from the multi-body coordinate system to the inertial system; X E,1,N is the state of the interception target near the interceptor; t1 is the extrapolation duration; X P,0,I is the initial state of the interceptor in the inertial system; X P,0,N is the initial state of the interceptor in the multi-body coordinate system (denoted as N in the subscript).

[0086] S3: Using multi-circle Lambert transfer under two-body gravity, the current state of the interceptor is used as the initial state of the transfer in the borrowed celestial body coordinate system, and the position of the interception target at the time of interception obtained in S2 is used as the final position of the transfer, so as to optimize the waiting time and transfer time of the Lambert transfer.

[0087] Using multi-circle Lambert transfer under two-body gravity, in the borrowed celestial coordinate system, the current state of the interceptor is taken as the initial state of the transfer, and the position of the interception target at the time of being intercepted is taken as the final position of the transfer, the waiting time and transfer time of the Lambert transfer are optimized, namely:

[0088]

[0089] Where, ΔV Lambert is the velocity change ΔV obtained from the Lambert problem; m is the number of Lambert transfers, which should be an integer; Δt1 is the waiting time for Lambert transfer; Δt2 is the transfer time for Lambert transfer, X begin is the initial position of the Lambert shift; and,X end is the final position of the Lambert transfer, which is extrapolated by the states of both parties under two-body dynamics and is denoted by Φ I get:

[0090]

[0091] Among them, X P,0,I is the initial state of the interceptor in the inertial system; X E,1,N The state of the interception target near the interceptor.

[0092] Note that the time corresponding to the interception target state is time t1, so the actual time that needs to be extrapolated is Δt1+Δt2-t1.

[0093] S4: Assuming that the interceptor uses the optimization result obtained in S3 to maneuver, the states of both parties are extrapolated under multi-body mechanics to obtain the actual states of both parties and the interception error at the moment of interception.

[0094] Using the interception plan optimized in S3, the transfer of both parties is extrapolated under multi-body dynamics, that is:

[0095] X E,end,N =Φ N (X E,0,N ,Δt 1,best +Δt 2,best )·X E,0,N

[0096]

[0097] Δt 1,b est is the waiting time; Δt 2,b est is the transfer time, ΔX P,b est is the transfer pulse; X E,end,N is the actual state of the interception target at the time of interception; X P,end,N is the actual state of the interceptor at the time of interception; X P,0,N is the initial state of the interceptor in the multi-body coordinate system; X E,0,N is the initial state of the interception target in the multi-body coordinate system; X P,1,N is the accurate state of the interceptor in the multi-body coordinate system after executing the rough pulse; X P,2,N It is the exact state of the interceptor at the original interception time after executing the rough pulse;

[0098] S5: Bring the interception error of S4 into S3, change the "state of the interception target at the moment of interception" to "the position that the interceptor should actually aim at after considering the error", and repeat steps S3-S5 until the interception error meets the tolerance.

[0099] The actual state X of both parties at the time of interception obtained by S4 E,end,N ,X P,end,N , calculate the intercept error δ when using the plan obtained by S3 N =XE,end,N -X P,end,N (Multiple systems), transform the error into coordinate system:

[0100] δ I =Φ N→I (δ N ,Δt 1,best +Δt 2,best )·δ N

[0101] Change the "transfer end position" in S3 to "the position where the interceptor should actually aim after considering the error", that is:

[0102] X end =X end -δ I

[0103] Then optimize again, converting the final position of the Lambert shift in the optimization result into the position where the interceptor should actually aim after considering the error, X end =X end -δ I , re-optimize and get new optimization results:

[0104]

[0105] Repeat steps S3-S5 until the error meets the tolerance, δ N <δ Desired .

[0106] δ Desired is the set error value.

[0107] The invention discloses an interception planning method for leveraging tracks, which systematically provides an interception planning method for cross-dynamic targets. This method has strong traceability, and the steps have obvious engineering significance, and can effectively and efficiently calculate and optimize the interception problem for leveraging tracks.

[0108] The present invention is further explained below in conjunction with specific embodiments.

[0109] Example

[0110] Assume that the initial states of both parties are as shown in Table 1, EMR refers to the Earth-Moon rotation system, ECI refers to the Earth-centered inertial system, and MCI refers to the Moon-centered inertial system. The scenario is shown in Figure 3 shown.

[0111] Table 1 Initial states of both parties

[0112] Department of EMR x y z <![CDATA[v x ]]> <![CDATA[v y ]]> <![CDATA[v z ]]> Target -0.02331 -0.01294 0 +8.48356 -7.71481 0 Interceptor +0.98691 +0.00483 +0.00400 +0.17229 -0.85578 +1.07415 ECI Department x(km) y(km) z(km) <![CDATA[v x (m / s)]]> <![CDATA[v y (m / s)]]> <![CDATA[v z (m / s)]]> Target -4290.3 -4975.8 0 8705.0 -7505.8 0 MCI Department x(km) y(km) z(km) <![CDATA[v x (m / s)]]> <![CDATA[v y (m / s)]]> <![CDATA[v z (m / s)]]> Interceptor -363.0 1856.9 1537.6 171.6 -877.7 1100.5

[0113] In this initial state, the interceptor (red) is deployed in the lunar orbit, and the intercept target (blue) is using the lunar force. In this example, "near the moon" is understood as "the low point of the lunar orbit". Under the restrictive three-body mechanics model, the orbit is extrapolated, and the intercept target will reach the low point of the lunar orbit in 26.07 hours. Its state at the low point of the lunar orbit is shown in Table 2:

[0114] Table 2 Interceptor status near the Moon

[0115] Department of EMR x y z <![CDATA[v x ]]> <![CDATA[v y ]]> <![CDATA[v z ]]> Target +1.12584 0.00305 0 +3.60948 0.08827 0

[0116] The target state near the interception time can be obtained by using the low point time and state of the interception target. Taking the waiting time, transfer time and number of transfer circles of Lambert transfer as optimization variables, and the ΔV required for Lambert transfer as the optimization index, the particle swarm algorithm is used for optimization and target iteration (the optimization process is not shown), and the optimal interception ΔV is 104.0m / s.

[0117] The invention discloses an interception planning method for leveraging orbits, which provides a planning method for interception problems dominated by different dynamics, has strong interpretability, and the calculation steps have obvious physical meanings. This method can effectively calculate the interception planning of leveraging targets and hyperbolic orbit targets, and provides methods and ideas for orbital game research.

[0118] The second object of the present invention is to provide an interception planning system for leveraging tracks, such as Figure 5 As shown, including:

[0119] Interception target state module 101: used to simulate the interception target trajectory and extrapolate it to the vicinity of the interceptor using a mechanical model according to the initial state of the interception target, so as to obtain the state of the interception target near the interceptor;

[0120] The interception moment state module 201 is used to obtain the state of the interception target at the interception moment by forward and reverse calculation using a two-body mechanics model according to the state of the interception target near the interceptor;

[0121] A rough interception pulse module 301 is used to optimize the waiting time and transfer time of Lambert transfer according to the state of the interception target at the time of being intercepted and the current state of the interception target, so as to obtain a rough interception pulse;

[0122] The interception planning module 401 is used to perform extrapolation based on the rough interception pulse to obtain the extrapolation error. If the extrapolation error meets the allowed accuracy, the interceptor forms an interception plan based on the rough interception pulse.

[0123] like Figure 5As shown, the third object of the present invention is to provide an electronic device, the electronic device comprising: a processor 501, a memory 502 and a display screen 503. Among them, the memory 502 and the display screen 503 are connected to the processor 501, such as through a bus 504. Optionally, the electronic device may also include a transceiver 505. It should be noted that in actual applications, the transceiver 505 is not limited to one, and the structure of the electronic device does not constitute a limitation on the embodiments of the present application.

[0124] Processor 501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 501 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0125] The bus 504 may include a path to transmit information between the above components. The bus 504 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 504 may be divided into an address bus, a data bus, a control bus, etc.

[0126] The memory 502 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0127] The memory 502 is used to store application code for executing the solution of the present application, and the execution is controlled by the processor 501. The processor 501 is used to execute the application code stored in the memory 502 to implement the contents shown in the above method embodiment.

[0128] Figure 5 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0129] The fourth object of the present invention is to provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program is stored thereon, and when the program is executed by a processor, the aforementioned Figure 1 to Figure 2 The various processes of the method embodiment shown in the figure include, for example, a memory including instructions, and the instructions can be executed by a processor of an electronic device to complete the method.

[0130] A computer-readable storage medium may be a tangible device that holds and stores instructions used by an instruction execution device. A computer-readable storage medium may be, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof. Specifically, a computer-readable storage medium may be a portable computer disk, a hard disk, a USB flash drive, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a podium random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, an optical disk, a magnetic disk, a mechanical encoding device, and any combination thereof.

[0131] A fifth object of the present invention is to provide a computer program product, comprising computer instructions, which, when executed by a processor, implement the above Figure 1 to Figure 2 The various processes of the method embodiment shown can achieve the same technical effect, and will not be described again here to avoid repetition.

[0132] Many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but rather with reference to the preceding claims and the full scope of equivalents to which such claims are entitled. For the purpose of comprehensiveness, all articles and references, including disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the preceding claims is not intended to be a disclaimer of such subject matter, nor should it be considered that the applicants did not consider such subject matter to be part of the disclosed inventive subject matter.

[0133] The above content is a further detailed description of the present invention. It cannot be determined that the specific implementation methods of the present invention are limited to these. For ordinary technicians in the technical field to which the present invention belongs, without departing from the concept of the present invention, they can also make several simple deductions or substitutions, which should be regarded as belonging to the protection scope of the present invention determined by the submitted claims.

Claims

1. An interception planning method for leveraging track, characterized in that: include: According to the initial state of the interception target, the mechanical model is used to simulate the trajectory of the interception target and extrapolate it to the vicinity of the interceptor to obtain the state of the interception target near the interceptor; According to the state of the interception target near the interceptor, the two-body mechanics model is used for forward and reverse calculation to obtain the state of the interception target at the moment of being intercepted; According to the state of the interception target at the moment of being intercepted and the current state of the interception target, the waiting time and transfer time of Lambert transfer are optimized to obtain a rough interception pulse; Based on the rough interception pulse, extrapolation is performed to obtain the extrapolation error. If the extrapolation error meets the allowable accuracy, the interceptor forms an interception plan based on the rough interception pulse.

2. The interception planning method for leveraging track according to claim 1, characterized in that: The mechanical model includes a multi-body mechanical model and a restricted three-body dynamics model.

3. The interception planning method for leveraging track according to claim 2, characterized in that: The method of simulating the interception target orbit and extrapolating it to the vicinity of the leveraged celestial body using a multi-body mechanics model according to the initial state of the interception target to obtain the state of the interception target near the leveraged celestial body includes: According to the initial state of the interception target in the multi-body coordinate system ; Use the multi-body dynamics model to simulate the interception target orbit extrapolation, extrapolate to the vicinity of the celestial body where the interceptor is deployed, and obtain the state of the interception target near the interceptor: ; in, is the extrapolated duration, As the result of extrapolation, For extrapolation.

4. The interception planning method for leveraging track according to claim 1, characterized in that: The state of the interception target at the time of being intercepted is obtained by forward and reverse calculation using a two-body mechanics model according to the state of the interception target near the interceptor, including: Construct a two-body mechanics model with the interceptor as the center; According to the accurate state of the interception target near the interceptor, the two-body dynamics model is used for forward and reverse calculation to convert the state of both the interception target and the interceptor from the multi-body coordinate system to the two-body coordinate system and the interceptor's inertial system. ; Where, I is the inertial system of the interceptor; is the transformation matrix from the multi-body coordinate system to the inertial system; The state of the interception target near the interceptor; is the extrapolated duration; is the initial state of the interceptor in the inertial system; is the initial state of the interceptor in the multi-body coordinate system.

5. The interception planning method for leveraging track according to claim 1, characterized in that: The waiting time and transfer time of the Lambert transfer are optimized by the state of the interception target at the time of being intercepted and the current state of the interception target to obtain a rough interception pulse, including: Using multi-circle Lambert transfer under two-body gravity, the current state of the interceptor is taken as the initial state of the transfer in the borrowed celestial body coordinate system, and the position of the interception target at the time of being intercepted is taken as the final position of the transfer. The waiting time and transfer time of the Lambert transfer are optimized to obtain the optimization results: Where, ΔV Lambert is the velocity change ΔV obtained by the Lambert problem; m is the number of Lambert transfers, where the number of turns is an integer; Δt1 is the waiting time of Lambert transfer; Δt2 is the transfer time of Lambert transfer, X begin is the initial position of Lambert transfer; X end The final position for Lambert's transfer; The states of the interceptor and the target are extrapolated under two-body dynamics, denoted as Φ I get: Among them, X P,0,I is the initial state of the interceptor in the inertial system; X E,1,N is the state of the interception target near the interceptor; the moment corresponding to the interception target state is moment t1, and the actual time that needs to be extrapolated is Δt1+Δt2-t1.

6. The interception planning method for leveraging track according to claim 1, characterized in that: The rough interception pulse is extrapolated to obtain an extrapolation error. If the extrapolation error meets the allowable accuracy, the interceptor forms an interception plan according to the rough interception pulse, including: Using the rough interception pulse, the interception target and interceptor are extrapolated under the multi-body mechanics model to obtain the actual state and interception error of the interception target and interceptor at the interception time: X E,end,N =Φ N (X E,0,N ,Δt 1,best +Δt 2,best )·X E,0,N Among them, Δt 1,best is the waiting time; Δt 2,best is the transfer time, ΔX P,best is the transfer pulse; Δt 1,best is the waiting time; Δt 2,best is the transfer time, ΔX P,best is the transfer pulse; X E,end,N is the actual state of the interception target at the time of interception; X P,end,N is the actual state of the interceptor at the time of interception; X P,0,N is the initial state of the interceptor in the multi-body coordinate system; X E,0,N is the initial state of the interception target in the multi-body coordinate system; X P,1,N is the accurate state of the interceptor in the multi-body coordinate system immediately after executing the rough pulse; X P,2,N It is the exact state of the interceptor at the original interception time after executing the rough pulse; If the actual state of the interception target and the interceptor and the interception error at the time of interception meet the allowed accuracy, the interceptor forms an interception plan based on the rough interception pulse; If the actual state of the intercept target and the interceptor and the interception error at the interception moment do not meet the allowed accuracy, the waiting time and transfer time of the Lambert transfer are re-optimized to obtain a rough interception pulse.

7. The interception planning method for leveraging track according to claim 6, characterized in that: If the actual state of the interception target and the interceptor and the interception error at the interception time do not meet the allowed accuracy, the waiting time and transfer time of the Lambert transfer are re-optimized to obtain a rough interception pulse, including: Utilize the actual state of the interception target at the time of interception And the actual state of the interceptor at the moment of interception , calculate the intercept error ; The error Transform the coordinate system and get: The optimization results The final position of the Lambert shift is converted into the position where the interceptor should actually aim after taking into account the error, , re-optimize and get new optimization results: According to the new optimization results, the rough interception pulse is obtained again; Based on the rough intercept pulse, extrapolate until the error meets the tolerance. , the interceptor forms an interception plan based on the rough interception pulse.

8. The interception planning method for leveraging track according to claim 1, characterized in that: Determine whether the best interception ΔV in the interception plan converges. If converged, select the one with the smallest best interception ΔV for transfer to obtain the decision result of the interceptor; If it does not converge, the two-body mechanics model is optimized according to Lambert's waiting and transfer time to obtain an optimized two-body mechanics model; According to the state of the interception target near the interceptor, the optimized two-body mechanics model is used for forward and reverse calculations.

9. An interception planning system for leveraging tracks, characterized in that: include: Interception target state module: used to simulate the interception target trajectory and extrapolate it to the vicinity of the interceptor based on the initial state of the interception target using a mechanical model to obtain the state of the interception target near the interceptor; State module at the moment of being intercepted: used to obtain the state of the intercepted target at the moment of being intercepted by forward and reverse inference using the two-body mechanics model according to the state of the intercepted target near the interceptor; Rough interception pulse module: used to optimize the waiting time and transfer time of Lambert transfer according to the state of the interception target at the time of being intercepted and the current state of the interception target, and obtain the rough interception pulse; Interception planning module: It is used to perform extrapolation based on the rough interception pulse to obtain the extrapolation error. If the extrapolation error meets the allowable accuracy, the interceptor forms an interception plan based on the rough interception pulse.

10. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of an interception planning method for a leveraged track as described in any one of claims 1 to 6 when executing the computer program.

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