Collision avoidance method and device, equipment and storage medium

Abstract

The embodiment of the invention provides a collision avoidance method and device, equipment and a storage medium, which can be applied to the technical field of space debris, and the method comprises the steps: determining a plurality of time intervals for a spacecraft to execute collision avoidance on at least one dangerous object within a set time period; for any time interval, determining at least one avoidance strategy in the time interval based on the initial orbit of the spacecraft and the operation orbit of the at least one dangerous object; the evasion strategy comprises a target pulse moment and a target evasion speed pulse applied to the spacecraft at the target pulse moment; predicting whether a dangerous object with a new collision risk exists or not after the at least one avoidance strategy is executed; and the avoidance strategy without the new collision risk is determined as the target avoidance strategy, so that accurate avoidance of at least one dangerous object by executing the avoidance strategy once is realized, and the collision avoidance calculation automation and intelligence are improved.

Description

Technical Field

[0001] This application relates to the field of space debris technology, and in particular to a collision avoidance method, apparatus, device and storage medium. Background Technology

[0002] As major spacefaring nations around the world accelerate the development and launch of a large number of tiny spacecraft to meet various mission requirements in near-Earth space, near-Earth space is becoming increasingly crowded. For any spacecraft, collision warning events are becoming more and more frequent, meaning that there are often situations where multiple dangerous targets approach a spacecraft within a certain period of time.

[0003] In related technologies, when multiple dangerous targets approach a spacecraft simultaneously, multiple pulse moments are sequentially traversed within that time period. At any given pulse moment, an attempt is made to apply acceleration to the spacecraft in a randomly increasing manner. Finally, a suitable pulse moment and corresponding acceleration are manually determined as an avoidance strategy so that the spacecraft can deviate from its original trajectory to avoid multiple dangerous targets.

[0004] However, the acceleration settings in this method lack the constraints of physical laws in celestial motion, resulting in low accuracy in collision warning and avoidance; furthermore, it requires human intervention to determine appropriate avoidance strategies, which is insufficient in terms of intelligence, leading to low efficiency in collision warning and avoidance. Summary of the Invention

[0005] The present invention provides a collision avoidance method, apparatus, device and storage medium for avoiding collisions with at least one dangerous object in a space orbit, thereby improving the automation and intelligence of collision avoidance calculation.

[0006] On the one hand, embodiments of this application provide a collision avoidance method, the method comprising:

[0007] Determine multiple time intervals within which the spacecraft will perform collision avoidance against at least one hazardous object within a set time period;

[0008] For any given time interval, based on the spacecraft's initial orbit and the orbit of the at least one hazardous object, at least one avoidance strategy is determined within that time interval; the avoidance strategy includes a target pulse moment and applying a target avoidance velocity pulse to the spacecraft at the target pulse moment;

[0009] Predict whether there will be any dangerous objects that pose a new collision risk after at least one avoidance strategy is executed; identify the avoidance strategy that does not pose a new collision risk as the target avoidance strategy.

[0010] Optionally, determining the multiple time intervals within which the spacecraft performs collision avoidance against at least one hazardous object within a set time period includes:

[0011] Based on the period of time during which the spacecraft can be continuously tracked by the telemetry and control facilities as observed by the observation station, at least one observable period is obtained from the set period.

[0012] By eliminating abnormal periods during which the spacecraft cannot be observed within each observable period, multiple time intervals are obtained for collision avoidance of at least one dangerous object.

[0013] Optionally, based on the spacecraft's initial orbit and the orbit of the at least one hazardous object, at least one avoidance strategy is determined within the time interval, including:

[0014] For any pulse moment within the time interval, the spacecraft's avoidance trajectory is determined based on the spacecraft's initial orbit, the orbit of the at least one hazardous object, and the avoidance threshold.

[0015] Based on the first semi-major axis of the avoidance trajectory and the second semi-major axis of the initial trajectory, determine the semi-major axis increment;

[0016] Based on the correlation between the semi-major axis increment, the pulse moment, and the avoidance velocity pulse, the avoidance velocity pulse of the spacecraft at the pulse moment is calculated, thereby obtaining the avoidance strategy with the pulse moment and the avoidance velocity pulse.

[0017] Optionally, the prediction of whether a hazardous object posing a new collision risk exists after at least one avoidance strategy is executed; and the determination of the avoidance strategy without a new collision risk as the target avoidance strategy, includes:

[0018] For any evasion strategy, based on the evasion trajectory, the orbit of the at least one hazardous object, and the orbits of other objects, predict the latest approach distance between the spacecraft and the at least one hazardous object and the other objects after the evasion strategy is executed; if all the latest approach distances satisfy the evasion principle, then the evasion strategy is determined as a candidate evasion strategy.

[0019] The candidate evasion strategy with the smallest evasion velocity impulse is selected as the target evasion strategy.

[0020] Optionally, the prediction, after the avoidance strategy is executed and following the latest approach distances of the spacecraft to the at least one hazardous object and the other objects, further includes:

[0021] If, after the spacecraft executes any evasion strategy, the latest approach distances to the at least one dangerous object and the other objects do not satisfy the evasion principle, then at least one pulse moment is re-searched and determined for each time interval, and based on the re-determined at least one pulse moment, the evasion velocity pulse corresponding to each pulse moment is calculated to obtain at least one new evasion strategy for each time interval.

[0022] Optionally, after obtaining at least one new avoidance strategy for each time interval, the method further includes:

[0023] If, after the spacecraft executes at least one new avoidance strategy in each time interval, the latest approach distances to the at least one dangerous object and the other objects do not satisfy the avoidance principle, then the spacecraft executes the approach time of the latest approach distance and the avoidance strategy recalculated in the current time.

[0024] Based on the target pulse time and the approach time of the new avoidance strategy, at least one time interval is redefined, and at least one new avoidance strategy is calculated for the at least one time interval.

[0025] On one hand, embodiments of this application provide a collision avoidance device, which includes:

[0026] The determination module is used to determine multiple time intervals within a set time period for the spacecraft to perform collision avoidance against at least one hazardous object;

[0027] A calculation module is used to determine at least one avoidance strategy for any given time interval, based on the spacecraft's initial orbit and the orbit of the at least one hazardous object; the avoidance strategy includes a target pulse moment and applying a target avoidance velocity pulse to the spacecraft at the target pulse moment;

[0028] The selection module is used to predict whether there will be any dangerous objects that pose a new collision risk after at least one avoidance strategy is executed; and to determine the avoidance strategy that does not pose a new collision risk as the target avoidance strategy.

[0029] Optionally, the determining module is specifically used for:

[0030] Based on the period of time during which the spacecraft can be continuously tracked by the telemetry and control facilities as observed by the observation station, at least one observable period is obtained from the set period.

[0031] By eliminating abnormal periods during which the spacecraft cannot be observed within each observable period, multiple time intervals are obtained for collision avoidance of at least one dangerous object.

[0032] Optionally, the computing module is specifically used for:

[0033] For any pulse moment within the time interval, the spacecraft's avoidance trajectory is determined based on the spacecraft's initial orbit, the orbit of the at least one hazardous object, and the avoidance threshold.

[0034] Based on the first semi-major axis of the avoidance trajectory and the second semi-major axis of the initial trajectory, determine the semi-major axis increment;

[0035] Based on the correlation between the semi-major axis increment, the pulse moment, and the avoidance velocity pulse, the avoidance velocity pulse of the spacecraft at the pulse moment is calculated, thereby obtaining the avoidance strategy with the pulse moment and the avoidance velocity pulse.

[0036] Optionally, the selection module is specifically used for:

[0037] For any evasion strategy, based on the evasion trajectory, the orbit of the at least one hazardous object, and the orbits of other objects, predict the latest approach distance between the spacecraft and the at least one hazardous object and the other objects after the evasion strategy is executed; if all the latest approach distances satisfy the evasion principle, then the evasion strategy is determined as a candidate evasion strategy.

[0038] The candidate evasion strategy with the smallest evasion velocity impulse is selected as the target evasion strategy.

[0039] Optionally, the selection module is further configured to:

[0040] If, after the spacecraft executes any evasion strategy, the latest approach distances to the at least one dangerous object and the other objects do not satisfy the evasion principle, then at least one pulse moment is re-searched and determined for each time interval, and based on the re-determined at least one pulse moment, the evasion velocity pulse corresponding to each pulse moment is calculated to obtain at least one new evasion strategy for each time interval.

[0041] Optionally, the selection module is further configured to:

[0042] If, after the spacecraft executes at least one new avoidance strategy in each time interval, the latest approach distances to the at least one dangerous object and the other objects do not satisfy the avoidance principle, then the spacecraft executes the approach time of the latest approach distance and the avoidance strategy recalculated in the current time.

[0043] Based on the target pulse time and the approach time of the new avoidance strategy, at least one time interval is redefined, and at least one new avoidance strategy is calculated for the at least one time interval.

[0044] On one hand, embodiments of this application provide a computer device, including:

[0045] Memory, used to store program instructions;

[0046] The processor is used to call the program instructions stored in the memory and execute the steps of the collision avoidance method described above according to the obtained program.

[0047] On one hand, embodiments of this application provide a computer-readable storage medium storing a computer program executable by a computer device, which, when run on the computer device, causes the computer to perform the steps of the collision avoidance method described above.

[0048] On one hand, embodiments of this application provide a computer program product, including a computer program stored on a computer-readable storage medium, the computer program including program instructions, which, when executed by a computer device, cause the computer device to perform the steps of the above-described collision avoidance method.

[0049] In this embodiment, multiple time intervals are determined for the spacecraft to perform collision avoidance against at least one hazardous object within a set time period. For any given time interval, based on the spacecraft's initial orbit and the orbit of at least one hazardous object, at least one avoidance strategy is determined within that time interval. The avoidance strategy includes a target pulse moment and the application of a target avoidance velocity pulse to the spacecraft at the target pulse moment. By predicting whether a hazardous object with a new collision risk will occur after at least one avoidance strategy is executed, the avoidance strategy without a new collision risk is determined as the target avoidance strategy. This allows collision avoidance against at least one hazardous object to be performed simply by executing the target avoidance strategy, thereby reducing the coordination and communication time between various positions and the time for manual operation in the prior art, improving the automation and intelligence of collision avoidance calculation, and thus improving the efficiency of multi-target collision avoidance. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 A schematic diagram of a system architecture provided in an embodiment of this application;

[0052] Figure 2 A flowchart illustrating a collision avoidance method provided in an embodiment of this application;

[0053] Figure 3 A flowchart illustrating a collision avoidance method provided in an embodiment of this application;

[0054] Figure 4 This is a schematic diagram of the structure of a collision avoidance device provided in an embodiment of this application;

[0055] Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0056] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0057] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0058] The terms "first," "second," "third," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar or related objects or entities, and do not necessarily imply a specific order or sequence, unless otherwise specified. It should be understood that such terms are interchangeable where appropriate.

[0059] The terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device that includes a range of components is not necessarily limited to all of the components that are clearly listed, but may include other components that are not clearly listed or that are inherent to such product or device.

[0060] The term "module" refers to any known or subsequently developed hardware, software, firmware, artificial intelligence, fuzzy logic, or combination of hardware and / or software code that is capable of performing the functions associated with that element.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0062] The following is a brief introduction to the system architecture diagram applicable to the technical solutions of the embodiments of this application. It should be noted that the process described below is only for illustrating the embodiments of this application and is not intended to limit the scope of the application.

[0063] refer to Figure 1 This is a system architecture diagram applicable to the embodiments of this application. The system architecture includes at least a spacecraft 101, an observation station 102, and a server 103. The number of spacecraft 101 can be one or more, the number of observation stations 102 can be one or more, and the number of servers 103 can be one or more. This application does not specifically limit the number of spacecraft 101 and servers 103.

[0064] Spacecraft 101 comes pre-installed with a collision avoidance application installed on its embedded computer, enabling it to respond in real time and make localized decisions. Spacecraft 101 can be a low-Earth orbit satellite, a space station, a deep space probe, a manned spacecraft, a cargo spacecraft, etc., but is not limited to these.

[0065] Observation station 102 can sense space targets. It can be a ground-based observation station that uses a radar system to emit electromagnetic waves to detect targets, or it can be a space-based observation station that is deployed in high orbit and can observe targets in low orbit, but it is not limited to these two types of stations.

[0066] Server 103 is a ground server and serves as the decision-making center for collision avoidance. It is located near the data interface and space-to-ground communication link of observation station 102. Server 102 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms, but it is not limited to these.

[0067] It should be noted that the method in this embodiment can be jointly executed by spacecraft 101, observation station 102 and server 103.

[0068] In this embodiment, the terminal device 101 and the server 103 can communicate directly or indirectly through one or more networks. The network can be a wired network or a wireless network; for example, the wireless network can be a mobile cellular network or a Wireless-Fidelity (WIFI) network, or other possible networks. This embodiment does not limit the types of networks used.

[0069] The following is based on Figure 1The system architecture diagram shown illustrates the flow of a collision avoidance method provided in this application embodiment. This method's flow can be... Figure 1 The terminal device 101, observation station 102, and server 103 interact and execute commands, as shown below. Figure 2 As shown, it includes the following steps:

[0070] Step 201: Determine multiple time intervals within which the spacecraft will perform collision avoidance against at least one hazardous object within a set time period.

[0071] In some embodiments, based on the time period during which the spacecraft can be continuously tracked by the telemetry and control facilities as observed by the observation station, at least one observable time period is obtained from the set time period; abnormal time periods during which the spacecraft cannot be observed are eliminated in each observable time period to obtain multiple time intervals for performing collision avoidance on at least one dangerous object.

[0072] Specifically, for any given spacecraft, ground-based observation stations periodically monitor at least one hazardous object that may cause a collision during its operation, based on the spacecraft's current initial orbit. For example, the observation station monitors the orbit, current position, speed, and estimated rendezvous time of at least one hazardous object that may cause a collision with the spacecraft during the next seven days, as the spacecraft operates on its current initial orbit. The estimated rendezvous time refers to the moment when the spacecraft collides with the hazardous object. This information is then integrated into a warning document for this observation period.

[0073] First, for an observation period in the warning document, starting from the moment the spacecraft receives the warning document T0 plus the preparation delay ΔT for the spacecraft to start its engines, until the estimated rendezvous time T of the first hazardous object in the warning document that may collide with the spacecraft. TCA As the set time period T for spacecraft S That is, T S =[T0+ΔT,T] TCA ].

[0074] The early warning document also includes: station forecast information, shadow forecast information, spacecraft self-occlusion information, and solar angle forecast information transmitted by ground-based or space-based observation stations within the observation period. Specifically, the shadow forecast information indicates the time during which the spacecraft is not exposed to sunlight because it is behind the central celestial body and is obscured by it; the station forecast information indicates the time during which the observation and / or communication link between the spacecraft and the ground-based or space-based observation station is not blocked by ground obstacles, allowing the observation station to observe the spacecraft; the spacecraft self-occlusion information indicates the time during which the ground-based or space-based observation station cannot fully observe the spacecraft due to obstruction by the spacecraft's own structure, such as the spacecraft's solar panels or cabin obstructing the communication link between the ground-based observation station and the spacecraft; and the solar angle forecast information indicates the angle between the sunlight and the spacecraft's orbital plane. The communication link can be radar, microwave communication, etc., and this application does not specifically limit its scope.

[0075] For a given time period, firstly, based on the station's forecast information, the time periods during which the spacecraft could not be observed normally are removed from the set time period to obtain at least one observable time period, for example, from the set time period T. S =[T0+ΔT,T] TCA The multiple observable time periods identified in [T] Scz1 T Ecz1 ]、[T Scz2 T Ecz2 ]、[T Scz3 T Ecz3 ...For any observable time period, based on shading prediction information, spacecraft's own occlusion information, and solar angle prediction information, the time periods during which the spacecraft cannot perform normal orbit control are removed, resulting in multiple time intervals. For example, for the observable time period [T... Scz1 T Ecz1 After removing abnormal time periods caused by shadow forecast information, spacecraft self-occlusion information, and solar angle forecast information, multiple time intervals are obtained, such as [T]. Sgb1 T Egb1 ]、[T Sgb2 T Egb2 ]、[T Sgb3 T Egb3 ]...

[0076] For example, some of the contents of an early warning document for an observation period are shown in Table 1:

[0077] Table 1

[0078]

[0079]

[0080] Table 1 shows partial information from the early warning document, with the observation period being [2025-02-05T08:00:00.00, 2025-02-12T08:00:00.00]. Within the observation period, there are three hazardous objects that could collide with the spacecraft. The table includes the estimated rendezvous times of these three collisions and the estimated rendezvous distances in the U, N, and W directions in the UNW coordinate system. It also provides the avoidance thresholds for each hazardous object and the spacecraft in the U, N, and W directions, as well as the maximum value of the subsequent avoidance velocity pulses.

[0081] It should be noted that the UNW coordinate system (also known as the TNW coordinate system or RSW coordinate system) is a local orbital coordinate system established with the spacecraft's current position as the origin. It is used to describe the spacecraft's motion and attitude in its orbital plane, such as position, attitude, and velocity. The directions of the UNW coordinate axes are adjusted in real time as the spacecraft moves.

[0082] Based on some information from the aforementioned early warning documents, as well as station forecasts, shadow forecasts, spacecraft self-occlusion information, and solar angle forecasts, the designated time period was determined, as shown in Table 2:

[0083] Table 2

[0084]

[0085]

[0086] Table 2 shows the format, number, and storage path of any information in the warning document or warning document (including station forecast information, shadow forecast information, spacecraft self-occlusion information, and solar angle forecast information); as well as the observation station code corresponding to each hazardous object; and the set time period determined based on the information shown in Table 1, namely the start and end times of the search window in Table 2.

[0087] It should be noted that multiple ground-based observation stations jointly observe the spacecraft within an observation cycle. The information from these stations is integrated into a single early warning document and sent to the spacecraft so that it can carry out subsequent operations based on the warning document.

[0088] In this embodiment, the early warning file sent by the ground observation station uses the station forecast information, shadow forecast information, spacecraft self-occlusion information, and solar angle forecast information contained in the early warning file as time constraints to determine at least one observable time period for a set time period, and to determine multiple time intervals for each observable time period. This provides more pulse moment options for subsequent determination of avoidance strategies, improves the fault tolerance rate of calculating avoidance strategies, and thus indirectly improves the accuracy of collision avoidance.

[0089] Step 202: For any time interval, based on the spacecraft's initial orbit and the orbit of at least one hazardous object, determine at least one avoidance strategy within the time interval.

[0090] In this embodiment of the application, the evasion strategy includes the target pulse time and applying a target evasion velocity pulse to the spacecraft at the target pulse time.

[0091] Specifically, for any given time interval, the spacecraft's avoidance trajectory is determined based on its initial orbit and the orbit of at least one hazardous object. Based on the avoidance trajectory and the initial orbit, at least one avoidance strategy is determined within the time interval.

[0092] In some embodiments, for any pulse moment within a time interval, the spacecraft's avoidance trajectory is determined based on the spacecraft's initial orbit, the orbit of at least one hazardous object, and an avoidance threshold; the semi-major axis increment is determined based on the first semi-major axis of the avoidance trajectory and the second semi-major axis of the initial orbit; and the avoidance velocity pulse of the spacecraft at the pulse moment is calculated based on the correlation between the semi-major axis increment, the pulse moment, and the avoidance velocity pulse, thereby obtaining an avoidance strategy with the pulse moment and the avoidance velocity pulse.

[0093] Specifically, for a given time interval, multiple pulse moments can be determined by iterating through them, and the flight angle of the spacecraft from the pulse moment to the estimated rendezvous moment with any dangerous object can be calculated using the following formula (1).

[0094]

[0095] Where dθ represents the spacecraft's flight angle from the pulse moment to the estimated rendezvous moment; μ represents the gravitational constant of the central celestial body; a represents the second semi-major axis of the spacecraft's initial orbit; T c Indicates the preset pulse time; T j This indicates the estimated time of rendezvous between a dangerous object and a spacecraft.

[0096] Where dv represents the avoidance velocity pulse, and da is the semi-major axis increment between the first semi-major axis of the avoidance trajectory and the second semi-major axis of the initial trajectory.

[0097] Furthermore, based on the determined flight angle dθ, the spacecraft's initial orbit, and the pre-set avoidance threshold, the spacecraft's avoidance trajectory is determined. Based on the avoidance trajectory and the initial orbit, the offset distance dN required for the spacecraft to avoid the dangerous object in the N direction can be determined. Based on the offset distance dN and the flight angle calculated using formula (1), the specific data of the semi-major axis increment can be calculated. The formula for calculating the offset distance dN is shown in formula (2) below.

[0098]

[0099] Where da represents the semi-major axis increment; dN represents the offset distance dN required for the spacecraft to avoid the dangerous object in the N direction; and dθ represents the flight angle.

[0100] Substitute the semi-major axis increment obtained by formula (2) and the second semi-major axis of the initial trajectory into the expression characterizing the relationship between the semi-major axis increment and the avoidance velocity pulse, as shown in the following formula (3), to obtain the specific data of the avoidance velocity pulse.

[0101]

[0102] Where dv represents the avoidance velocity pulse; da represents the semi-major axis increment; a represents the second semi-major axis of the initial orbit; and μ represents the gravitational constant of the central object.

[0103] In this embodiment, the flight angle of the spacecraft from the reference pulse time to the estimated rendezvous time is obtained by using the spacecraft's initial orbital semi-major axis, the reference pulse time, and the estimated rendezvous time between the spacecraft and the potential object. This improves the calculation accuracy of the spacecraft's collision avoidance and simplifies the avoidance process of traversing and attempting to apply velocity pulses in the prior art.

[0104] Step 203: Predict whether there are any dangerous objects that pose a new collision risk after at least one avoidance strategy is executed, and determine the avoidance strategy that does not pose a new collision risk as the target avoidance strategy.

[0105] In this embodiment, multiple time intervals are first determined for the spacecraft to perform collision avoidance against at least one hazardous object within a set time period. For any given time interval, based on the spacecraft's initial orbit and the orbit of at least one hazardous object, at least one avoidance strategy is determined within that time interval. The avoidance strategy includes a target pulse moment and the application of a target avoidance velocity pulse to the spacecraft at the target pulse moment. By predicting whether a hazardous object with a new collision risk will occur after at least one avoidance strategy is executed, the avoidance strategy without a new collision risk is determined as the target avoidance strategy. This allows collision avoidance against at least one hazardous object to be performed simply by executing the target avoidance strategy, thereby reducing the coordination and communication time between various positions and the time for manual operation in the prior art, improving the automation and intelligence of collision avoidance calculation, and thus improving the efficiency of multi-target collision avoidance.

[0106] Specifically, for the multiple evasion strategies obtained, based on the pulse timing and velocity pulses contained in the evasion strategies, and combined with the orbital element files and spacecraft engine parameters, multiple sets of control parameters are determined in parallel. Each set of control parameters corresponds to one evasion strategy, and each set of control parameters includes: pulse timing, evasion velocity pulse, duration of the applied evasion velocity pulse, and spacecraft flight direction. The spacecraft engine is the core equipment for realizing spacecraft orbital maneuvers (such as orbit changes and adjustments to orbital parameters) and attitude control (such as spacecraft flight direction). Spacecraft parameters directly determine the spacecraft's maneuverability and mission lifespan. These parameters include: thrust, specific impulse, propellant type, propellant reserves, and start-up / start-up delay. The duration of the applied evasion velocity pulse is determined by the engine propellant usage and thrust, and the spacecraft's flight direction is determined based on the engine firing direction.

[0107] In some embodiments, for any evasion strategy, based on the evasion trajectory, the orbit of at least one hazardous object, and the orbit of other objects, the latest approach distance between the spacecraft and at least one hazardous object and other objects is predicted after the evasion strategy is executed; if all the latest approach distances satisfy the evasion principle, the evasion strategy is determined as a candidate evasion strategy; the candidate evasion strategy with the smallest evasion velocity pulse is selected as the target evasion strategy.

[0108] Specifically, the spacecraft's orbital elements file and the control parameter file (combined from the multiple sets of control parameters mentioned above) are input into a pre-trained avoidance trajectory prediction model. The model outputs the spacecraft's ephemeris for a future period corresponding to each set of control parameters (including the avoidance strategy). The orbital elements file is a standardized data file recording the spacecraft's on-orbit motion state, describing parameters of orbital shape, azimuth, and position, used to accurately calculate and predict the spacecraft's position, velocity, and orbital changes.

[0109] For example, given a set of control parameters, at time 'a', the spacecraft receives the orbital elements of its initial orbit. These control parameters instruct the spacecraft to apply a corresponding avoidance velocity pulse at a pulse time 'b' after time 'a'. The pre-trained avoidance trajectory prediction model can then predict the spacecraft's ephemeris for the next 7 days after pulse time 'b', based on the orbital elements and the set of control parameters. The ephemeris for these 7 days indicates the spacecraft's specific position and velocity in space at each moment, thus describing the avoidance trajectory after executing this set of control parameters (avoidance strategy). This step is performed for each set of control parameters (avoidance strategy).

[0110] Furthermore, for each avoidance strategy's predicted avoidance trajectory, the spacecraft's orbital elements file and the control parameter file (integrated from the multiple sets of control parameters mentioned above) are still input into the pre-trained avoidance trajectory error model. This allows the pre-trained avoidance trajectory error model to predict the positional offset of the avoidance trajectory relative to the initial orbit at each moment in the spacecraft's ephemeris over a future period. For example, the pre-trained avoidance trajectory error model determines the positional offset of the spacecraft's avoidance trajectory relative to the initial orbit over the next 7 days. Both the avoidance trajectory prediction model and the avoidance trajectory error model are time series prediction models, such as Long Short-Term Memory (LSTM) models and Gated Recurrent Unit (GRU) models; this application does not impose specific limitations on these.

[0111] Furthermore, after obtaining the spacecraft's avoidance trajectory and its positional offset relative to the initial trajectory after executing any avoidance strategy, for any avoidance trajectory, based on the spacecraft's ephemeris for the next 7 days, the latest approach distances of the spacecraft to multiple hazardous targets in the U, N, and W directions are calculated. Additionally, the latest approach distances of the spacecraft to other objects in space in the U, N, and W directions during a future period while operating on the avoidance trajectory are also calculated. If, when the spacecraft executes this avoidance strategy, the latest approach distances to at least one hazardous object and all other objects in the future satisfy the avoidance principle, then this avoidance strategy is determined as a candidate avoidance strategy.

[0112] Furthermore, the avoidance principle refers to the fact that the latest approach distance between any hazardous object or other object and the spacecraft in the N direction is greater than a pre-set avoidance threshold in the N direction; or, using principles such as perigee and apogee altitude, geocentric distance at the intersection point, and approach time, at least one hazardous object or other object is initially screened, and then further screened until it is determined that all the results of the further screening meet the avoidance principles in multiple dimensions such as perigee and apogee altitude, geocentric distance at the intersection point, and approach time. In this case, the avoidance strategy is determined as a candidate avoidance strategy. The avoidance principles in multiple dimensions such as perigee and apogee altitude, geocentric distance at the intersection point, and approach time are limited according to the actual situation, and this application does not make specific requirements in this regard.

[0113] If there are multiple candidate evasion strategies obtained through screening, the strategy with the smallest target evasion velocity pulse is selected first to save engine energy. Alternatively, weights can be set for the target pulse time and the target evasion velocity pulse in the evasion strategy. For any candidate evasion strategy, the target pulse time and the target evasion velocity pulse are weighted and summed. The strategy with the largest weighted sum among the multiple candidate evasion strategies is selected as the target evasion strategy.

[0114] In the embodiments of this application, for any avoidance strategy, the latest approach distance between the spacecraft and at least one dangerous object or other object in space after the spacecraft executes the avoidance strategy is predicted. When multiple latest approach distances satisfy the avoidance principle, the avoidance strategy is determined as a candidate avoidance strategy, ensuring that after the avoidance strategy is executed, the spacecraft operates on the avoidance trajectory and other objects will not become dangerous objects and have a collision impact on the spacecraft, thereby improving the accuracy and efficiency of spacecraft collision avoidance.

[0115] In some embodiments, if after the spacecraft executes any evasion strategy, the latest approach distances to at least one dangerous object and other objects do not satisfy the evasion principle, then at least one pulse moment is re-searched and determined for each time interval, and based on the re-determined at least one pulse moment, the evasion velocity pulse corresponding to each pulse moment is calculated to obtain at least one new evasion strategy for each time interval.

[0116] In some embodiments, if after the spacecraft executes at least one new avoidance strategy in each time interval, the latest approach distances to at least one dangerous object and other objects do not meet the avoidance principle, then the spacecraft executes the approach time of the latest approach distance and the recalculated avoidance strategy within the current time; based on the target pulse time and approach time of the new avoidance strategy, at least one time interval is redefined, and at least one new avoidance strategy for at least one time interval is calculated.

[0117] Specifically, if prediction reveals that for any avoidance strategy, the spacecraft will still face collision with at least one hazardous object or other object on the corresponding avoidance trajectory, then at least one pulse moment is redefined across multiple pulse intervals, and the corresponding avoidance velocity pulse is recalculated to obtain at least one new avoidance strategy. For any new avoidance strategy, the new avoidance trajectory after implementing the new avoidance strategy is determined again using the avoidance trajectory prediction model and the avoidance trajectory error model. The latest approach distance between the spacecraft and the hazardous object or other object on the new avoidance trajectory is calculated, and candidate avoidance strategies are redefined based on multiple latest approach distances. If no avoidance strategy satisfies the avoidance principle, the avoidance strategy with the furthest collision impact moment from the current moment is selected for execution. This allows for more time, enabling the spacecraft to re-determine at least one time interval based on the reserved time and calculate at least one new avoidance strategy based on the new time interval.

[0118] To more clearly illustrate the specific process of this invention, the following is combined with... Figure 3 This invention is described.

[0119] The spacecraft receives early warning result files, various forecast files, orbit files of hazardous targets (dangerous objects), and spacecraft orbit files from ground-based or space-based observation stations. Based on these files, the searchable avoidance window (set time period), observation stations, early warning calculation time intervals (observable time periods), and avoidance thresholds, multiple avoidable time intervals are ultimately determined. For each avoidable time interval, avoidance strategies are calculated. For each avoidance strategy, corresponding avoidance control parameters are determined. Based on these parameters, the theoretical avoidance trajectory after implementing the avoidance strategy is predicted using an avoidance trajectory prediction model and an avoidance trajectory error model. Next, the latest approach distance between the spacecraft and the hazardous target on the theoretical avoidance trajectory is determined, and it is judged whether the latest approach distance meets the avoidance threshold. The latest approach distances between the spacecraft and other targets (other objects) on the theoretical avoidance trajectory are also determined, and it is judged whether the latest approach distance meets the avoidance threshold. If all thresholds are met, the avoidance strategy is determined as a candidate avoidance strategy. The output result, i.e., the target avoidance strategy, is determined from the candidate avoidance strategies according to the selection principle. The spacecraft automatically executes the target avoidance strategy.

[0120] The following example, using a spacecraft and three dangerous targets (i.e., potential objects), illustrates the method for determining target avoidance strategies in this application, combined with a real-world scenario.

[0121] The spacecraft first receives early warning documents from the observation station, some of which are shown in Table 1. Based on the content of Table 1 and various forecast information, the set time period and other information are determined, as shown in Table 2. Specifically, the early warning documents also include the orbital element files for the three hazardous targets (i.e., dangerous objects), as shown in Table 3.

[0122] Table 3

[0123] project unit Dangerous Target 1 Dangerous Target 2 Dangerous Target 3 Era — 2025-02-05T08:00:00.000 2025-02-05T08:00:00.000 2025-02-05T08:00:00.000 semi-long shaft km 6770.526 6780.393 6759.203 Eccentricity — 0.00111 0.00253 0.00167 track inclination Spend 42.978 52.797 78.100 Right ascension of ascending node Spend 212.296 334.154 320.84 Perimeter Argument Spend 344.121 329.913 282.664 True near point angle Spend 248.491 137.671 166.758

[0124] In Table 3, epoch refers to the time reference of the spacecraft's orbit, and the epoch is used as the starting point for subsequent calculations of various information; semi-major axis refers to the semi-major axis of the spacecraft's initial orbit; eccentricity refers to the eccentricity of the spacecraft's initial orbit. Since the initial orbit is a circular orbit, the eccentricity in Table 1 is close to 0; orbital inclination refers to the angle between the orbital plane and the plane of the central celestial body; right ascension of the ascending node refers to the azimuth of the orbital plane; argument of perigee refers to the angle between the ascending node and the perigee in the orbital plane; and mean perigee refers to the average angle of the spacecraft relative to the perigee at the epoch.

[0125] Furthermore, the warning document also includes: the estimated rendezvous time (i.e., the estimated rendezvous time) of the three dangerous targets and the spacecraft, the estimated rendezvous distances in the U, N, and W directions, and the speeds relative to the spacecraft, as shown in Table 4.

[0126] Table 4

[0127]

[0128] Based on the received content and the orbital elements file of the initial orbit (as shown in Table 5), the spacecraft determines at least one time interval.

[0129] Table 5

[0130] project unit numerical values Era — 2025-02-05T08:00:00.000 semi-major axis a km 6771.810 Eccentricity e — 0.000572 orbital inclination i Spend 41.608 Ascending node right ascension Ω Spend 104.903 Perimeter argument w Spend 52.975 Angle f of the near point Spend 267.552

[0131] For example, when at least one observable time period is obtained by filtering a set time period, the observable time period is divided based on various forecast information to obtain multiple intervals as shown in Table 6. Among these multiple intervals, some intervals are abnormal observation periods. By removing the intervals with abnormal observation periods, multiple time intervals are obtained.

[0132] Table 6

[0133]

[0134]

[0135] Specifically, based on the above steps for calculating avoidance strategies, at least one avoidance strategy can be calculated for any given time interval.

[0136] Table 7

[0137] Avoidance strategy name Avoid controlling boot time Velocity increment (m / s) Station Name 1 2025-02-06T13:10:38.0508 0.572 CZ2 2 2025-02-06T14:42:13.1983 0.605 CZ2 3 2025-02-06T14:52:13.1983 0.366 CZ2 4 2025-02-06T16:20:15.0575 0.437 CZ2 5 2025-02-06T16:30:15.0575 0.317 CZ2 6 2025-02-06T17:52:39.3744 0.437 CZ2 7 2025-02-06T18:02:39.3744 0.317 CZ2 8 2025-02-06T19:19:42.7304 0.594 CZ1 9 2025-02-06T19:25:03.6870 0.437 CZ2 10 2025-02-06T19:35:03.6870 0.317 CZ2

[0138] As shown in Table 7, the available time intervals are the time intervals numbered 4, 7, 10, 13, 14, and 15 in Table 6. Specifically, the target pulse time for avoidance strategy 1 is within time interval 4; the target pulse time for avoidance strategy 2 is within time interval 7; the target pulse time for avoidance strategy 3 is within time interval 7; the target pulse time for avoidance strategy 4 is within time interval 10; the target pulse time for avoidance strategy 5 is within time interval 10; the target pulse time for avoidance strategy 6 is within time interval 13; the target pulse time for avoidance strategy 7 is within time interval 13; the target pulse time for avoidance strategy 8 is within time interval 14; the target pulse time for avoidance strategy 9 is within time interval 15; and the target pulse time for avoidance strategy 10 is within time interval 15. The avoidance control activation time is the pulse time, and the speed increment is the avoidance speed pulse.

[0139] For any evasion strategy, after determining the execution of the evasion strategy, the estimated rendezvous distances (i.e. the warning results with the dangerous targets) of the spacecraft and the three dangerous targets in the U, N, and W directions at the new estimated rendezvous time are shown in Table 8.

[0140] Table 8

[0141]

[0142] Furthermore, for any evasion strategy, the estimated rendezvous distances (i.e., warning results with dangerous targets) of the spacecraft and other potential targets (i.e., dangerous objects) in the U, N, and W directions at the new estimated rendezvous time after the evasion strategy is implemented are determined, as shown in Table 9.

[0143] Table 9

[0144]

[0145] Specifically, in this embodiment, based on the information in Tables 8 and 9, if the latest approach distance in the N direction is greater than 1 km, then the avoidance strategy is considered a candidate avoidance strategy. The obtained candidate avoidance strategies are shown in Table 10. That is, avoidance strategy 2 and avoidance strategy 5 are candidate avoidance strategies. If the avoidance speed pulse is given higher priority, then avoidance strategy 8 is determined as the target avoidance strategy, the corresponding avoidance control activation time is the target pulse time, and the corresponding speed increment is the target avoidance speed pulse.

[0146] Table 10

[0147] Avoidance strategy name Avoid controlling boot time Velocity increment (m / s) Station Name 2 2025-02-06T14:42:13.1983 0.605 CZ2 8 2025-02-06T19:19:42.7304 0.594 CZ1

[0148] Based on the same technical concept, this application provides a schematic diagram of the structure of a collision avoidance device, such as... Figure 4 As shown, the collision avoidance device 400 includes:

[0149] The determination module 401 is used to determine multiple time intervals in which the spacecraft performs collision avoidance against at least one hazardous object within a set time period;

[0150] Calculation module 402 is configured to determine at least one avoidance strategy for any given time interval, based on the spacecraft's initial orbit and the orbit of the at least one hazardous object; the avoidance strategy includes a target pulse moment and applying a target avoidance velocity pulse to the spacecraft at the target pulse moment;

[0151] Selection module 403 is used to predict whether there is a dangerous object that poses a new collision risk after at least one avoidance strategy is executed; and to determine the avoidance strategy that does not pose a new collision risk as the target avoidance strategy.

[0152] Optionally, the determining module 401 is specifically used for:

[0153] Based on the period of time during which the spacecraft can be continuously tracked by the telemetry and control facilities as observed by the observation station, at least one observable period is obtained from the set period.

[0154] By eliminating abnormal periods during which the spacecraft cannot be observed within each observable period, multiple time intervals are obtained for collision avoidance of at least one dangerous object.

[0155] Optionally, the calculation module 402 is specifically used for:

[0156] For any pulse moment within the time interval, the spacecraft's avoidance trajectory is determined based on the spacecraft's initial orbit, the orbit of the at least one hazardous object, and the avoidance threshold.

[0157] Based on the first semi-major axis of the avoidance trajectory and the second semi-major axis of the initial trajectory, determine the semi-major axis increment;

[0158] Based on the correlation between the semi-major axis increment, the pulse moment, and the avoidance velocity pulse, the avoidance velocity pulse of the spacecraft at the pulse moment is calculated, thereby obtaining the avoidance strategy with the pulse moment and the avoidance velocity pulse.

[0159] Optionally, the selection module 403 is specifically used for:

[0160] For any evasion strategy, based on the evasion trajectory, the orbit of the at least one hazardous object, and the orbits of other objects, predict the latest approach distance between the spacecraft and the at least one hazardous object and the other objects after the evasion strategy is executed; if all the latest approach distances satisfy the evasion principle, then the evasion strategy is determined as a candidate evasion strategy.

[0161] The candidate evasion strategy with the smallest evasion velocity impulse is selected as the target evasion strategy.

[0162] Optionally, the selection module 403 is further configured to:

[0163] If, after the spacecraft executes any evasion strategy, the latest approach distances to the at least one dangerous object and the other objects do not satisfy the evasion principle, then at least one pulse moment is re-searched and determined for each time interval, and based on the re-determined at least one pulse moment, the evasion velocity pulse corresponding to each pulse moment is calculated to obtain at least one new evasion strategy for each time interval.

[0164] Optionally, the selection module 403 is further configured to:

[0165] If, after the spacecraft executes at least one new avoidance strategy in each time interval, the latest approach distances to the at least one dangerous object and the other objects do not satisfy the avoidance principle, then the spacecraft executes the approach time of the latest approach distance and the avoidance strategy recalculated in the current time.

[0166] Based on the target pulse time and the approach time of the new avoidance strategy, at least one time interval is redefined, and at least one new avoidance strategy is calculated for the at least one time interval.

[0167] In this embodiment, multiple time intervals are determined for the spacecraft to perform collision avoidance against at least one hazardous object within a set time period. For any given time interval, based on the spacecraft's initial orbit and the orbit of at least one hazardous object, at least one avoidance strategy is determined within that time interval. The avoidance strategy includes a target pulse moment and the application of a target avoidance velocity pulse to the spacecraft at the target pulse moment. By predicting whether a hazardous object with a new collision risk will occur after at least one avoidance strategy is executed, the avoidance strategy without a new collision risk is determined as the target avoidance strategy. This allows collision avoidance against at least one hazardous object to be performed simply by executing the target avoidance strategy, thereby reducing the coordination and communication time between various positions and the time for manual operation in the prior art, improving the automation and intelligence of collision avoidance calculation, and thus improving the efficiency of multi-target collision avoidance.

[0168] Based on the same technical concept, embodiments of this application provide a computer device, which can be... Figure 1 The server shown is as follows: Figure 5 As shown, it includes at least one processor 501 and a memory 502 connected to at least one processor. In this embodiment, the specific linking medium between the processor 501 and the memory 502 is not limited. Figure 5 Taking the connection between processor 501 and memory 502 via a bus as an example, the bus can be divided into address bus, data bus, control bus, etc.

[0169] In this embodiment of the application, the memory 502 stores instructions executed by at least one processor 501. By executing the instructions stored in the memory 502, at least one processor 501 can perform the steps of the collision avoidance method described above.

[0170] The processor 501 is the control center of the computer device. It can connect to various parts of the computer device using various interfaces and lines. Collision avoidance is achieved by running or executing instructions stored in the memory 502 and calling data stored in the memory 502. Optionally, the processor 501 may include one or more processing modules. The processor 501 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 501. In some embodiments, the processor 501 and the memory 502 can be implemented on the same chip; in some embodiments, they can also be implemented on separate chips.

[0171] Processor 501 can be a general-purpose processor, such as a central processing unit (CPU), digital signal processor, application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0172] Memory 502, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 502 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. Memory 502 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer device, but is not limited thereto. In the embodiments of this application, memory 502 can also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0173] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing a computer program executable by a computer device, which, when run on the computer device, causes the computer device to perform the steps of the above-described collision avoidance method.

[0174] Based on the same inventive concept, embodiments of this application provide a computer program product, including a computer program stored on a computer-readable storage medium. The computer program includes program instructions, which, when executed by a computer device, cause the computer device to perform the steps of the above-described collision avoidance method.

[0175] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0176] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0177] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0178] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0179] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A collision avoidance method, characterized in that, Applied to spacecraft with an initial circular orbit, including: Determine multiple time intervals within which the spacecraft will perform collision avoidance against at least one hazardous object within a set time period; For any given time interval, based on the spacecraft's initial orbit and the orbit of the at least one hazardous object, at least one avoidance strategy is determined within that time interval; the avoidance strategy includes a target pulse moment and applying a target avoidance velocity pulse to the spacecraft at the target pulse moment; Predict whether there will be any dangerous objects that pose a new collision risk after at least one avoidance strategy is executed; identify the avoidance strategy that does not pose a new collision risk as the target avoidance strategy.

2. The method as described in claim 1, characterized in that, The determination of multiple time intervals within which the spacecraft performs collision avoidance against at least one hazardous object within a set time period includes: Based on the period of time during which the spacecraft can be continuously tracked by the telemetry and control facilities as observed by the observation station, at least one observable period is obtained from the set period. By eliminating abnormal periods during which the spacecraft cannot be observed within each observable period, multiple time intervals are obtained for collision avoidance of at least one dangerous object.

3. The method as described in claim 1, characterized in that, Based on the spacecraft's initial orbit and the orbit of the at least one hazardous object, determine at least one avoidance strategy within the time interval, including: For any pulse moment within the time interval, the spacecraft's avoidance trajectory is determined based on the spacecraft's initial orbit, the orbit of the at least one hazardous object, and the avoidance threshold. Based on the first semi-major axis of the avoidance trajectory and the second semi-major axis of the initial trajectory, determine the semi-major axis increment; Based on the correlation between the semi-major axis increment, the pulse moment, and the avoidance velocity pulse, the avoidance velocity pulse of the spacecraft at the pulse moment is calculated, thereby obtaining the avoidance strategy with the pulse moment and the avoidance velocity pulse.

4. The method according to any one of claims 1 to 3, characterized in that, The prediction determines whether, after at least one avoidance strategy is executed, there is a dangerous object posing a new collision risk. Avoidance strategies that do not pose a new collision risk are identified as target avoidance strategies, including: For any evasion strategy, based on the evasion trajectory, the orbit of the at least one hazardous object, and the orbits of other objects, predict the latest approach distance between the spacecraft and the at least one hazardous object and the other objects after the evasion strategy is executed; if all the latest approach distances satisfy the evasion principle, then the evasion strategy is determined as a candidate evasion strategy. The candidate evasion strategy with the smallest evasion velocity impulse is selected as the target evasion strategy.

5. The method as described in claim 4, characterized in that, The prediction, following the latest approach distances of the spacecraft to the at least one hazardous object and the other objects after the avoidance strategy is executed, further includes: If, after the spacecraft executes any evasion strategy, the latest approach distances to the at least one dangerous object and the other objects do not satisfy the evasion principle, then at least one pulse moment is re-searched and determined for each time interval, and based on the re-determined at least one pulse moment, the evasion velocity pulse corresponding to each pulse moment is calculated to obtain at least one new evasion strategy for each time interval.

6. The method as described in claim 5, characterized in that, After obtaining at least one new avoidance strategy for each time interval, the method further includes: If, after the spacecraft executes at least one new avoidance strategy in each time interval, the latest approach distances to the at least one dangerous object and the other objects do not satisfy the avoidance principle, then the spacecraft executes the approach time of the latest approach distance and the avoidance strategy recalculated in the current time. Based on the target pulse time and the approach time of the new avoidance strategy, at least one time interval is redefined, and at least one new avoidance strategy is calculated for the at least one time interval.

7. A collision avoidance device, characterized in that, include: The determination module is used to determine multiple time intervals within a set time period for the spacecraft to perform collision avoidance against at least one hazardous object; A calculation module is used to determine at least one avoidance strategy for any given time interval, based on the spacecraft's initial orbit and the orbit of the at least one hazardous object; the avoidance strategy includes a target pulse moment and applying a target avoidance velocity pulse to the spacecraft at the target pulse moment; The selection module is used to predict whether there will be any dangerous objects that pose a new collision risk after at least one avoidance strategy is executed; and to determine the avoidance strategy that does not pose a new collision risk as the target avoidance strategy.

8. A computer device, characterized in that, include: Memory, used to store program instructions; A processor is configured to invoke program instructions stored in the memory and execute the steps of the method according to any one of claims 1 to 6 in accordance with the obtained program.

9. A computer-readable storage medium, characterized in that, It stores a computer program executable by a computer device, which, when run on the computer device, causes the computer device to perform the steps of the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program stored on a computer-readable storage medium, the computer program including program instructions that, when executed by a computer device, cause the computer device to perform the steps of the method as described in any one of claims 1 to 6.

Images