Method and device for free conversion between space coordinate systems for solar system space flight design simulation

Abstract

This application relates to the field of orbital dynamics design and simulation technology, and provides a method and apparatus for free transformation between spatial coordinate systems for solar system spacecraft design and simulation. This method transforms the position and velocity of different coordinate systems to the celestial coordinate system for origin transformation, and then rotates to the target coordinate system. This allows position and velocity to be arbitrarily transformed between coordinate systems included in the coordinate transformation model library. Furthermore, when expanding to a new coordinate system, only the transformation function between the new coordinate system and the co-centered celestial coordinate system is needed, without having to calculate the transformation functions between the new coordinate system and all other coordinate systems separately. This achieves effective organization of scattered coordinate system transformation relationships, facilitating the design and simulation of spacecraft missions and reducing the workload generated by transformations between multiple spatial coordinate systems.

Description

Technical Field

[0001] This application relates to the field of orbital dynamics design and simulation technology, and in particular to a method and apparatus for free transformation between space coordinate systems for aerospace design and simulation in the solar system. Background Technology

[0002] Coordinate transformation between spatial systems is a crucial foundation for orbital dynamics design and simulation. Simulation design often requires coordinate transformations to utilize laws that are simpler in other coordinate systems, such as calculating higher-order perturbations of celestial bodies and using special solutions to restricted three-body models. Furthermore, in missions involving deep space targets, the central celestial body of the dynamic model may change during spacecraft flight, necessitating position and velocity transformations between spatial coordinate systems for further calculations. Coordinate transformation is also critical in simulations involving telemetry, tracking, and command (TT&C), landing, and exploration, and the relationships between these transformations are often more complex.

[0003] Therefore, there is an urgent need for a convenient and efficient method for transforming between spatial coordinate systems. Summary of the Invention

[0004] In view of this, the embodiments of this application provide a method and apparatus for free transformation between space coordinate systems for aerospace design simulation in the solar system, so as to solve the problem that there is no solution for free transformation between space coordinate systems in the prior art.

[0005] A first aspect of this application provides a method for free transformation between space coordinate systems for aerospace design simulation in the solar system, including:

[0006] Obtain the position and velocity in the initial coordinate system;

[0007] Convert the position and velocity in the initial coordinate system to the position and velocity in the first celestial coordinate system; the first celestial coordinate system is the celestial coordinate system centered on the celestial body at the center of the initial coordinate system.

[0008] The relative position and relative velocity between the first and second bodies at the target time are obtained through celestial ephemeris; the first body is the center of the starting coordinate system and the second body is the center of the target coordinate system.

[0009] The position and velocity in the first celestial coordinate system are converted to the position and velocity in the second celestial coordinate system based on relative position and relative motion velocity; the second celestial coordinate system is a celestial coordinate system centered on the celestial body at the center of the target coordinate system.

[0010] The position and velocity in the second spherical coordinate system are converted to the position and velocity in the target coordinate system, thus completing the coordinate system transformation.

[0011] A second aspect of this application provides a device for free transformation between space coordinate systems for aerospace design simulation in the solar system, comprising:

[0012] The acquisition module is configured to acquire the position and velocity in the initial coordinate system.

[0013] The conversion module is configured to convert the position and velocity in the initial coordinate system to the position and velocity in the first celestial coordinate system; the first celestial coordinate system is a celestial coordinate system centered on the celestial body at the center of the initial coordinate system.

[0014] The acquisition module is also configured to obtain the relative position and relative velocity between the first and second bodies at the target time through celestial ephemeris; the first body is the center body of the starting coordinate system, and the second body is the center body of the target coordinate system;

[0015] The conversion module is also configured to convert the position and velocity in the first celestial coordinate system to the position and velocity in the second celestial coordinate system based on the relative position and relative motion velocity; the second celestial coordinate system is a celestial coordinate system centered on the celestial body at the center of the target coordinate system;

[0016] The conversion module is also configured to convert the position and velocity in the second spherical coordinate system to the position and velocity in the target coordinate system, thus completing the coordinate system conversion.

[0017] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0018] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0019] The beneficial effects of the embodiments in this application compared with the prior art are:

[0020] This application's embodiments achieve this by first transforming the position and velocity from different coordinate systems to the celestial coordinate system for origin transformation, and then rotating them to the target coordinate system. This allows position and velocity to be arbitrarily transformed between coordinate systems included in the coordinate transformation model library. Furthermore, when expanding to a new coordinate system, only the transformation function between the new coordinate system and the co-centered celestial coordinate system is needed; there is no need to calculate the transformation functions between the new coordinate system and all other coordinate systems separately. This achieves effective organization of scattered coordinate system transformation relationships, facilitating the design and simulation of aerospace missions and reducing the workload generated by transformations between multiple space coordinate systems. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart illustrating a method for free transformation between spatial coordinate systems in aerospace design simulation for the solar system, provided in an embodiment of this application.

[0023] Figure 2 This is a flowchart illustrating another method for free transformation between space coordinate systems in aerospace design simulation for the solar system, provided in an embodiment of this application.

[0024] Figure 3 This is a schematic diagram of a device for free transformation between space coordinate systems for aerospace design simulation in the solar system, provided in an embodiment of this application.

[0025] Figure 4 This is a schematic diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0026] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0027] The following describes in detail, with reference to the accompanying drawings, a method and apparatus for free transformation between space coordinate systems for aerospace design simulation in the solar system, according to an embodiment of this application.

[0028] As mentioned above, coordinate system transformations are widely used in orbital dynamics design and simulation, deep space missions, and in telemetry, tracking, and landing exploration. Related technologies typically achieve coordinate system transformations by calculating transformation functions for the initial and target coordinate systems; currently, there is no solution for free transformation between coordinate systems. Methods that independently calculate the transformation function are computationally complex and, after defining a new coordinate system, require independent calculation of the transformation function between the new and target coordinate systems, resulting in low efficiency.

[0029] In view of this, this application provides a method for free transformation between spatial coordinate systems for aerospace design simulation in the solar system. By first transforming the position and velocity of different coordinate systems to the celestial coordinate system for origin transformation, and then rotating to the target coordinate system, position and velocity can be arbitrarily transformed between coordinate systems included in the coordinate transformation model library. Furthermore, when expanding to a new coordinate system, only the transformation function between the new coordinate system and the co-centered celestial coordinate system is needed, without having to calculate the transformation functions between the new coordinate system and all other coordinate systems separately. This achieves effective organization of scattered coordinate system transformation relationships, facilitating the design and simulation of aerospace missions and reducing the workload generated by transformations between multiple spatial coordinate systems.

[0030] Figure 1 This is a flowchart illustrating a method for free transformation between space coordinate systems in aerospace design simulation for the solar system, provided in an embodiment of this application. Figure 1 As shown, the method includes the following steps:

[0031] In step S101, the position and velocity in the initial coordinate system are obtained.

[0032] In step S102, the position and velocity in the initial coordinate system are converted to the position and velocity in the first celestial coordinate system.

[0033] Among them, the first celestial coordinate system is the celestial coordinate system centered on the celestial body at the center of the initial coordinate system.

[0034] In step S103, the relative position and relative velocity between the first and second bodies at the target time are obtained through celestial ephemeris.

[0035] In this context, the first celestial body is the central celestial body of the initial coordinate system, and the second celestial body is the central celestial body of the target coordinate system.

[0036] In step S104, the position and velocity in the first spherical coordinate system are converted into the position and velocity in the second spherical coordinate system based on the relative position and relative motion velocity.

[0037] Among them, the second celestial coordinate system is the celestial coordinate system centered on the celestial body at the center of the target coordinate system.

[0038] In step S105, the position and velocity in the second spherical coordinate system are converted to the position and velocity in the target coordinate system, thus completing the coordinate system transformation.

[0039] In some embodiments of this application, the method can be executed by a server or by a terminal device with certain processing capabilities to realize the transformation from the starting coordinate system to the target coordinate system.

[0040] In some embodiments of this application, the position and velocity in the initial coordinate system can be obtained first, and then the position and velocity in the initial coordinate system can be converted into the position and velocity in the first celestial coordinate system. The first celestial coordinate system can be a celestial coordinate system centered on the celestial body at the center of the initial coordinate system.

[0041] In some embodiments of this application, the relative position and relative velocity between the first and second celestial bodies at the target time can also be obtained through celestial ephemeris. Here, the first celestial body is the center of the initial coordinate system, and the second celestial body is the center of the target coordinate system.

[0042] In some embodiments of this application, the position and velocity in the first celestial coordinate system can be converted to the position and velocity in the second celestial coordinate system based on the relative position and relative motion velocity. The second celestial coordinate system can be a celestial coordinate system centered on the central celestial body of the target coordinate system.

[0043] Finally, the position and velocity in the second spherical coordinate system are converted to the position and velocity in the target coordinate system to complete the coordinate system transformation.

[0044] According to the technical solution provided in this application, by first transforming the position and velocity of different coordinate systems to the celestial coordinate system for origin transformation, and then rotating to the target coordinate system, the position and velocity can be arbitrarily transformed between coordinate systems included in the coordinate transformation model library. Simultaneously, when expanding to a new coordinate system, only the transformation function between the new coordinate system and the co-centered celestial coordinate system is needed, without having to calculate the transformation functions between the new coordinate system and all other coordinate systems separately. This achieves effective organization of scattered coordinate system transformation relationships, facilitating the design and simulation of aerospace missions and reducing the workload generated by transformations between multiple space coordinate systems.

[0045] In some embodiments of this application, the first celestial body is denoted as... The second day's physical examination was recorded as follows The name of the initial coordinate system is denoted as The name of the target coordinate system is denoted as The position and velocity in the initial coordinate system are denoted as . ,in This represents the position in the initial coordinate system. Given the velocity in the initial coordinate system, to convert the position and velocity in the initial coordinate system to the position and velocity in the first celestial coordinate system, we can first calculate the first spatial transformation matrix from the initial coordinate system to the first celestial coordinate system. and the angular velocity vector of the first coordinate system Then based on the conversion formula Obtain the position and velocity in the first spherical coordinate system ;in This is the position in the first celestial coordinate system. This represents the velocity in the first spherical coordinate system.

[0046] In some embodiments of this application, the relative position between the first body and the second body may include the relative position from the first body to the second body. The relative velocity between the first and second bodies can include the velocity of the second body relative to the first body. At this point, converting the position and velocity in the first spherical coordinate system to the position and velocity in the second spherical coordinate system based on relative position and relative motion velocity can include determining the position in the first spherical coordinate system. and relative position The difference is the position in the second spherical coordinate system. ; and, determine the velocity in the first spherical coordinate system. With relative motion velocity The difference is the velocity in the second spherical coordinate system. .

[0047] That is, it can be done through formula The position and velocity in the second spherical coordinate system were calculated. .

[0048] In some embodiments of this application, converting position and velocity in the second spherical coordinate system to position and velocity in the target coordinate system may include determining a second spatial transformation matrix from the second spherical coordinate system to the target coordinate system according to the definition of the target coordinate system. Second coordinate system rotation angular velocity vector Based on the conversion formula Obtain the position and velocity in the target coordinate system ;in The position in the target coordinate system. The velocity is in the target coordinate system.

[0049] In some embodiments of this application, the target time can be determined based on the solar system center-of-mass dynamics time.

[0050] The following example, using the conversion between the Venusian fixed coordinate system and the Mars fixed coordinate system, details the method for free transformation between spatial coordinate systems provided in this application for aerospace design simulation of the solar system. In this case, the starting coordinate system is the Venusian fixed coordinate system, and the target coordinate system is the Mars fixed coordinate system.

[0051] Let the obtained position and velocity in the fixed Venusian coordinate system be... ,in This refers to the position in the fixed coordinate system of Venus, with units of kilometers (km). ), The velocity is in the fixed coordinate system of Venus, and its unit is kilometers per second (km / s). The starting coordinate system is centered on Venus, the starting coordinate system is a fixed system of Venus, the target coordinate system is centered on Mars, the target coordinate system is named a fixed system of Mars, and the dynamic time of the solar system's center of mass is 2460676 TDB.

[0052] We can first calculate the spatial transformation matrix from the Venusian fixed coordinate system to a coordinate system centered on Venus, based on the definition of the Venusian fixed coordinate system. ; and the angular velocity vector of the fixed coordinate system relative to the celestial coordinate system. , The unit is radians per second (rad / s).

[0053] Then position velocity Transform to a coordinate system with Venus as the center of the celestial sphere, and obtain ,in , .

[0054] Next, using the de430 celestial ephemeris, we can obtain the relative position of Venus pointing towards Mars in a coordinate system with Venus as the center of the celestial sphere at time 2460676 (TDB). Venus's velocity relative to Mars for .

[0055] Reuse Will Transform to a coordinate system centered on Mars on the celestial sphere, and obtain .

[0056] Next, based on the definition of the Mars fixed coordinate system, the spatial transformation matrix from the coordinate system centered on Mars to the Mars fixed coordinate system is calculated. And the rotational angular velocity vector of the fixed coordinate system relative to the celestial coordinate system. .

[0057] Finally, The final transformation result is obtained by converting from a coordinate system centered on Mars to a fixed Martian coordinate system. ,in, , .

[0058] Figure 2 This is a flowchart illustrating another method for free transformation between space coordinate systems in aerospace design simulation for the solar system, provided in an embodiment of this application. Figure 2 Step S201 in the illustrated embodiment and Figure 1 Step S101 in the illustrated embodiment is basically the same, and Figure 2 Steps S204 to S206 in the illustrated embodiment are Figure 1 Steps S103 to S105 in the illustrated embodiment are basically the same and will not be repeated here. Figure 2 As shown, the method also includes the following steps:

[0059] In step S202, in response to determining that the initial coordinate system is a newly added coordinate system centered on the first celestial body, the transformation relationship between the newly added coordinate system and the known coordinate system is obtained.

[0060] Among them, the known coordinate system is also centered on the first celestial body.

[0061] In step S203, the position and velocity in the initial coordinate system are converted to the position and velocity in the known coordinate system, and then the position and velocity in the known coordinate system are converted to the position and velocity in the first celestial coordinate system.

[0062] In some embodiments of this application, when the initial coordinate system is a newly added coordinate system centered on the first celestial body, the transformation relationship between the newly added coordinate system and the known coordinate system can be obtained first. Then, the position and velocity in the initial coordinate system can be converted into the position and velocity in the known coordinate system. Next, the position and velocity in the known coordinate system can be converted into the position and velocity in the first celestial body coordinate system. Then, based on the position and velocity in the first celestial body coordinate system and the relative position and relative motion velocity between the first and second celestial bodies, the position and velocity in the second celestial body coordinate system can be determined. Finally, the position and velocity in the second celestial body coordinate system can be converted into the position and velocity in the target coordinate system.

[0063] Taking the initial coordinate system as the Mars launch coordinate system and the target coordinate system as the Earth fixed coordinate system as an example, the position and velocity in the Mars launch coordinate system can first be obtained as follows: ,in This is the position in the Mars launch coordinate system. The velocity is given in the Mars launch coordinate system; the solar system center of mass dynamics time 2460676 (TDB) can also be obtained, the launch location longitude is 110.95° East, the launch latitude is 19.63° North, the launch direction is 90 degrees (deg), and the launch altitude is 0 (based on the Mars ellipsoid model).

[0064] Position and velocity in the Mars launch coordinate system can be used Transform to the Mars fixed coordinate system to obtain for .

[0065] Then you can refer to Figure 1 The method provided in the illustrated embodiment will... Transform to Earth-fixed coordinate system to obtain .

[0066] To verify the technical effectiveness of the technical solution provided in the embodiments of this application, a comparative experiment was designed. Taking the conversion between the fixed galaxy of Venus and the fixed galaxy of Mars as an example, on the one hand, coordinate system transformation calculations were performed using the method provided in the embodiments of this application; on the other hand, coordinate system transformation calculations were performed using STK (Satellite Tool Kit, a software toolkit developed by Analytical Graphics Inc. in the United States, used to support the entire process of a space mission cycle, providing an analysis engine for data calculation). The comparison results are shown in Table 1:

[0067] Table 1 Comparative Experimental Results

[0068]

[0069] Where X, Y, and Z are the three-dimensional distance values ​​after coordinate transformation, and vx, vy, and vz are the three-dimensional velocity values ​​after coordinate transformation. As shown in Table 1, the calculation results using the method provided in this application embodiment deviate little from the calculation results obtained using the STK method. Because the method provided in this application embodiment has low computational complexity, it can significantly improve the efficiency of coordinate transformation without significantly sacrificing accuracy.

[0070] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0071] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0072] Figure 3 This is a schematic diagram of a device for free transformation between space coordinate systems for aerospace design simulation in the solar system, provided in an embodiment of this application. Figure 3 As shown, the device includes:

[0073] The acquisition module 301 is configured to acquire the position and velocity in the initial coordinate system.

[0074] The conversion module 302 is configured to convert the position and velocity in the initial coordinate system to the position and velocity in the first celestial coordinate system; the first celestial coordinate system is a celestial coordinate system centered on the celestial body at the center of the initial coordinate system.

[0075] The acquisition module 301 is also configured to acquire the relative position and relative velocity between the first and second bodies at the target time through celestial ephemeris; the first body is the center body of the starting coordinate system, and the second body is the center body of the target coordinate system.

[0076] The conversion module 302 is also configured to convert the position and velocity in the first celestial coordinate system to the position and velocity in the second celestial coordinate system based on the relative position and relative motion velocity; the second celestial coordinate system is a celestial coordinate system centered on the celestial body at the center of the target coordinate system.

[0077] The conversion module 302 is also configured to convert the position and velocity in the second spherical coordinate system to the position and velocity in the target coordinate system, thereby completing the coordinate system conversion.

[0078] According to the technical solution provided in this application, by first transforming the position and velocity of different coordinate systems to the celestial coordinate system for origin transformation, and then rotating to the target coordinate system, the position and velocity can be arbitrarily transformed between coordinate systems included in the coordinate transformation model library. Simultaneously, when expanding to a new coordinate system, only the transformation function between the new coordinate system and the co-centered celestial coordinate system is needed, without having to calculate the transformation functions between the new coordinate system and all other coordinate systems separately. This achieves effective organization of scattered coordinate system transformation relationships, facilitating the design and simulation of aerospace missions and reducing the workload generated by transformations between multiple space coordinate systems.

[0079] In some implementations, the position and velocity in the initial coordinate system are ;in This represents the position in the initial coordinate system. The velocity is given in the initial coordinate system; the position and velocity in the initial coordinate system are converted to the position and velocity in the first celestial coordinate system, including: calculating the first spatial transformation matrix from the initial coordinate system to the first celestial coordinate system. and the angular velocity vector of the first coordinate system Based on the conversion formula Obtain the position and velocity in the first spherical coordinate system ;in This is the position in the first celestial coordinate system. This represents the velocity in the first spherical coordinate system.

[0080] In some implementations, the relative position between the first and second bodies includes the relative position from the first body to the second body. The relative velocity between the first and second bodies includes the velocity of the second body relative to the first body. .

[0081] In some implementations, converting the position and velocity in the first spherical coordinate system to the position and velocity in the second spherical coordinate system based on relative position and relative motion velocity includes: determining the position in the first spherical coordinate system. and relative position The difference is the position in the second spherical coordinate system. ; and, determine the velocity in the first spherical coordinate system. With relative motion velocity The difference is the velocity in the second spherical coordinate system. .

[0082] In some implementations, converting the position and velocity in the second spherical coordinate system to the position and velocity in the target coordinate system includes: determining a second spatial transformation matrix from the second spherical coordinate system to the target coordinate system according to the definition of the target coordinate system. Second coordinate system rotation angular velocity vector Based on the conversion formula Obtain the position and velocity in the target coordinate system ;in The position in the target coordinate system. The velocity is in the target coordinate system.

[0083] In some implementations, the method further includes: in response to determining that the initial coordinate system is a new coordinate system centered on the first celestial body, obtaining the transformation relationship between the new coordinate system and the known coordinate system; the known coordinate system is also centered on the first celestial body; converting the position and velocity in the initial coordinate system to the position and velocity in the known coordinate system, and then converting the position and velocity in the known coordinate system to the position and velocity in the first celestial body coordinate system.

[0084] In some implementations, the target time is determined based on the solar system's center-of-mass dynamics time.

[0085] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0086] Figure 4 This is a schematic diagram of the electronic device provided in an embodiment of this application. For example... Figure 4 As shown, the electronic device 4 of this embodiment includes: a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and executable on the processor 401. When the processor 401 executes the computer program 403, it implements the steps in the various method embodiments described above. Alternatively, when the processor 401 executes the computer program 403, it implements the functions of each module / unit in the various device embodiments described above.

[0087] Electronic device 4 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 4 may include, but is not limited to, processor 401 and memory 402. Those skilled in the art will understand that... Figure 4 This is merely an example of electronic device 4 and does not constitute a limitation on electronic device 4. It may include more or fewer components than shown, or different components.

[0088] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0089] The memory 402 can be an internal storage unit of the electronic device 4, such as a hard disk or RAM of the electronic device 4. The memory 402 can also be an external storage device of the electronic device 4, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the electronic device 4. The memory 402 can also include both internal and external storage units of the electronic device 4. The memory 402 is used to store computer programs and other programs and data required by the electronic device.

[0090] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0091] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0092] 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for free transformation between space coordinate systems for aerospace design simulation in the solar system, characterized in that, include: Obtain the position and velocity in the initial coordinate system; Convert the position and velocity in the initial coordinate system to the position and velocity in the first celestial coordinate system; The first celestial coordinate system is a celestial coordinate system centered on the central celestial body of the initial coordinate system; The relative position and relative velocity between the first and second celestial bodies at the target time are obtained through celestial ephemeris; the first celestial body is the center celestial body of the initial coordinate system, and the second celestial body is the center celestial body of the target coordinate system. Based on the relative position and the relative motion velocity, the position and velocity in the first celestial coordinate system are converted to the position and velocity in the second celestial coordinate system; the second celestial coordinate system is a celestial coordinate system centered on the celestial body at the center of the target coordinate system. The position and velocity in the second celestial coordinate system are converted to the position and velocity in the target coordinate system, thus completing the coordinate system transformation.

2. The method according to claim 1, characterized in that, The position and velocity in the initial coordinate system are ;in This refers to the position in the initial coordinate system. The velocity in the initial coordinate system; Converting the position and velocity in the initial coordinate system to the position and velocity in the first celestial coordinate system includes: Calculate the first spatial transformation matrix from the initial coordinate system to the first celestial coordinate system. and the angular velocity vector of the first coordinate system ; Based on the conversion formula The position and velocity in the first celestial coordinate system are obtained. ;in This represents the position in the first celestial coordinate system. The velocity is in the first celestial coordinate system.

3. The method according to claim 1, characterized in that, The relative positions between the first and second bodies include the relative positions from the first body to the second body. ; The relative velocity between the first and second bodies includes the velocity of the second body relative to the first body. .

4. The method according to claim 3, characterized in that, Converting the position and velocity in the first celestial coordinate system to the position and velocity in the second celestial coordinate system based on the relative position and the relative motion velocity includes: Determine the position in the first celestial coordinate system With respect to the relative position The difference is the position in the second spherical coordinate system. ; And, determine the velocity in the first celestial coordinate system. With the relative velocity The difference is the velocity in the second spherical coordinate system. .

5. The method according to claim 1, characterized in that, Converting the position and velocity in the second spherical coordinate system to the position and velocity in the target coordinate system includes: Determine the second spatial transformation matrix from the second celestial coordinate system to the target coordinate system based on the definition of the target coordinate system. Second coordinate system rotation angular velocity vector ; Based on the conversion formula The position and velocity in the target coordinate system are obtained. ;in The position in the target coordinate system. The velocity in the target coordinate system, This refers to the position in the second spherical coordinate system. Let be the velocity in the second spherical coordinate system.

6. The method according to claim 1, characterized in that, The method further includes: In response to determining that the initial coordinate system is a new coordinate system centered on the first celestial body, the transformation relationship between the new coordinate system and the known coordinate system is obtained; the known coordinate system is also centered on the first celestial body. The position and velocity in the initial coordinate system are converted into the position and velocity in the known coordinate system, and then the position and velocity in the known coordinate system are converted into the position and velocity in the first celestial coordinate system.

7. The method according to claim 1, characterized in that, The target time is determined based on the dynamic time of the solar system's center of mass.

8. A device for free transformation between space coordinate systems for aerospace design simulation in the solar system, characterized in that, include: The acquisition module is configured to acquire the position and velocity in the initial coordinate system. The conversion module is configured to convert the position and velocity in the initial coordinate system to the position and velocity in the first celestial coordinate system; the first celestial coordinate system is a celestial coordinate system centered on the celestial body at the center of the initial coordinate system. The acquisition module is further configured to acquire the relative position and relative velocity between the first and second celestial bodies at the target time through celestial ephemeris; the first celestial body is the center celestial body of the starting coordinate system, and the second celestial body is the center celestial body of the target coordinate system. The conversion module is further configured to convert the position and velocity in the first celestial coordinate system to the position and velocity in the second celestial coordinate system based on the relative position and the relative motion velocity; the second celestial coordinate system is a celestial coordinate system centered on the celestial body at the center of the target coordinate system. The conversion module is also configured to convert the position and velocity in the second celestial coordinate system into the position and velocity in the target coordinate system, thereby completing the coordinate system conversion.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 7.

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

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