A track behavior dataset construction method, system, device and storage medium

Abstract

The application discloses a kind of track behavior dataset construction method, system, equipment and storage medium, belong to aerospace technology field, based on track behavior dataset construction system realizes track behavior dataset construction method, this method is a kind of track behavior formation condition classification method based on relative orbit dynamics, with the advantages such as simple model, clear physical meaning and construction condition controllable etc..The application first defines the definition of "track behavior", analyzes formation condition, and introduces random information in condition, forms different track behavior "family", different data sets can be constructed for different orbital height, space area and detection perception ability, so as to provide data samples for space safety maneuver, space orbit game and other academic research, engineering application.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aerospace technology, and relates to a systematic classification technology of abnormal behavior based on relative orbit dynamics equations, and particularly relates to an orbit behavior data set construction method, system, device and storage medium. BACKGROUND

[0002] With the development of space technology, the number of space vehicles in orbit is increasing. Currently, there are tens of thousands of trackable man-made objects flying around the Earth, of which only more than 2,000 are in normal operation, and the rest are failed space vehicles or space debris left over from the disintegration of space vehicles. Failed space vehicles, space debris and unknown space vehicles (unable to identify identity) are collectively referred to as space non-cooperative target spacecraft, simply referred to as non-cooperative target. The existence of these space non-cooperative target spacecraft occupies the orbital resources on the one hand, and on the other hand, it may collide with normal spacecraft, thereby bringing potential safety hazards to the operation of the latter. We call the relative orbit that has potential threats and safety hazards the "orbital behavior of non-cooperative targets". Therefore, it is extremely important to realize the orbit prediction and safety warning of non-cooperative targets and implement orbit maneuver for effective avoidance of in-orbit spacecraft.

[0003] Currently, the methods for orbit prediction and safety warning of non-cooperative targets mainly focus on collision risk assessment of space targets, and the commonly used methods include collision warning area method and collision probability method[1][2], and these methods mainly use distance as an evaluation index. However, these methods have various shortcomings. For a specific in-orbit spacecraft, the relative orbit configuration naturally formed by some space debris has different degrees of threat to the in-orbit spacecraft. For example, if the non-cooperative target can hit the in-orbit spacecraft under the natural evolution of space dynamics, even if the distance is far, there is still a great threat. Similarly, the natural trajectory of some non-cooperative targets is just "flying" past the in-orbit spacecraft, so even if the distance is close, the threat degree is relatively low. Therefore, when evaluating the threat of space non-cooperative target spacecraft to in-orbit spacecraft, the natural orbit configuration of the space non-cooperative target spacecraft needs to be considered. However, so far, there is no definition and systematic description of the natural configuration of non-cooperative target spacecraft that has potential threats.

[0004] REFERENCES

[0005] [1] Li C, Liu C, Ouyang Q, et al. Research on collision warning avoidance threshold setting method during orbit control of large elliptical orbit[J]. Manned Space, 2021.

[0006] [2] Gao S. Research on the impact sensitivity of disintegration debris on spacecraft in the early evolution stage[D]. Harbin Institute of Technology. SUMMARY

[0007] To solve the above technical problems, the application provides a track behavior dataset construction method, system, device and storage medium, the application proposes the concept of "non-cooperative target spacecraft track behavior", and constructs the "track behavior dataset" based on the formation condition of "track behavior". The significance mainly lies in: 1. The natural configuration of the non-cooperative target spacecraft which forms a potential threat to the on-orbit spacecraft is systematically classified and defined, which is an important prerequisite for studying the relative track threat to the on-orbit spacecraft. 2. Different datasets can be constructed for different orbital altitudes, space regions and detection and perception capabilities. Thus, data samples are provided for space safety maneuver, space track game and other academic research and engineering applications.

[0008] In order to achieve the above purpose, the technical scheme of the application is as follows:

[0009] A track behavior dataset construction method, comprising the following steps:

[0010] S1: defining multiple track behaviors of non-cooperative targets and the corresponding formation conditions of each track behavior;

[0011] S2: setting the reference spacecraft orbital altitude H and the spaceborne device detection distance L max ;

[0012] S3: setting the initial capacity N of the dataset sample and the maximum capacity N max of the dataset sample, and the impact interception threshold L min ;

[0013] S4: for a certain track behavior, the formation condition of the track behavior is used to determine the initial information of the position and the initial information of the speed of the non-cooperative target at the current time, and random information is introduced in the above initial information;

[0014] S5: according to the information of the non-cooperative target after introducing random information, the motion state data of the non-cooperative target is calculated and recorded to generate a non-cooperative target motion state data list, and the relative distance L(t) between the spacecraft and the non-cooperative target is calculated, and whether the track behavior condition is met according to the relationship between L(t) and L min :

[0015] If it is met, the next step is continued; otherwise, under the current track behavior, S4 is executed;

[0016] S6: screening the non-cooperative target motion state data which meets L(t) < L max as the dataset sample and updating the non-cooperative target motion state data list and the initial capacity N of the dataset sample;

[0017] S7: if N ≥ N max, intercepts the non-cooperative target motion state data list as the orbit behavior data set; otherwise, under the current orbit behavior, jump to execute S4.

[0018] Further, five non-cooperative target orbit behaviors are defined in S1, which are space fly-around, circular approach, fixed-point tracking, intersection impact and space fly-by.

[0019] Further, the space fly-around represents the orbit behavior when the central spacecraft is located within the relative trajectory projection of the non-cooperative target in the orbit plane, and the formation condition is:

[0020]

[0021] In the formula, b represents the short semi-major axis of the orbit plane projection ellipse of the closed trajectory; the average angular velocity of the central spacecraft is a is the semi-major axis of the central spacecraft, μ is the Earth gravitational coefficient, and the relative distance between the spacecraft and the non-cooperative target is t is a time sequence;

[0022] x represents the position component in the radial direction of the orbit in the relative coordinate system;

[0023] y represents the position component in the flight direction in the relative coordinate system;

[0024] z represents the position component in the direction of the orbit angular momentum in the relative coordinate system;

[0025] x0 represents the position component in the radial direction of the orbit at the initial time t0 in the relative coordinate system;

[0026] y0 represents the position component in the flight direction at the initial time t0 in the relative coordinate system;

[0027] z0 represents the position component in the direction of the orbit angular momentum at the initial time t0 in the relative coordinate system;

[0028] represents the velocity component in the radial direction of the orbit at the initial time t0 in the relative coordinate system;

[0029] represents the velocity component in the flight direction at the initial time t0 in the relative coordinate system;

[0030] represents the velocity component in the direction of the orbit angular momentum at the initial time t0 in the relative coordinate system;

[0031] The specific steps of introducing random information under the space fly-around orbit behavior are as follows:

[0032] The length r o and the phase angle θo wherein, r o denotes the initial distance of the non-cooperative target from the central spacecraft; θ o denotes the angle between the initial position of the non-cooperative target and the x-axis of the central spacecraft; the random parameter rand(1) is introduced to represent a random number in the range of 0-1, and rand(1) represents a different random number each time, so that

[0033]

[0034] After the length r o and the phase angle θ o are determined, and considering the closed trajectory condition, the following is obtained:

[0035]

[0036] Further, the loop approaching indicates that the central spacecraft is located outside the projection of the relative trajectory of the non-cooperative target on the orbit plane, at this time the relative trajectory is a closed curve orbit behavior, and the formation condition is:

[0037]

[0038] wherein, b represents the short semi-major axis of the closed trajectory on the orbit plane projection ellipse; the average angular velocity of the central spacecraft is a is the semi-major axis of the central spacecraft, μ is the Earth gravitational coefficient, and the relative distance between the spacecraft and the non-cooperative target is t is a time sequence;

[0039] x represents the position component in the radial direction of the orbit in the relative coordinate system;

[0040] y represents the position component in the flight direction in the relative coordinate system;

[0041] z represents the position component in the direction of the orbit angular momentum in the relative coordinate system;

[0042] x0 represents the position component in the radial direction of the orbit at the initial time t0 in the relative coordinate system;

[0043] y0 represents the position component in the flight direction at the initial time t0 in the relative coordinate system;

[0044] z0 represents the position component in the direction of the orbit angular momentum at the initial time t0 in the relative coordinate system;

[0045] represents the velocity component in the radial direction of the orbit at the initial time t0 in the relative coordinate system;

[0046] represents the velocity component in the flight direction at the initial time t0 in the relative coordinate system;

[0047] x0 represents the position component in the radial direction of the orbit at the initial time t0 in the relative coordinate system;

[0048] The specific steps of introducing random information under the circular approach orbit behavior are as follows:

[0049] The length r is defined o and the phase angle θ o , wherein r o represents the initial distance between the non-cooperative target and the central spacecraft; θ o represents the included angle between the initial position of the non-cooperative target and the x-axis of the central spacecraft; and a random parameter rand(1) is introduced, wherein rand(1) represents a random number in the range of 0-1, so that

[0050]

[0051] After the random length r o and the phase angle θ o are determined, and considering the trajectory closure condition, the following is taken:

[0052]

[0053] In the formula, the function sign is a sign function.

[0054] Further, the fixed-point tracking represents the orbit behavior when the central spacecraft and the non-cooperative target are relatively static in the motion state, and the formation condition is:

[0055]

[0056] In the formula, the relative distance between the spacecraft and the non-cooperative target is t is a time sequence;

[0057] x represents the position component in the radial direction of the orbit in the relative coordinate system;

[0058] y represents the position component in the flight direction in the relative coordinate system;

[0059] z represents the position component in the angular momentum direction of the orbit in the relative coordinate system;

[0060] x0 represents the position component in the radial direction of the orbit at the initial time t0 in the relative coordinate system;

[0061] y0 represents the position component in the flight direction at the initial time t0 in the relative coordinate system;

[0062] z0 represents the position component in the angular momentum direction of the orbit at the initial time t0 in the relative coordinate system;

[0063] Vx(t0) represents the velocity component in the radial direction of the orbit at the initial time t0 in the relative coordinate system;

[0064] Vy(t0) represents the velocity component in the flight direction at the initial time t0 in the relative coordinate system;

[0065] Vz(t0) represents the velocity component in the direction of the angular momentum of the orbit at the initial time t0 in the relative coordinate system;

[0066] The specific steps of introducing random information under the fixed-point tracking orbit behavior are as follows:

[0067] The length r is defined o , wherein r o represents the initial distance between the non-cooperative target and the central spacecraft; and a random parameter rand(1) representing a random number in the range of 0-1 is introduced, the fixed-point tracking behavior of the non-cooperative target, i.e., the relative static state of the two spacecrafts, takes the value of

[0068]

[0069] In the formula, the function sign is a sign function.

[0070] Further, the intersection impact represents that the relative trajectory of the spacecraft and the non-cooperative target is neither a closed curve nor a fixed point, and the relative distance at any time is greater than L min The orbit behavior takes the time t f , and the formation condition is:

[0071] L(t f )≤L min

[0072] In the formula, the relative distance between the spacecraft and the non-cooperative target is t is a time sequence;

[0073] x represents the position component in the radial direction of the orbit in the relative coordinate system;

[0074] y represents the position component in the flight direction in the relative coordinate system;

[0075] z represents the position component in the direction of the angular momentum of the orbit in the relative coordinate system;

[0076] The specific steps of introducing random information under the intersection impact orbit behavior are as follows:

[0077] The length r is defined o and the phase angle θ o , wherein r o represents the initial distance between the non-cooperative target and the central spacecraft; θ orepresents the included angle between the initial position of the non-cooperative target and the x-axis of the central spacecraft; and a random parameter rand(1) representing a random number in the range of 0-1 is introduced;

[0078]

[0079] The intersecting impact behavior is the result of the intersection of the non-cooperative target and the spacecraft under the natural dynamics evolution. Based on the definition of the behavior, the position information at the termination time f is taken as

[0080]

[0081] In the formula, L min is the critical value of the impact area, and the velocity information is taken as

[0082]

[0083] Further, the space skimming indicates that the relative trajectory of the spacecraft and the non-cooperative target is neither a closed curve nor a fixed point, and the relative distance at any time is greater than the critical value L min The formation condition is:

[0084]

[0085] In the formula, the relative distance of the spacecraft and the non-cooperative target is t is a time sequence;

[0086] x represents the position component in the radial direction of the orbit in the relative coordinate system;

[0087] y represents the position component in the flight direction in the relative coordinate system;

[0088] z represents the position component in the direction of the angular momentum of the orbit in the relative coordinate system;

[0089] x0 represents the position component in the radial direction of the orbit at the initial time t0 in the relative coordinate system;

[0090] y0 represents the position component in the flight direction at the initial time t0 in the relative coordinate system;

[0091] z0 represents the position component in the direction of the angular momentum of the orbit at the initial time t0 in the relative coordinate system;

[0092] represents the velocity component in the radial direction of the orbit at the initial time t0 in the relative coordinate system;

[0093] represents the velocity component in the flight direction at the initial time t0 in the relative coordinate system;

[0094] A velocity component in the direction of the orbital angular momentum at the initial time t0 in a relative coordinate system;

[0095] The specific steps of introducing random information under the space skimming orbit behavior are as follows:

[0096] Define the length r o and the phase angle θ o , wherein r o represents the initial distance between the non-cooperative target and the central spacecraft; θ o represents the included angle between the initial position of the non-cooperative target and the x-axis of the central spacecraft; and a random parameter rand(1) is introduced, which represents a random number in the range of 0-1;

[0097]

[0098] Space skimming refers to the non-cooperative target appearing within a certain range of the spacecraft, and the value is

[0099]

[0100] An orbit behavior data set construction system comprises:

[0101] A definition module is configured to define multiple orbit behaviors of the non-cooperative target and corresponding formation conditions of each orbit behavior.

[0102] A determination module is configured to set the orbit altitude H of the reference spacecraft and the detection distance L of the spaceborne device max .

[0103] An initialization module is configured to set the initial capacity N of the data set sample and the maximum capacity N max of the data set sample min .

[0104] An introduction module is configured to determine the initial position information and the initial velocity information of the non-cooperative target at the current time under a certain orbit behavior by using the formation condition of the orbit behavior, and introduce random information in the initial information.

[0105] A calculation module is configured to calculate the motion state data of the non-cooperative target, record a list of the generated motion state data of the non-cooperative target, calculate the relative distance L(t) between the spacecraft and the non-cooperative target, and determine whether the orbit behavior condition is met according to the relationship between L(t) and L min .

[0106] A screening module is configured to screen the motion state data of the non-cooperative target that meets the condition of L(t) < L max as the data set sample, and update the list of the motion state data of the non-cooperative target and the initial capacity N of the data set sample.

[0107] An intercepting module is configured to intercept a non-cooperative target motion state data list as the orbit behavior data set.

[0108] An orbit behavior data set construction device comprises:

[0109] A memory is configured to store a computer program.

[0110] A processor is configured to implement the steps of the orbit behavior data set construction method when the computer program is executed.

[0111] A computer readable storage medium stores a computer program, and the computer program is configured to implement the steps of the orbit behavior data set construction method when executed by a processor.

[0112] Compared with the prior art, the present application has the following beneficial effects:

[0113] The present application provides an orbit behavior data set construction method and system, and the orbit behavior data set construction method is realized based on an orbit behavior data set construction system.

[0114] Further, the present application defines five kinds of orbit behaviors and corresponding formation conditions, which are space flyby, cyclic approach, fixed-point tracking, intersection impact and space skimming. BRIEF DESCRIPTION OF DRAWINGS

[0115] Figure 1 An orbit behavior recognition plane schematic diagram is provided for the embodiment of the present application.

[0116] Figure 2 A non-cooperative target space flyby orbit behavior trajectory data diagram is provided for the embodiment of the present application.

[0117] Figure 3 A non-cooperative target space flyby relative distance curve diagram is provided for the embodiment of the present application.

[0118] Figure 4The space fly-around behavior data set provided by the embodiment of the present application is shown in the figure, wherein (a) is a three-dimensional diagram of the space fly-around data set; (b) is an XY plane diagram of the space fly-around data set; (c) is an XZ plane diagram of the space fly-around data set; and (d) is a YZ plane diagram of the space fly-around data set.

[0119] Figure 5 The cyclic approach behavior data set provided by the embodiment of the present application is shown in the figure, wherein (a) is a three-dimensional diagram of the cyclic approach data set; (b) is an XY plane diagram of the cyclic approach data set; (c) is an XZ plane diagram of the cyclic approach data set; and (d) is a YZ plane diagram of the cyclic approach data set.

[0120] Figure 6 The point tracking behavior data set provided by the embodiment of the present application is shown in the figure, wherein (a) is a three-dimensional diagram of the point tracking data set; (b) is an XY plane diagram of the point tracking data set; (c) is an XZ plane diagram of the point tracking data set; and (d) is a YZ plane diagram of the point tracking data set.

[0121] Figure 7 The intersection impact behavior data set provided by the embodiment of the present application is shown in the figure, wherein (a) is a three-dimensional diagram of the intersection impact data set; (b) is an XY plane diagram of the intersection impact data set; (c) is an XZ plane diagram of the intersection impact data set; and (d) is a YZ plane diagram of the intersection impact data set.

[0122] Figure 8 The space fly-by behavior data set provided by the embodiment of the present application is shown in the figure, wherein (a) is a three-dimensional diagram of the space fly-by data set; (b) is an XY plane diagram of the space fly-by data set; (c) is an XZ plane diagram of the space fly-by data set; and (d) is a YZ plane diagram of the space fly-by data set.

[0123] Figure 9 The flow chart of constructing the orbit behavior data set provided by the embodiment of the present application is shown in the figure.

[0124] Figure 10 The flow chart of the orbit behavior data set construction method provided by the present application is shown in the figure. DETAILED DESCRIPTION

[0125] The orbit behavior data set construction method provided by the present application comprises the following steps:

[0126] S1: defining multiple orbit behaviors of a non-cooperative target and the formation conditions corresponding to each orbit behavior;

[0127] The five non-cooperative target orbit behaviors are defined as space fly-around, cyclic approach, point tracking, intersection impact and space fly-by.

[0128] The space fly-by represents the orbit behavior when the central spacecraft is located within the relative orbit projection of the non-cooperative target in the orbit plane, and the formation condition is:

[0129]

[0130] In the formula, b represents the short semi-major axis of the closed orbit projection ellipse in the orbit plane; the average angular velocity of the central spacecraft is a is the semi-major axis of the central spacecraft; μ is the earth gravity coefficient, μ = 3.986 x 10 14 m 3 / s 2 The relative distance between the spacecraft and the non-cooperative target is taken as t is a time sequence;

[0131] The cycle approach represents the orbit behavior when the central spacecraft is located outside the relative orbit projection of the non-cooperative target in the orbit plane, and the relative orbit is a closed curve at this time, and the formation condition is:

[0132]

[0133] In the formula, b represents the short semi-major axis of the closed orbit projection ellipse in the orbit plane; the average angular velocity of the central spacecraft is a is the semi-major axis of the central spacecraft; μ is the earth gravity coefficient, μ = 3.986 x 10 14 m 3 / s 2 The relative distance between the spacecraft and the non-cooperative target is taken as t is a time sequence;

[0134] The fixed-point tracking represents the orbit behavior when the central spacecraft and the non-cooperative target are relatively static in the motion state, and the formation condition is:

[0135]

[0136] In the formula, the relative distance between the spacecraft and the non-cooperative target is t is a time sequence;

[0137] The intersection collision represents the orbit behavior that the relative orbit of the spacecraft and the non-cooperative target is neither a closed curve nor a fixed point, and the relative distance at any time is greater than L min , and the time is taken as t f , and the formation condition is:

[0138] L(t f )≤L min

[0139] In the formula, the relative distance between the spacecraft and the non-cooperative target is t is a time sequence;

[0140] The space skimming indicates that the relative trajectory of the spacecraft and the non-cooperative target is neither a closed curve nor a fixed point, and the relative distance at any time is greater than the critical value L min , the formation condition is:

[0141]

[0142] In the formula, the relative distance of the spacecraft and the non-cooperative target is t is a time sequence; wherein,

[0143] x represents the position component in the radial direction of the orbit in the relative coordinate system;

[0144] y represents the position component in the flight direction in the relative coordinate system;

[0145] z represents the position component in the direction of the angular momentum of the orbit in the relative coordinate system;

[0146] x0 represents the position component in the radial direction of the orbit at the initial time t0 in the relative coordinate system;

[0147] y0 represents the position component in the flight direction at the initial time t0 in the relative coordinate system;

[0148] z0 represents the position component in the direction of the angular momentum of the orbit at the initial time t0 in the relative coordinate system;

[0149] represents the velocity component in the radial direction of the orbit at the initial time t0 in the relative coordinate system;

[0150] represents the velocity component in the flight direction at the initial time t0 in the relative coordinate system;

[0151] represents the velocity component in the direction of the angular momentum of the orbit at the initial time t0 in the relative coordinate system;

[0152] S2: Set the reference spacecraft orbit height H, and the star-borne equipment detection distance L max ;

[0153] S3: Set the initial capacity N of the data set sample, and the maximum capacity N of the data set sample max Impact interception threshold L min ;

[0154] S4: For a certain type of orbit behavior, the initial position information and the initial velocity information of the non-cooperative target at the current time are determined by using the formation condition of the orbit behavior, and random information is introduced in the above initial information;

[0155] The specific steps of introducing random information under the space fly-around orbit behavior are as follows:

[0156] Define the length r o and the phase angle θ o , wherein r o represents the initial distance between the non-cooperative target and the central spacecraft; θ o represents the included angle between the initial position of the non-cooperative target and the x-axis of the central spacecraft; and a random parameter rand(1) represents a random number in the range of 0-1, and rand(1) represents a different random number each time, so that

[0157]

[0158] After the length r o and the phase angle θ o are determined, the value of r

[0159]

[0160] The specific steps of introducing random information under the fly-around orbit behavior are as follows:

[0161] Define the length r o and the phase angle θ o , wherein r o represents the initial distance between the non-cooperative target and the central spacecraft; θ o represents the included angle between the initial position of the non-cooperative target and the x-axis of the central spacecraft; and a random parameter rand(1) represents a random number in the range of 0-1, so that

[0162]

[0163] After the length r o and the phase angle θ o are determined, the value of r

[0164]

[0165] In the formula, the function sign is a sign function.

[0166] The specific steps of introducing random information under the fly-around orbit behavior are as follows:

[0167] Define the length r o , wherein r o represents the initial distance between the non-cooperative target and the central spacecraft; and a random parameter rand(1) represents a random number in the range of 0-1. The fixed-point tracking behavior of the non-cooperative target, i.e., the relative static state of the two spacecrafts, is

[0168]

[0169] where the function sign is a sign function.

[0170] The specific steps of introducing random information under the intersecting impact orbit behavior are as follows:

[0171] Define the length r o and the phase angle θ o , where r o represents the initial distance between the non-cooperative target and the central spacecraft; θ o represents the included angle between the initial position of the non-cooperative target and the x-axis of the central spacecraft; and a random parameter rand(1) representing a random number in the range of 0-1 is introduced.

[0172]

[0173] The intersecting impact behavior is the result of the non-cooperative target under the natural dynamics evolution and the formation of intersection with the spacecraft. Based on the definition of the behavior, the position information at the termination time f is taken as

[0174]

[0175] where L min is the critical value of the impact area, and the velocity information is taken as

[0176]

[0177] The specific steps of introducing random information under the space flyby orbit behavior are as follows:

[0178] Define the length r o and the phase angle θ o , where r o represents the initial distance between the non-cooperative target and the central spacecraft; θ o represents the included angle between the initial position of the non-cooperative target and the x-axis of the central spacecraft; and a random parameter rand(1) representing a random number in the range of 0-1 is introduced.

[0179]

[0180] Space flyby refers to the non-cooperative target appearing within a certain range of the spacecraft, and the value is taken as

[0181]

[0182] S5: According to the information of the non-cooperative target after introducing random information, the motion state data of the non-cooperative target is calculated and recorded to generate a non-cooperative target motion state data list, and the relative distance L(t) between the spacecraft and the non-cooperative target is calculated. According to L(t) and L minwhether the orbit behavior condition is satisfied according to the relationship between L(t) and L

[0183] If yes, the next step is continued; otherwise, the current orbit behavior is jumped to execute S4;

[0184] S6: screening non-cooperative target motion state data satisfying L(t) < L max as data set samples and updating the non-cooperative target motion state data list and the initial capacity N of the data set samples;

[0185] S7: if N >= N max , the non-cooperative target motion state data list is intercepted as an orbit behavior data set; otherwise, the current orbit behavior is jumped to execute S4.

[0186] The application further provides an orbit behavior data set construction system, comprising a definition module, a determination module, an initialization module, an introduction module, a calculation module, a screening module and an interception module; the definition module is used for defining multiple orbit behaviors of a non-cooperative target and formation conditions corresponding to each orbit behavior; the determination module is used for setting a reference spacecraft orbit height H and a spaceborne device detection distance L max ; the initialization module is used for setting an initial capacity N of data set samples, a maximum capacity N max of data set samples and an impact interception threshold L min ; the introduction module is used for determining initial position information and initial velocity information of the non-cooperative target at a current time by using the formation condition of a certain orbit behavior under the certain orbit behavior and introducing random information in the initial information; the calculation module is used for calculating non-cooperative target motion state data, recording a non-cooperative target motion state data list, calculating a relative distance L(t) between a spacecraft and the non-cooperative target and judging whether the orbit behavior condition is satisfied according to the relationship between L(t) and L min ; the screening module is used for screening non-cooperative target motion state data satisfying L(t) < L max as data set samples and updating the non-cooperative target motion state data list and the initial capacity N of the data set samples; and the interception module is used for intercepting the non-cooperative target motion state data list as an orbit behavior data set.

[0187] The application further provides an orbit behavior data set construction device, comprising a memory for storing a computer program and a processor for executing the computer program to realize the steps of the orbit behavior data set construction method.

[0188] The processor executes the computer program to realize the steps of the orbit behavior data set construction method, for example, defining multiple orbit behaviors of a non-cooperative target and formation conditions corresponding to each orbit behavior, setting a reference spacecraft orbit height H and a spaceborne device detection distance Lmax ; set initial capacity N of dataset sample, maximum capacity N of dataset sample max impact interception threshold L min ; under a certain orbital behavior, determine initial information of position and initial information of velocity of non-cooperative target at current time by using formation condition of the orbital behavior and introduce random information in the initial information; calculate non-cooperative target motion state data and record non-cooperative target motion state data list, and calculate relative distance L(t) between spacecraft and non-cooperative target and determine whether orbital behavior condition is met according to relationship between L(t) and L min ; select non-cooperative target motion state data meeting L(t) < L max as dataset sample and update non-cooperative target motion state data list and initial capacity N of dataset sample; intercept non-cooperative target motion state data list as orbital behavior dataset.

[0189] Alternatively, the processor implements the functions of the modules in the above system when executing the computer program, for example: a definition module for defining multiple orbital behaviors of non-cooperative targets and formation conditions corresponding to each orbital behavior; a determination module for setting reference spacecraft orbital height H, star-borne device detection distance L max ; an initialization module for setting initial capacity N of dataset sample, maximum capacity N of dataset sample max impact interception threshold L min ; an introduction module for, under a certain orbital behavior, determining initial information of position and initial information of velocity of non-cooperative target at current time by using formation condition of the orbital behavior and introducing random information in the initial information; a calculation module for calculating non-cooperative target motion state data and recording non-cooperative target motion state data list, and calculating relative distance L(t) between spacecraft and non-cooperative target and determining whether orbital behavior condition is met according to relationship between L(t) and L min ; a selection module for selecting non-cooperative target motion state data meeting L(t) < L max as dataset sample and updating non-cooperative target motion state data list and initial capacity N of dataset sample; an interception module for intercepting non-cooperative target motion state data list as orbital behavior dataset.

[0190] The computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing preset functions, which are used to describe the execution process of the computer program in the orbit behavior dataset construction device. For example, the computer program can be divided into definition module, determination module, initialization module, introduction module, calculation module, screening module and interception module; the specific functions of each module are as follows: the definition module is used to define a plurality of orbit behaviors of the non-cooperative target and the formation condition corresponding to each orbit behavior; the determination module is used to set the reference spacecraft orbit height H, the spaceborne device detection distance L max ; the initialization module is used to set the initial capacity N of the dataset sample, the maximum capacity N max of the dataset sample, the impact interception threshold L min ; the introduction module is used to determine the initial position information and the initial velocity information of the non-cooperative target at the current time under a certain orbit behavior by using the formation condition of the orbit behavior and introduce random information in the initial information; the calculation module is used to calculate the motion state data of the non-cooperative target and record the generated non-cooperative target motion state data list, and calculate the relative distance L(t) between the spacecraft and the non-cooperative target and judge whether the orbit behavior condition is met according to the relationship between L(t) and L min ; the screening module is used to screen the non-cooperative target motion state data meeting the condition L(t)<L max as the dataset sample and update the non-cooperative target motion state data list and the initial capacity N of the dataset sample; and the interception module is used to intercept the non-cooperative target motion state data list as the orbit behavior dataset.

[0191] The orbit behavior dataset construction device can be a desktop computer, a notebook computer, a palm computer and a cloud server and the like. The orbit behavior dataset construction device can include, but is not limited to, a processor and a memory. Those skilled in the art can understand that the above is an example of the orbit behavior dataset construction device, and does not constitute a limitation on the orbit behavior dataset construction device, and can include more components than the above, or combine certain components, or different components, for example, the orbit behavior dataset construction device can also include an input / output device, a network access device, a bus and the like.

[0192] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor or the like, which is the control center of the track behavior data set construction device and connects various parts of the track behavior data set construction device through various interfaces and lines.

[0193] The memory can be used to store the computer programs and / or modules, and the processor realizes various functions of the track behavior data set construction device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory.

[0194] The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), etc.; and the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0195] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the track behavior data set construction method.

[0196] If the modules / units of the track behavior data set construction system are realized in the form of software function units and sold or used as independent products, the modules / units can be stored in a computer readable storage medium.

[0197] Based on such understanding, the application implements all or part of the processes in the above track behavior data set construction method, which can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer readable storage medium, and the computer program can implement the steps of the above ring intersection channelization and signal timing optimization method when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or preset intermediate forms, etc.

[0198] The computer readable storage medium can include any entity or device, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. that can carry the computer program code.

[0199] It should be noted that the content contained in the computer readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable storage medium does not include electrical carrier signals and telecommunication signals.

[0200] Embodiment

[0201] As shown in Figure 1 , in the detection area of the spacecraft O, there is a certain non-cooperative target S, and at a certain moment, the position and velocity information relative to the spacecraft of the present party is detected and acquired. The track behavior of the target S has multiple possibilities. The track behavior recognition model outputs the recognition result to determine the track abnormal behavior type of the non-cooperative target S. By analyzing the track behavior recognition process, a certain position point can be randomly selected in the detection area, and sample data of the corresponding type can be generated according to different abnormal behavior conditions.

[0202] It is assumed that the orbital semi-major axis of the spacecraft is a = 42000 km, the eccentricity e = 0, that is, a circular orbit. It is assumed that the detection range of the spacecraft on-board equipment is L max = 200 km, the threshold value of interception and impact is L min = 15 m, and the maximum capacity of the sample set is N max = 2000000.

[0203] S1, define multiple track behaviors of the non-cooperative target and the formation conditions corresponding to each track behavior;

[0204] S2, set the reference spacecraft orbital height H = 42000 km, and the on-board equipment detection distance L max = 200 km;

[0205] S3, set the maximum capacity of the sample set N max = 2000000, impact interception threshold L min = 15m, initial size of the data set N = 0;

[0206] S4, for a certain orbit behavior, the initial position, velocity and other information of the non-cooperative target at the current time are determined by using the corresponding orbit behavior forming condition, and a random quantity is introduced in the initial information;

[0207] Taking the "space flyby" orbit behavior as an example, when the central spacecraft is located within the relative trajectory of the non-cooperative target in the orbit plane projection, at this time, the behavior forming condition is:

[0208]

[0209] In the formula, the relative distance between the spacecraft and the non-cooperative target is t is the time sequence, and the average angular velocity of the central spacecraft is

[0210]

[0211]

[0212] First, define the length r o and the phase angle θ o , introduce a random parameter rand(1) representing a random number in the range of 0-1, and rand(1) represents a different random number each time.

[0213]

[0214] After determining the random length r o and the phase angle θ o , considering the "trajectory closure condition" at the same time, take

[0215]

[0216] S5, perform orbit integral calculation, the relative motion trajectory curve is shown in Figure 2 , record the generated state data list, containing 2000 groups of selected data for each orbit

[0217]

[0218] In the formula, x, y, z, are the relative position and velocity vector information of the non-cooperative target, with a dimension of 2000x1, DataList is the relative position and velocity information list of the non-cooperative target, and the relative distance L(t) is calculated and recorded in real time, t is the time sequence.

[0219] [(L(t))] min = 1.004655186834110 x 10 4 m > L min = 15m

[0220] Satisfy the space fly-around orbit behavior condition L(t)≥L min , continue to the next step.

[0221] S6, screen L k < 200km corresponding state data as a data set sample, a total of K groups of data meet the requirements. The space fly-around relative distance curve is shown in Figure 3 , then K = 394,

[0222] DATA <- [DATA + DataList],

[0223] N = 0 + K = 394

[0224] In the formula, DATA is the orbit behavior data set, "[(·) + (·)]" represents the sample list merging, "<-" represents data or list update, and N is the size of DATA;

[0225] S7, judge N≥N max , if yes, then intercept the sample result SampleSet = DATA[1:N max ]; otherwise, jump to S4; here,

[0226] N = 0 + K = 394 < N max

[0227] Jump to S4, the size of DATA N is constantly added until the condition N≥N max is met. The final result is 1638 cycles, reaching the condition N≥N max , the "space fly-around" relative orbit curve family is shown in Figure 4 , then intercept the sample result SampleSet = DATA[1:N max ].

[0228] Repeat the above construction method to construct the relative orbit curve family corresponding to the other four kinds of orbit behaviors as shown in Figures 5-8.

[0229] The above embodiment is only one of the implementation manners of the technical scheme of the present application, and the scope of protection claimed by the present application is not limited to the above embodiment, but also includes any changes, substitutions and other implementation manners easily thought of by those skilled in the art within the technical scope disclosed by the present application.

Claims

1. A method for constructing a trajectory behavior dataset, characterized in that, The steps include the following: S1: defining multiple orbit behaviors of the non-cooperative target and formation conditions corresponding to each orbit behavior; S2: Set the spacecraft orbit height H, the spaceborne device detects the distance ; S3: Set initial capacity of dataset sample , maximum capacity of dataset sample Impact interception threshold ; S4: for a certain orbit behavior, determining initial position information and initial velocity information of the non-cooperative target at the current moment by using the formation condition of the orbit behavior, and introducing random information in the initial position information and the initial velocity information; S5: According to the information introduced by the random information of the non-cooperative target, the motion state data of the non-cooperative target is calculated and recorded to generate a non-cooperative target motion state data list, and the relative distance between the spacecraft and the non-cooperative target is calculated , according to and determine whether the orbit behavior condition is met: If yes, continue to the next step; otherwise, under the current orbit behavior, jump to execute S4; S6: screen the non-cooperative target motion state data satisfying < in S5 as a data set sample and update the non-cooperative target motion state data list and the initial capacity of the data set sample ; S7: If ≥ , intercept the non-cooperative target motion state data list as the orbit behavior data set; otherwise, under the current orbit behavior, jump to execute S4.

2. The method of claim 1, wherein, Five non-cooperative target orbit behaviors are defined in S1, which are space fly-by, cyclic approach, point tracking, intersection impact and space fly-by.

3. The method of claim 2, wherein, The space fly-by represents the orbit behavior when the spacecraft is located within the relative trajectory projection of the non-cooperative target on the orbit plane, and the formation condition is: In the formula, , represents the short semi-major axis of the ellipse projected by the closed trajectory on the orbit plane; the average angular velocity of the spacecraft is , is the semi-major axis of the spacecraft, μ is the earth gravity coefficient, taking the relative distance between the spacecraft and the non-cooperative target as , t is a time sequence; represents the position component in the radial direction of the orbit in the relative coordinate system; represents the position component of the flight direction in the relative coordinate system; denotes the position component in the direction of the orbital angular momentum in the relative coordinate system; denotes the position component in the radial direction of the orbit at the initial time in the relative coordinate system denotes the position component in the radial direction of the orbit at the initial time in the relative coordinate system represents the position component of the initial time instant in the relative coordinate system represents the position component of the flight direction at the time instant represents the position component of the initial moment in time in the relative coordinate system represents the position component of the initial moment in time in the relative coordinate system denotes the initial time instant in the relative coordinate system the velocity component in the radial direction of the orbit at the time instant represents the initial time instant in the relative coordinate system the velocity component in the flight direction at the time instant denotes the initial moment in time in the relative coordinate system the velocity component in the direction of the orbital angular momentum at the moment in time The specific steps of introducing random information under the space fly-by orbit behavior are as follows: Definition of length with the phase angle wherein, is expressed as the initial distance of the non-cooperative target from the spacecraft; is the angle between the initial position of the non-cooperative target and the x-axis of the spacecraft; a random parameter is introduced rand(1) is a random number in the range 0-1, and rand(1) each time a different random number is expressed, then In determining the length With the phase angle After, taking into account the trajectory closure condition, 。 4. The method of claim 2, wherein, The cyclic approach represents the orbit behavior when the spacecraft is located outside the relative trajectory projection of the non-cooperative target on the orbit plane, and the relative trajectory is a closed curve at this time, and the formation condition is: In the formula, , represents the short semi-major axis of the ellipse projected by the closed trajectory on the orbit plane; the average angular velocity of the spacecraft is , is the semi-major axis of the spacecraft, μ is the earth gravity coefficient, taking the relative distance between the spacecraft and the non-cooperative target as , t is a time sequence; represents the position component in the radial direction of the orbit in the relative coordinate system; represents the position component of the flight direction in the relative coordinate system; denotes the position component in the direction of the orbital angular momentum in the relative coordinate system; represents the position component of the orbit in the relative coordinate system at the initial time represents the position component of the orbit in the relative coordinate system at the initial time represents the position component of the flight direction at the initial time instant in the relative coordinate system represents the position component of the flight direction at the initial time instant in the relative coordinate system represents the position component of the initial moment in the relative coordinate system represents the position component of the initial moment in the relative coordinate system denotes the initial time instant in the relative coordinate system the radial velocity component of the orbit at the time instant denotes the initial time instant in the relative coordinate system the velocity component in the flight direction at the time instant denotes the initial moment in time in the relative coordinate system the velocity component in the direction of the orbital angular momentum at the moment in time The specific steps of introducing random information under the cyclic approach orbit behavior are as follows: Definition of length with phase angle where, denotes the initial distance of the non-cooperative target from the spacecraft; denotes the angle between the initial position of the non-cooperative target and the x-axis of the spacecraft; and introduces a random parameter denotes a random number in the range 0~1, then In determining the random length with the phase angle After that, taking into account the trajectory closure condition, take In the formula, the function sign is a sign function.

5. The method of claim 2, wherein, The point tracking represents the orbit behavior when the spacecraft and the non-cooperative target are relatively stationary in the motion state, and the formation condition is: In the formula, the relative distance between the spacecraft and the non-cooperative target is , and t is a time sequence. represents the position component in the radial direction of the orbit in the relative coordinate system; represents the position component of the flight direction in the relative coordinate system; denotes the position component in the direction of the orbital angular momentum in the relative coordinate system; represents the position component of the orbit in the relative coordinate system at the initial time represents the position component of the orbit in the relative coordinate system at the initial time represents the position component of the relative coordinate system at the initial time represents the position component of the flight direction at the time represents the position component of the initial moment in time in the relative coordinate system represents the position component of the initial moment in time in the relative coordinate system denotes the initial time instant in the relative coordinate system the velocity component in the radial direction of the orbit at the time instant represents the initial time instant in the relative coordinate system the velocity component in the flight direction at the time instant represents the initial moment in the relative coordinate system the velocity component in the direction of the orbital angular momentum at the moment The specific steps of introducing random information under the point tracking orbit behavior are as follows: Definition of length where, denotes the initial distance between the non-cooperative target and the spacecraft; and a random parameter denotes a random number in the range 0~1, the station-keeping behavior of the non-cooperative target, i.e., the relative static state of the two spacecraft, takes the value In the formula, the function sign is a sign function.

6. The method of claim 2, wherein, The intersection impact represents that the relative trajectory of the spacecraft and the non-cooperative target is neither a closed curve nor a fixed point, and the relative distance at any time is greater than the orbital behavior of The formation condition is that: In the formula, the relative distance between the spacecraft and the non-cooperative target is , t is a time sequence; represents the position component in the radial direction of the orbit in the relative coordinate system; represents the position component of the flight direction in the relative coordinate system; denotes the position component in the direction of the orbital angular momentum in the relative coordinate system; The specific steps of introducing random information under the intersection impact orbit behavior are as follows: Definition of length with phase angle where, denotes the initial distance of the non-cooperative target from the spacecraft; denotes the angle between the initial position of the non-cooperative target and the x-axis of the spacecraft; and introduces a random parameter denotes a random number in the range 0~1; Convergence-impact behavior is the result of a non-cooperative target encountering a spacecraft under natural dynamic evolution. Based on the definition of this behavior, the termination time is taken as... Location information is In the formula, is the critical value of the impact area, and the velocity information is taken as 。 7. The method of claim 2, wherein, The space flyby means that the relative trajectory of the spacecraft and the non-cooperative target is neither a closed curve nor a fixed point, and the relative distance at any time is greater than a critical value The forming condition is that In the formula, the relative distance between the spacecraft and the non-cooperative target is , t is a time sequence; represents the position component in the radial direction of the orbit in the relative coordinate system; represents the position component of the flight direction in the relative coordinate system; represents the position component of the direction of the orbital angular momentum in the relative coordinate system; represents the position component in the radial direction of the orbit at the initial time instant represents the position component in the radial direction of the orbit at the initial time instant represents the position component of the flight direction at the initial time instant in the relative coordinate system represents the position component of the flight direction at the initial time instant in the relative coordinate system represents the position component of the orbit angular momentum direction at the initial time instant in the relative coordinate system represents the position component of the orbit angular momentum direction at the instant in the relative coordinate system denotes the initial time instant in the relative coordinate system the radial velocity component of the orbit at the time instant represents the initial time instant in the relative coordinate system the velocity component in the flight direction at the time instant denotes the initial moment in time in the relative coordinate system the velocity component in the direction of the orbital angular momentum at the moment in time The specific steps of introducing random information under the space fly-by orbit behavior are as follows: Definition of length with phase angle wherein, denotes the initial distance of the non-cooperative target from the spacecraft; denotes the angle between the initial position of the non-cooperative target and the x-axis of the spacecraft; and introduces a random parameter denotes a random number in the range 0 to 1; The space fly-by refers to the non-cooperative target appearing within a certain range of the spacecraft, and the value is 。 8. A system for constructing a trajectory behavior dataset, the system comprising: It includes: A definition module is configured to define multiple orbit behaviors of the non-cooperative target and formation conditions corresponding to each orbit behavior; A determining module is configured to set the orbit height H of the spacecraft, and the spaceborne device detection distance L is determined according to the orbit height H of the spacecraft. ; An initialization module is configured to set an initial capacity of the dataset sample , a maximum capacity of the dataset sample , a collision interception threshold ; An introduction module is configured to, under a certain orbit behavior, determine initial position information and initial velocity information of the non-cooperative target at the current moment by using the formation condition of the orbit behavior, and introduce random information in the initial position information and the initial velocity information; A computing module is configured to calculate non-cooperative target motion state data and record a list of generated non-cooperative target motion state data, and to calculate the relative distance between the spacecraft and the non-cooperative target and according to and whether the orbit behavior condition is met; a screening module for screening non-cooperative target motion state data satisfying < the condition as a data set sample and updating the non-cooperative target motion state data list and the initial capacity N of the data set sample. A cutting module is configured to cut a non-cooperative target motion state data list as an orbit behavior data set.

9. A trajectory behavior dataset construction device characterized by comprising: It includes: A memory is configured to store a computer program; A processor is configured to execute the computer program to implement the steps of the orbit behavior data set construction method according to any one of claims 1-7.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program is executed by the processor to implement the steps of the orbit behavior data set construction method according to any one of claims 1-7.

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