A method, system and electronic device for designing a dual-star flyby orbit

Abstract

The application discloses a double-star fly-around orbit design method and system and electronic equipment. The core algorithm of the method is a new double-star global coverage algorithm improved from a grid point method and a Monte Carlo algorithm, a related coefficient k value range in initial orbit parameters of micro-nano satellites is determined according to micro-nano satellite parameters, double-star global observation fly-around coverage is calculated according to the initial orbit parameters meeting the related coefficient k value range, space station coverage is determined, double-star fly-around configuration coverage characteristics of the whole surface of the space station are analyzed, and the double-star fly-around orbit facing the whole surface observation of the space station is obtained. The application can effectively provide a model, a method and a basic design idea for global patrol monitoring of the surface of the space station.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of spaceflight, and relates to a double-satellite fly-around orbit design method, system and electronic device. BACKGROUND

[0002] During long-term operation, a space station always faces the potential problem of impact by space debris. For small-sized space debris, ground-based tracking radars and space station on-board tracking equipment are difficult to discover and give early warning, and can only determine damage through post-analysis.

[0003] In order to evaluate the health condition of a space station and ensure normal and reliable operation of the space station, research on a micro-nano satellite accompanying system has become one of the hotspots and trends in international space technology development. Micro-nano satellites flying around a space station (referred to as accompanying satellites) can provide effective detection means for various on-orbit precision monitoring, global surveillance and reliability evaluation tasks. The mutual distance of a formation configuration formed by multiple micro-nano satellites can be selected from tens of meters to tens of kilometers according to requirements, and a cooperative space system formed thereby can perform certain large-scale cooperative experiments, such as electronic reconnaissance, synthetic aperture imaging and space environment parameter gradient measurement. Therefore, the cooperative space system of the micro-nano satellite accompanying the space station not only can monitor the working state of the space station, expand the observation field of view and operation means in space, but also can cooperate with the main spacecraft, improve the function of the spacecraft and become a new platform for space science experiments and applications. The fly-around motion of multiple satellites can achieve fine identification, monitoring and long-term on-orbit tracking of a target, and has great application value for real-time monitoring of the target and maintenance of high-value spacecraft.

[0004] At present, existing research lacks satellite configuration design for full-surface coverage of a space station, and therefore the present design assumes that micro-nano satellites perform health surveillance around a space station, and designs a new global coverage algorithm through a grid point method and a Monte Carlo algorithm, taking global surveillance and monitoring of the surface of a space station by micro-nano satellites (referred to as accompanying satellites) on orbit during regular tasks as the background, to construct a double-satellite fly-around orbit design method, system and electronic device. SUMMARY

[0005] In order to overcome the shortcomings of the prior art, the purpose of the present application is to provide a double-satellite fly-around orbit design method, system and electronic device to solve the problem that the prior art lacks research on satellite configuration design for full-surface coverage of a space station, and to realize fine identification, monitoring and long-term on-orbit tracking of a target by fly-around motion of multiple satellites.

[0006] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0007] A double-satellite fly-around orbit design method comprises the following steps:

[0008] Obtaining micro-nano satellite parameters, determining a correlation coefficient k value range in initial orbit parameters of the micro-nano satellite;

[0009] According to the initial orbit parameters conforming to the correlation coefficient k value range, calculating a global observation coverage of the double-satellite fly-around, and determining a space station coverage;

[0010] Drawing a coverage three-dimensional graph under different orbit parameters, and obtaining a double-satellite fly-around orbit corresponding to the orbit parameters when the coverage is 1.

[0011] Preferably, the micro-nano satellite parameters include: a micro-nano satellite collision avoidance constraint d safe a satellite camera perception constraint d observe and a maximum included angle θ of satellite camera imaging max .

[0012] Preferably, according to the micro-nano satellite collision avoidance constraint d safe , the satellite camera perception constraint d observe , the correlation coefficient k value range in the initial orbit parameters of the micro-nano satellite based on the correlation coefficient k and the motion amplitude A is calculated, and the calculation is specifically as follows:

[0013] When the fly-around orbit center of the micro-nano satellite is always located at the origin of the coordinate system, the calculation formula of the maximum distance and the minimum distance of the fly-around orbit from the origin is as follows:

[0014]

[0015] According to formula (1), the relative motion amplitude A satisfies:

[0016]

[0017] According to formula (2), the value range [k min , k max ] of the k value and the range [A min , A max ] of the relative motion amplitude A are calculated;

[0018] Wherein, k is the correlation coefficient; A is the relative motion amplitude; d safe is the micro-nano satellite collision avoidance constraint; d observe is the satellite camera perception constraint; d max is the maximum distance of the fly-around orbit from the origin; and d min is the minimum distance of the fly-around orbit from the origin.

[0019] Preferably, an amplitude value A=(A min +A max ) / 2 is selected, and q=0, Substitute the three values into the calculation formula (3) of the initial motion parameters to obtain the initial orbit parameters as [A 0 kA 0 -2ωA 0];

[0020]

[0021] wherein k is a correlation coefficient, A is a relative motion amplitude, n is an orbit angular velocity of the space station around the earth, is an initial phase of the fly-around orbit, and q is a drift term of the fly-around orbit in the y-axis direction.

[0022] Preferably, according to the orbit parameter k, the global observation fly-around coverage of the double satellites is calculated, specifically including:

[0023] S3.1: Random sampling on the surface of the space station to define a sampling point number N;

[0024] S3.2: Calculating the fly-around orbits of the two micro-nano satellites according to the initial orbit parameters, and uniformly sampling the fly-around orbits of the two micro-nano satellites to define a sampling point T;

[0025] S3.3: Calculating the distance between the space station surface sampling point and the orbit sampling point, the distance from the orbit sampling point to the center of the space station, and the size of the observation angle; if the distance between the space station surface sampling point and the orbit sampling point is ≤ the maximum observation distance and the observation angle is ≤ the maximum imaging angle of the camera, then a counting operation is performed;

[0026] S3.4: The operation of S3.3 is performed on all orbit sampling points in turn, and the counting value is calculated after all sampling points are calculated, and is recorded as sum1, if sum1 is greater than 0, then a counting operation is performed;

[0027] S3.5, the operations of S3.3 and S3.4 are performed on all sampling points on the surface of the space station in turn, and the counting value is calculated after all sampling points are calculated, and is recorded as sum;

[0028] S3.6, calculating the global coverage coverage = sum / N.

[0029] Preferably, the S3.2 in which the fly-around orbits of the two micro-nano satellites are calculated according to the initial orbit parameters, and the fly-around orbits of the two micro-nano satellites are uniformly sampled to define a sampling point T, specifically:

[0030] The fly-around orbit equation of the space station micro-nano satellite based on the correlation coefficient k and the motion amplitude A is:

[0031]

[0032] and the satellite fly-around period is 2π, so the uniform sampling interval is 2π / T, and each sampling point can be obtained as

[0033]

[0034] where i=1,2,3,…T;k is the correlation coefficient, A is the relative motion amplitude, is the initial phase of the orbit around the satellite.

[0035] Preferably, the step of calculating the size of the observation angle in S3.3 is:

[0036] First, calculate the projection point (x p , y p , z p ) of the space station sampling point on the orbit plane around the satellite;

[0037] The general equation of the orbit plane around the satellite is known as Ax+By+Cz+D=0, and the calculation formula of the projection point is obtained according to geometry:

[0038]

[0039] The coordinates of the projection point are obtained, denoted as (x p , y p , z p );

[0040] Calculate the distance d from the space station sampling point to the orbit plane;

[0041] Given a point (x0, y0, z0) outside the space plane, the distance formula from the point to the space plane is:

[0042]

[0043] Calculate the distance h between the orbit sampling point and the projection point of the space station sampling point on the orbit plane around the satellite using the distance formula between two points;

[0044] The size of the observation angle is calculated as:

[0045] θ=|tan -1 (d / h)| (8)

[0046] Where A, B, C, and D are constant coefficients of the orbit plane equation around the satellite.

[0047] A dual-satellite orbit design system, comprising:

[0048] An acquisition unit configured to acquire micro-nano satellite parameters and determine the correlation coefficient k value range in the initial orbit parameters of the micro-nano satellite;

[0049] A calculation unit configured to calculate the dual-satellite global observation orbit coverage according to the initial orbit parameters that meet the correlation coefficient k value range, and determine the space station coverage.

[0050] A drawing unit draws a three-dimensional diagram of coverage under different orbit parameters to obtain a dual-star fly-around orbit corresponding to orbit parameters when the coverage is 1.

[0051] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the dual-star fly-around orbit design method when executing the computer program.

[0052] A computer-readable storage medium stores a computer program, and the computer program implements the steps of the dual-star fly-around orbit design method when executed by a processor.

[0053] Compared with the prior art, the present application has the following beneficial effects:

[0054] To make up for the gap in the current research, the purpose of the present application is to provide a dual-star fly-around orbit design method, system and electronic device. The core algorithm of the method is a new dual-star global coverage algorithm improved by the grid point method and the Monte Carlo algorithm, and the relevant coefficient k value range in the initial orbit parameter of the micro-nano satellite is determined according to the micro-nano satellite parameter, the dual-star global observation fly-around coverage is calculated according to the initial orbit parameter meeting the relevant coefficient k value range, the space station coverage is determined, the dual-star fly-around configuration coverage characteristics of the whole surface of the space station are analyzed, and the dual-star fly-around orbit for the whole surface observation of the space station is obtained. The present application can effectively provide a model, method and basic design idea for global patrol monitoring of the surface of the space station. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 is a dual-star fly-around orbit design method flowchart for the whole surface observation of the space station of the present application;

[0056] Figure 2 is a dual-star fly-around orbit diagram for the whole surface observation of the space station of the present application;

[0057] Figure 3 is a dual-star global observation coverage algorithm flowchart;

[0058] Figure 4 is a dual-star global observation coverage algorithm decision diagram;

[0059] Figure 5 is a space station simplified model and coordinate system diagram;

[0060] Figure 6 is a dual-star global coverage diagram;

[0061] Figure 7 is a dual-star global coverage contour map. DETAILED DESCRIPTION

[0062] In order to make the person skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the present application.

[0063] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0064] The present application will be described in further detail below with reference to the drawings:

[0065] As shown in Figure 1 , the present application is a dual-satellite fly-around orbit design method for full-surface observation of a space station, comprising the following steps:

[0066] S1, considering the geometric shape parameters of the space station, input appropriate micro-nano satellite collision avoidance constraints d safe and satellite camera perception constraints d observe . At the same time, input the maximum included angle θ max of satellite camera imaging;

[0067] S2, according to the micro-nano satellite collision avoidance constraints d safe , satellite camera perception constraints d observe , calculate the k value range in the initial orbit parameters of the micro-nano satellite based on the correlation coefficient k and the motion amplitude A;

[0068] S3, for any initial orbit parameters k1, k2 of the two micro-nano satellites conforming to the k value range in S2, calculate the dual-satellite global observation fly-around coverage to obtain the space station coverage size coverage under dual-satellite fly-around observation;

[0069] S4, draw the coverage 3D graph of different double star fly-around orbit parameters k1, k2, and the double star fly-around orbit parameters k1, k2 corresponding to the coverage coverage of 1 is the designed double star fly-around orbit for the whole surface observation of the space station.

[0070] As shown in Figure 2 , two micro-nano satellites fly around the space station, and the satellite camera always faces the space station. In the case of a given maximum satellite imaging angle range, the satellite fly-around orbit determined by different correlation coefficients k can cover different positions and sizes of the space station surface area, and two fly-around orbits determined by two appropriate correlation coefficients k can cover the entire space station surface to a great extent. Denote the entire surface area of the space station as C, and the surface of the space station can be divided into several regular spatial planes or curved surfaces, denoted as c i (i = 1, 2, 3, …, n). The avoidance constraint is d safe , the perception constraint is d observe , and the maximum angle of satellite camera imaging is θ max . The orbits of two micro-nano satellites are designed, and the relative motion initial parameters of the two orbits are calculated to make the imaging areas of the two fly-around orbits cover the entire space station as much as possible. In the design modeling and optimization solving process, the avoidance constraint (d safe ), the perception constraint (d observe ), etc. should be considered.

[0071] The specific steps of step S2 are:

[0072] The initial relative position and velocity of the satellite are The parameterized analytical solution of the drift-free fly-around based on the CW equation is known as:

[0073]

[0074] Where:

[0075]

[0076]

[0077]

[0078]

[0079]

[0080] Where, n is the orbital angular velocity of the space station around the earth, and

[0081] The necessary and sufficient condition for the closure of the satellite fly-around orbit is The center of the fly-around is located at (0, q, 0). According to the actual needs of the satellite fly-around space station, the fly-around center of the micro-nano satellite is required to be located at the center of mass of the space station, that is, q = 0. Then the fly-around orbit equation of the satellite is as follows:

[0082]

[0083] At this time, the following can be obtained:

[0084]

[0085] When x0≠0, the above formula satisfies:

[0086]

[0087] Then:

[0088] B = k·A

[0089] At this time, the fly-around orbit equation of the micro-nano satellite is as follows:

[0090]

[0091] In the formula, k ∈ (-∞, ∞) is a correlation coefficient, A is the relative motion amplitude of the fly-around orbit in the xy plane, B is the relative motion amplitude of the fly-around orbit in the z axis direction, and ψ are the initial phases in the xy plane and the z axis direction respectively, and q is the drift term of the fly-around orbit in the y axis direction.

[0092] When the fly-around orbit center of the micro-nano satellite is always located at the origin of the coordinate system, the extreme value of the distance between the satellite and the space station is the major semi-axis and the minor semi-axis of the fly-around orbit, so the calculation formula of the maximum distance and the minimum distance of the fly-around orbit from the origin is as follows:

[0093]

[0094] According to formula (1), the relative motion amplitude A should satisfy:

[0095]

[0096] According to formula (2), the value range of k [k min , k max ] and the range of the relative motion amplitude A [A min +A max ] can be calculated. A suitable amplitude value A = (A min +A max ) / 2 is selected, and q = 0, the three values are substituted into the calculation formula (3)

[0097] of the initial motion parameters.

[0098] So the corresponding initial orbit parameters are [A 0 kA 0 -2ωA 0 ].

[0099] As shown in FIG. 3, the specific process of the double-star global observation coverage algorithm in step S3 is as follows: Figure 3

[0100] S3.1, randomly sampling on the surface of the space station, defining the number of sampling points N;

[0101] S3.2, calculating the orbit of the two micro-nano satellites according to the initial orbit parameters based on the correlation coefficient k and A, and uniformly sampling the orbit of the two micro-nano satellites, defining the sampling points T;

[0102] The orbit equation of the micro-nano satellites of the space station based on the correlation coefficient k and the motion amplitude A is:

[0103]

[0104] And the satellite flyby period is 2π, so the uniform sampling interval is 2π / T, and each sampling point can be obtained as

[0105]

[0106] Where i = 1, 2, 3, … T.

[0107] S3.3, calculating the distance between the space station surface sampling points and the orbit sampling points, the distance from the orbit sampling points to the center of the space station (the origin), and the size of the observation angle. If the distance between the space station surface sampling points and the orbit sampling points is less than or equal to the maximum observation distance and the observation angle is less than or equal to the maximum imaging angle of the camera, count the operation;

[0108] The observation angle size calculation step is as follows:

[0109] (1) First, calculate the projection point (x P ,y P ,z P ) of the space station sampling point on the flyby orbit plane.

[0110] The general equation of the flyby orbit plane is Ax+By+Cz+D=0, and the calculation formula of the projection point is obtained according to geometric derivation:

[0111]

[0112] Then the projection point coordinates are obtained, denoted as (x P ,y P ,z P ).

[0113] ​(2) Calculate the distance d between the space station sampling point and the orbit plane.

[0114] Given a point (x0, y0, z0) outside the space plane, the distance formula between the point and the space plane is:

[0115]

[0116] (3) Calculate the distance h between the orbit sampling point and the projection point on the orbit plane corresponding to the space station sampling point using the distance formula between two points.

[0117] (4) Calculate the observation angle size:

[0118] θ = |tan -1 (d / h) | (8)

[0119] S3.4, perform S3.3 for all sampling points on the orbit in turn, and all sampling points are calculated, and the count value is obtained, denoted as sum1. If sum1 is greater than 0, perform the counting operation;

[0120] S3.5, perform S3.3 and S3.4 for all sampling points on the space station surface in turn, and all sampling points are calculated, and the count value is obtained, denoted as sum.

[0121] S3.6, calculate the global coverage rate coverage = sum / N;

[0122] A specific embodiment and accompanying drawings are listed below to illustrate the specific calculation process of the present application.

[0123] Implementation example

[0124] Assume that the space station is in a circular orbit around the Earth with an altitude of 380 km, and that the attitude of the space station remains unchanged during the flight of the accompanying satellite. As shown in Figure 4 , the space station is composed of two cylinders and five solar panels. Among them, cylinder 1 is divided into left and right sections of 10 meters and 6 meters, and cylinder 2 is divided into two uniform sections of 8 meters and 8 meters. The solar panels are symmetrically installed, and their thickness is ignored. The center of SP1 is 2 meters away from point O, and SP2 and SP3 are located at the two ends of cylinder 1, respectively 9 meters and 5 meters away from point O. SP4 and SP5 are located at the two ends of cylinder 2, respectively 7 meters and 7 meters away from point O.

[0125] According to the space station model, the space station model is simplified as a combination of five cubes, and the length, width and height of the five cuboids are (1m, 2m, 16m) (1m, 12m, 2m) (1m, 10m, 1m) (1m, 16m, 2m) (1m, 10m, 1m), respectively, and their position relationship is shown in Figure 5 .

[0126] d is selected considering the circumvention constraint and the perception constraint condition safe = 10m, d observe = 40m, the maximum included angle of satellite camera imaging is selected as 20°. The simulation verification is carried out on the global observation coverage algorithm of the double satellites, the global coverage under any two correlation coefficients k is solved, and the size of the two correlation coefficients k reaching 100% global coverage is solved.

[0127] When d safe = 10m, d observe = 40m, the global coverage of the double satellites is calculated In this paper, the range of the correlation coefficient k1 of the double satellite fly-around orbit 1 and the correlation coefficient k2 of the double satellite fly-around orbit 2 is [-8, 8]. The double satellite global coverage graph and the double satellite global coverage contour graph obtained by simulation calculation are as shown in Figure 6 and Figure 7 .

[0128] Select any one group of k1, k2 values in the bright yellow area of the contour map, calculate appropriate A1, A2, and substitute them into the calculation formula (3) of the initial parameters of the orbit, to obtain the initial relative motion parameters of the double satellite fly-around orbit for the observation of the whole surface of the space station.

[0129] The application also discloses a double satellite fly-around orbit design system, comprising:

[0130] An acquisition unit is configured to acquire micro-nano satellite parameters and determine the range of the correlation coefficient k in the initial orbit parameters of the micro-nano satellite;

[0131] A calculation unit is configured to calculate the global observation fly-around coverage of the double satellites according to the initial orbit parameters meeting the range of the correlation coefficient k, and determine the coverage of the space station.

[0132] A drawing unit is configured to draw a coverage three-dimensional graph under different orbit parameters, and obtain the double satellite fly-around orbit corresponding to the orbit parameters when the coverage is 1.

[0133] The calculation of the global observation fly-around coverage of the double satellites according to the orbit parameters k specifically comprises:

[0134] S3.1: Random sampling on the surface of the space station, and defining the number of sampling points N;

[0135] S3.2: Calculating the fly-around orbits of the two micro-nano satellites according to the initial orbit parameters, and uniformly sampling the fly-around orbits of the two micro-nano satellites, and defining the sampling points T;

[0136] S3.3: Calculate the distance between the space station surface sampling point and the orbit sampling point, the distance from the orbit sampling point to the center of the space station, and the size of the observation angle; if the distance between the space station surface sampling point and the orbit sampling point is less than or equal to the maximum observation distance and the observation angle is less than or equal to the maximum camera imaging angle, then the counting operation is performed;

[0137] S3.4: Perform the operation of S3.3 on all orbit sampling points in turn, and all sampling points are calculated, and the counting value is obtained, which is recorded as sum1, and if sum1 is greater than 0, then the counting operation is performed;

[0138] S3.5: Perform the operations of S3.3 and S3.4 on all sampling points on the surface of the space station in turn, and after all sampling points are calculated, the counting value is obtained, which is recorded as sum;

[0139] S3.6, calculate the global coverage coverage = sum / N.

[0140] The application also discloses an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the double-star fly-around orbit design method when executing the computer program.

[0141] The double-star fly-around orbit design method for space station full-surface observation comprises the following steps:

[0142] S1, considering the geometric shape parameters of the space station, input appropriate micro-nano satellite collision avoidance constraints d safe And satellite camera perception constraints d observe . At the same time, input the maximum angle θ max of satellite camera imaging;

[0143] S2, according to the micro-nano satellite collision avoidance constraints d safe , satellite camera perception constraints d observe , the k value range in the initial orbit parameters of the micro-nano satellite based on the correlation coefficient k and the motion amplitude A is calculated;

[0144] S3, for any initial orbit parameters k1, k2 of the two micro-nano satellites meeting the k value range in S2, the double-star global observation fly-around coverage is calculated to obtain the space station coverage under double-star fly-around observation coverage.

[0145] S4, draw the coverage 3D graph under different double-star fly-around orbit parameters k1, k2, and obtain the fly-around orbit corresponding to the double-star fly-around orbit parameters k1, k2 when the coverage coverage is 1, which is the designed double-star fly-around orbit for space station full-surface observation.

[0146] The application further discloses a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize steps of the double-satellite fly-around orbit design method.

[0147] The double-satellite fly-around orbit design method for full-surface observation of a space station comprises the following steps.

[0148] S1, considering the geometric shape parameters of the space station, inputting appropriate micro-nano satellite collision avoidance constraints d safe and satellite camera perception constraints d observe . Meanwhile, inputting the maximum included angle θ max of satellite camera imaging;

[0149] S2, according to the micro-nano satellite collision avoidance constraints d safe , the satellite camera perception constraints d observe , calculating the k value range in the initial orbit parameters of the micro-nano satellite based on the correlation coefficient k and the motion amplitude A;

[0150] S3, performing double-satellite global observation fly-around coverage calculation on any initial orbit parameters k1 and k2 of the two micro-nano satellites that meet the k value range in S2 to obtain the space station coverage under double-satellite fly-around observation coverage.

[0151] S4, drawing a 3D graph of the coverage under different double-satellite fly-around orbit parameters k1 and k2, and obtaining the fly-around orbit corresponding to the double-satellite fly-around orbit parameters k1 and k2 when the coverage coverage is 1, that is, the designed double-satellite fly-around orbit for full-surface observation of the space station.

[0152] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system, or a computer program product. Therefore, the application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the application can adopt a computer program product in the form of being implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0153] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0154] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0155] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0156] Finally, it should be noted that the above-mentioned embodiments are merely used to illustrate the technical solutions of the present application, rather than limit the technical solutions of the present application. Although the present application is described in detail with reference to the above embodiments, those skilled in the art should understand that the specific embodiments of the present application can be modified or replaced, and any modification or replacement without departing from the spirit and scope of the present application should be covered in the protection scope of the claims of the present application.

Claims

1. A method for designing a binary star orbit, characterized in that, Includes the following steps: Obtain microsatellite parameters and determine the correlation coefficients in the initial orbital parameters of the microsatellites. k Value range; Based on the correlation coefficient k The initial orbital parameters within the range are used to calculate the global observation flyby coverage of the two satellites and determine the space station coverage. Plot a 3D map of coverage under different orbital parameters to obtain the binary orbital flight path corresponding to the orbital parameters when the coverage is 1. The microsatellite parameters include: microsatellite collision avoidance constraints. Satellite camera sensing constraints The maximum angle between the image and the satellite camera image. θ max Based on collision avoidance constraints for micro and nano satellites Satellite camera perception constraints The correlation coefficient of micro and nano satellites was calculated. k and motion amplitude A The range of correlation coefficient k values ​​in the initial orbital parameters is as follows: When the center of the microsatellite's orbit is always located at the origin of the coordinate system, the formulas for calculating the maximum and minimum distances of the orbit from the origin are as follows: （1） The relative motion amplitude is obtained according to formula (1). satisfy: （2） Calculated according to formula (2) k The range of values ​​[ k min , k max and relative motion amplitude A Scope A min , A max ]; in, The correlation coefficient; The amplitude of relative motion; To avoid collision constraints for micro and nano satellites; Constraints for satellite camera perception; This represents the maximum distance from the origin to the orbital path. This represents the minimum distance from the origin to the orbital path.

2. The method for designing a binary star orbit according to claim 1, characterized in that, Select an amplitude value: A =( A min + A max ) / 2, and q =0, φ =0, substitute these three values ​​into the initial motion parameter calculation formula (3) to obtain the initial trajectory parameters as [ A 0 kA 0-2 nA 0]; （3） Where k is the correlation coefficient, A is the relative motion amplitude, and n is the orbital angular velocity of the space station around the Earth. The initial phase of the orbital flight path. This is the drift term along the y-axis around the flight path.

3. The method for designing a binary star orbit according to claim 1, characterized in that, According to orbital parameters k Calculate the global observation fly-around coverage of the binary satellites, specifically including: S3.1: Randomly sample the surface of the space station and define the number of sampling points. N ; S3.2: Calculate the orbits of the two microsatellites / nanosatellites based on the initial orbital parameters, uniformly sample the orbits of the two microsatellites / nanosatellites, and define the sampling points. T ; S3.3: Calculate the distance between the sampling points on the space station surface and the orbital sampling points, the distance from the orbital sampling points to the center of the space station, and the size of the observation angle; if the distance between the sampling points on the space station surface and the orbital sampling points is less than or equal to the maximum observation distance and the observation angle is less than or equal to the maximum included angle of the camera imaging, then perform a counting operation; S3.4: Perform the operation of S3.3 sequentially on all sampling points on all tracks. After all sampling points have been calculated, obtain the count value, which is denoted as... sum1 ,like sum1 If the value is greater than 0, then a counting operation is performed; S3.5, Perform operations S3.3 and S3.4 sequentially on all sampling points on the surface of the space station. After all sampling points have completed the calculation, count the values ​​and record them as follows. sum ; S3.6, Calculate global coverage coverage=sum / N .

4. The method for designing a binary star orbit according to claim 3, characterized in that, In step S3.2, the orbits of the two microsatellites are calculated based on the initial orbital parameters. The orbits of the two microsatellites are then uniformly sampled, and sampling points are defined. T Specifically: Space station micro-nano satellites based on correlation coefficient With motion amplitude The equations for the orbital path are: （4） Since the satellite's orbital period is 2π, the uniform sampling interval is 2π / T, thus the sampling points can be obtained as follows: （5） in k is the correlation coefficient, A is the relative motion amplitude, and φ is the initial phase of the orbit.

5. The method for designing a binary star orbit according to claim 3, characterized in that, The steps for calculating the size of the observed angle in S3.3 are as follows: Define the observation angle at any given time as the angle between the line of sight from the satellite imaging center and the line connecting the satellite and the sampling point at that time; first, calculate the projection of the space station sampling point onto the orbital plane. , ); The known plane equation for the orbital flight path is: The formula for calculating the projection point, derived geometrically, is as follows: （6） The coordinates of the projection point can then be obtained, denoted as ( , ); Calculate the distance d from the sampling point of the space station to the orbital plane; Given a point outside the plane in space ( , The formula for the distance from this point to the spatial plane is: （7） The distance h between the orbital sampling point and the space station sampling point on the orbital plane corresponding to the two-point distance formula is calculated. The size of the observed angle is then calculated as follows: （8） in, , , , These are the constant coefficients in the equations of the orbital plane.

6. A binary star orbital design system, characterized in that, The system for implementing the binary star orbit design method according to claims 1-5 includes: The acquisition unit, similar to acquiring microsatellite parameters, determines the correlation coefficients in the initial orbital parameters of the microsatellites. k Value range; Calculation unit, used to calculate based on the correlation coefficient k The initial orbital parameters within the range are used to calculate the global observation flyby coverage of the two satellites and determine the space station coverage. The drawing unit plots a 3D map of coverage under different orbital parameters, obtaining the binary orbital trajectory corresponding to the orbital parameters when the coverage is 1.

7. An electronic device comprising 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 a binary star orbital design method according to any one of claims 1-5.

8. A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the binary star orbital design method according to any one of claims 1-5.

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