Asteroid rigid impact dynamics solving method and device

Abstract

The application relates to an asteroid rigid impact dynamics solving method and device, and belongs to the field of asteroid defense. The method comprises the following steps: establishing an asteroid dynamics environment, calculating asteroid gravity field data of any position in the space where the asteroid is located and distance data between the position and the surface of the asteroid; establishing a collision model of a rigid probe and the asteroid, calculating the combined collision force and the combined collision moment suffered by the rigid probe and the asteroid according to the distance data; and further establishing a rigid probe dynamics model in the dynamics environment of the asteroid in the rigid impact process and solving the model to obtain the solving result of the asteroid rigid impact dynamics. The application can efficiently solve the changes of physical quantities such as displacement and speed of the rigid probe after the rigid probe collides with the asteroid with time, and can solve the changes of physical quantities such as the speed and angular velocity of the asteroid after the collision, thereby providing reliable technical support for asteroid defense.

Description

Technical Field

[0001] This invention belongs to the field of asteroid defense, and specifically relates to a method and apparatus for calculating the dynamics of rigid asteroid impacts. Background Technology

[0002] Some near-Earth asteroids have orbits that overlap with the Earth-Sun orbit, and over long periods of evolution, these asteroids may collide with Earth. Most asteroids are small enough to burn up in Earth's atmosphere, but some larger asteroids may break through the atmosphere, causing significant damage to humanity. Therefore, it is necessary to conduct research on active asteroid defense.

[0003] Rigid probe impacts on asteroids to alter their orbits are an effective active defense method. To better conduct asteroid defense missions, it is necessary to establish efficient rigid asteroid impact dynamics and simulate the results of rigid probe impacts, providing technical support for asteroid defense missions. Currently, simulation of rigid asteroid impacts is still in its infancy. Summary of the Invention

[0004] The purpose of this invention is to fill the gaps in the existing technology by proposing a method and apparatus for calculating the dynamics of asteroid rigid impacts. This invention can efficiently calculate the changes in physical quantities such as displacement and velocity of a rigid probe over time after an impact with an asteroid, and also calculate the changes in physical quantities such as velocity and angular velocity of the asteroid after the impact, providing reliable technical support for asteroid impact defense.

[0005] The first aspect of this invention provides a method for solving the dynamics of asteroid rigid impacts, comprising:

[0006] By establishing an asteroid dynamics environment within a defined coordinate system, the gravitational field data of the asteroid at any location in the space where the asteroid is located, as well as the distance data between that location and the surface of the asteroid, are calculated.

[0007] A collision model between the rigid probe and the asteroid is established. Based on the distance data, the resultant collision force and the resultant collision torque of the rigid probe and the asteroid are calculated respectively.

[0008] Based on the asteroid's gravitational field data, the combined collision force, and the combined collision torque, a dynamic model of the rigid probe under the asteroid's dynamic environment during the rigid impact process is established. The dynamic model is then solved to obtain the solution results of the asteroid's rigid impact dynamics.

[0009] In one specific embodiment of the present invention, the coordinate system is the asteroid body coordinate system;

[0010] The asteroid body coordinate system has the asteroid's center of mass O as the origin, the x-axis as the principal axis of the asteroid's minimum moment of inertia, the y-axis as the principal axis of the asteroid's intermediate moment of inertia, and the z-axis as the principal axis of the asteroid's maximum moment of inertia. The x-axis, y-axis, and z-axis form a right-handed system.

[0011] In a specific embodiment of the present invention, calculating the asteroid's gravitational field data at any location in space and the distance data between that location and the asteroid's surface includes:

[0012] 1) Divide the space where the asteroid is located into a three-dimensional spatial grid along the x, y, and z directions of the selected coordinate system, where the grid spacing in the x direction is... The grid spacing in the y direction is The grid spacing in the z-direction is ;

[0013] Let the grid vertex furthest from the asteroid's center of mass O be... As the grid origin, number the grid origin as... The expression for calculating the number of any grid vertex is as follows:

[0014] ()

[0015] Where, N x Let N be the vertex's index in the x-direction of the coordinate system. y Let N be the vertex's index in the y-direction of the coordinate system. z This is the vertex's number in the z-direction of the coordinate system; This represents the position vector of the vertex. , , They represent Components in the x, y, and z directions of the coordinate system; Represents the grid origin position vector, , , They represent Components in the x, y, and z directions of the coordinate system;

[0016] 2) Calculate the asteroid's gravitational field data at each grid vertex and the distance data between the grid vertex and the asteroid's surface;

[0017] 3) Using the results of step 2), calculate the gravitational field data of the asteroid at any location in the space where the asteroid is located and the distance data between the location and the surface of the asteroid by linear interpolation.

[0018] In one specific embodiment of the present invention, the step of calculating the asteroid's gravitational field data and distance data from the asteroid's surface at any location in space using linear interpolation includes:

[0019] Any location in space where the asteroid is located asteroid gravitational field data The calculation expression is as follows:

[0020] (2)

[0021] Among them, the order number The gravitational field data of the asteroid at the grid vertices are ,serial number The distance data between the grid vertices and the asteroid surface is: ;

[0022] Order number is The vertex is The grid vertex with the smallest number in all three numbering components is calculated using the following expressions for its numbering in the x, y, and z directions of the coordinate system:

[0023] (3)

[0024] in, , , They represent The components in the x, y, and z directions of the coordinate system, This represents the floor function;

[0025] , , They represent The normalized coordinates along the x, y, and z directions of the coordinate system in the grid are calculated using the following expressions:

[0026] (4)

[0027] Location Distance from the surface of the asteroid and the corresponding asteroid surface normal vector The calculation expression is as follows:

[0028] (5)

[0029] in, for The total differential is expressed as follows:

[0030] (6).

[0031] In a specific embodiment of the present invention, the step of establishing a collision model between the rigid probe and the asteroid, and calculating the resultant collision force and the resultant collision torque of the rigid probe and the asteroid respectively based on the distance data, includes:

[0032] 1) Determine the collision detection points for the rigid detector;

[0033] Several collision detection points are set on the rigid surface of the rigid detector through simulation;

[0034] 2) Calculate the collision force at each collision detection point;

[0035] Record No. The position vector of each collision detection point is and velocity vector Then the first The collision force experienced by each collision detection point is:

[0036] (7)

[0037] in, For the first The collision force experienced by each collision detection point and Representing positions respectively Distance and location from the asteroid's surface The corresponding asteroid surface normal vector;

[0038] and The first The equivalent stiffness and equivalent damping coefficient of each collision detection point are calculated using the following expressions:

[0039] (8)

[0040] in, For the first The equivalent radius of curvature of each collision detection point at the location of the collision. For the first The radius of curvature of each collision detection point at the collision detection point In order to be with the first The radius of curvature at the collision detection point on the asteroid surface corresponding to each collision detection point;

[0041] For the equivalent elastic modulus, in The Young's modulus of the surface material of the rigid detector. Poisson's ratio of the surface material of the rigid detector. This represents the Young's modulus of the material on the asteroid's surface. Poisson's ratio of the material on the asteroid's surface; The coefficient of recovery;

[0042] 3) Calculate the resultant collision force and resultant collision moment on the rigid probe and the asteroid;

[0043] The calculation expressions for the resultant collision force on the rigid probe and the asteroid are as follows:

[0044] (9)

[0045] in, The resultant collision force experienced by the rigid detector. The resultant force of the impact on the asteroid. This represents the number of collision detection points.

[0046] The expressions for calculating the resultant collision torques on the rigid probe and the asteroid are as follows:

[0047] (10)

[0048] in, The resultant collision torque on the rigid detector. The resultant impact torque on the asteroid. Let be the centroid position vector of the rigid detector.

[0049] In a specific embodiment of the present invention, the dynamic model of the rigid probe under the asteroid dynamic environment is expressed as follows:

[0050] (11)

[0051] in, For the mass of a rigid detector, For the mass of the asteroid, Let be the moment of inertia of the rigid detector. Let be the moment of inertia of the asteroid. Let be the position vector of the asteroid's center of mass.

[0052] In a specific embodiment of the present invention, solving the dynamic model to obtain the solution results of the asteroid rigid impact dynamics includes:

[0053] The dynamic model is solved by using the fourth-order Runge-Kutta method in combination with the initial states of the asteroid and the rigid probe. The results are obtained as follows: the position vector of the center of mass of the rigid probe, the angular velocity, and the velocity vector of the center of mass of the asteroid at each moment during the collision process. These results are the solution of the dynamics of the asteroid rigid impact.

[0054] A second aspect of the present invention provides an apparatus for solving the dynamics of asteroid rigid impacts, comprising:

[0055] The dynamic environment construction module is used to calculate the gravitational field data of the asteroid at any location in the space where the asteroid is located, as well as the distance data between the location and the surface of the asteroid, by establishing the asteroid dynamic environment in a set coordinate system.

[0056] The collision model construction module is used to establish a collision model between the rigid probe and the asteroid, and to calculate the resultant collision force and the resultant collision torque of the rigid probe and the asteroid based on the distance data.

[0057] The dynamic model solution module is used to establish a dynamic model of the rigid probe under the dynamic environment of the asteroid during the rigid impact process based on the asteroid gravitational field data, the resultant collision force and the resultant collision torque, and solve the dynamic model to obtain the solution result of the rigid impact dynamics of the asteroid.

[0058] A third aspect of the present invention provides an electronic device comprising:

[0059] At least one processor; and a memory communicatively connected to said at least one processor;

[0060] The memory stores instructions that can be executed by the at least one processor, and the instructions are configured to perform the aforementioned method for solving the dynamics of asteroid rigid impacts.

[0061] A fourth aspect of the present invention provides a computer-readable storage medium storing computer instructions for causing the computer to execute the above-described method for solving the dynamics of asteroid rigid impacts.

[0062] The features and beneficial effects of this invention are as follows:

[0063] This invention considers that during the process of a rigid probe colliding with an asteroid, the rigid probe is mainly affected by the asteroid's gravitational field and the collision force on the asteroid's surface. By designing an efficient method for fitting the asteroid's gravitational field and asteroid surface, the dynamic environment of the asteroid is efficiently calculated.

[0064] This invention proposes an efficient asteroid collision model, which enables efficient calculation of the collision force between a rigid probe and an asteroid, and thus achieves efficient calculation of the dynamics of asteroid rigid impact.

[0065] This invention can be used in future deep space exploration missions such as asteroid landing and asteroid impact defense, and has high application value. Attached Figure Description

[0066] Figure 1 This is an overall flowchart of a method for solving the dynamics of asteroid rigid impacts according to an embodiment of the present invention.

[0067] Figure 2 This is a schematic diagram of the coordinate system in a specific embodiment of the present invention.

[0068] Figure 3 This is a schematic diagram of an asteroid dynamic environment grid in a specific embodiment of the present invention.

[0069] Figure 4 This is a schematic diagram of the collision detection point division on the surface of a rigid detector in a specific embodiment of the present invention. Detailed Implementation

[0070] This invention proposes a method and apparatus for calculating the dynamics of asteroid rigid impacts. The invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0071] The first aspect of this invention proposes a method for solving the dynamics of asteroid rigid impacts, comprising:

[0072] By establishing an asteroid dynamics environment within a defined coordinate system, the gravitational field data of the asteroid at any location in the space where the asteroid is located, as well as the distance data between that location and the surface of the asteroid, are calculated.

[0073] A collision model between the rigid probe and the asteroid is established. Based on the distance data, the resultant collision force and the resultant collision torque of the rigid probe and the asteroid are calculated respectively.

[0074] Based on the asteroid's gravitational field data, the combined collision force, and the combined collision torque, a dynamic model of the rigid probe under the asteroid's dynamic environment during the rigid impact process is established. The dynamic model is then solved to obtain the solution results of the asteroid's rigid impact dynamics.

[0075] In a specific embodiment of the present invention, the overall process of the asteroid rigid impact dynamics calculation method is as follows: Figure 1 As shown, it includes the following steps:

[0076] 1) Establish a coordinate system.

[0077] In one specific embodiment of the present invention, the coordinate system used is the asteroid body coordinate system, and the following descriptions are all based on this coordinate system.

[0078] Figure 2 This is a schematic diagram of the coordinate system in a specific embodiment of the present invention. For example... Figure 2 As shown, the asteroid's body coordinate system has the asteroid's center of mass O as the origin of the coordinate system. The x-axis is the principal axis of the asteroid's minimum moment of inertia, the y-axis is the principal axis of the asteroid's intermediate moment of inertia, and the z-axis is the principal axis of the asteroid's maximum moment of inertia. The three axes form a right-handed system.

[0079] 2) By establishing an asteroid dynamic environment, calculate the asteroid gravitational field data and the distance data between that location and the asteroid surface at any position in the space where the asteroid is located.

[0080] In one specific embodiment of the present invention, a three-dimensional interpolation method is used to establish an asteroid gravitational field model and a surface model to form the asteroid's dynamic environment. The specific steps are as follows:

[0081] 2-1) Divide the space into grids and number them.

[0082] In this embodiment, the space where the asteroid is located is uniformly divided into a three-dimensional spatial grid along the x, y, and z directions of the selected coordinate system, wherein the grid spacing in the x direction is [missing information]. The grid spacing in the y direction is The grid spacing in the z-direction is Define the grid vertex farthest from the asteroid's center of mass O. Let be the grid origin, and number the grid origin as... In one specific embodiment of the present invention, a schematic diagram of the asteroid dynamic environment mesh after division is shown below. Figure 3 As shown. For any grid vertex, its number is determined according to the following formula:

[0083] ()

[0084] Where, N x Let N be the vertex's index in the x-direction of the coordinate system. y Let N be the vertex's index in the y-direction of the coordinate system. z This is the vertex's number in the z-direction of the coordinate system; This represents the position vector of the vertex. , , They represent Components in the x, y, and z directions of the coordinate system; Represents the grid origin position vector, , , They represent The components in the x, y, and z directions of the coordinate system, , , These represent the grid spacing in the x, y, and z directions of the coordinate system, respectively.

[0085] 2-2) Calculate the gravitational field data of the asteroid at each grid vertex and the distance data between that vertex and the asteroid surface.

[0086] In this embodiment, the asteroid gravitational field data at the grid vertices can be pre-calculated using an asteroid polyhedral model combined with the polyhedral method, or measured using actual instruments. For any asteroid numbered... The grid vertices, whose asteroid gravitational field data are denoted as .

[0087] The distance data between the mesh vertices and the asteroid surface can be pre-calculated using an asteroid polyhedral model combined with the open-source software SDFGen. For any mesh vertex numbered... The distance data of the grid vertices to the surface of the asteroid is denoted as . .

[0088] 2-3) Calculate the gravitational field data of the asteroid at any location in space and the distance data between that location and the asteroid surface by linear interpolation.

[0089] For any location in space where the asteroid is located (This embodiment is) Figure 3 The space composed of all grids in the asteroid's gravitational field data. The following expression can be used for calculation:

[0090] (2)

[0091] Among them, the number is The vertex is The grid vertex whose numbering in all three components is the smallest can be numbered in the x, y, and z directions of the coordinate system using the following expression:

[0092] (3)

[0093] in, , , They represent The components in the x, y, and z directions of the coordinate system, This represents the floor function. , , They represent The normalized coordinates along the x, y, and z directions of the coordinate system in the grid can be calculated using the following expressions:

[0094] (4)

[0095] Location Distance from the surface of the asteroid and the corresponding asteroid surface normal vector The following expression can be used for calculation:

[0096] (5)

[0097] in, for The total differential is expressed as follows:

[0098] (6)

[0099] 3) Establish a collision model between the rigid probe and the asteroid, and calculate the resultant collision force and the resultant collision torque on the rigid probe and the asteroid, respectively.

[0100] This invention does not place special requirements on the rigid detector; in one specific embodiment of this invention, a discrete collision model is used to establish a collision model between the rigid detector and the asteroid. The specific steps are as follows:

[0101] 3-1) Determine the collision detection point of the rigid detector.

[0102] A certain number of collision detection points are defined on the rigid surface of the rigid detector. The number of collision detection points can be determined according to the simulation accuracy; in one specific embodiment of the present invention, 250 collision detection points are used. The collision between the rigid detector and the asteroid is equivalent to the collision between the collision detection points and the asteroid.

[0103] Figure 4 This diagram illustrates the division of collision detection points on the surface of a cubic rigid detector according to a specific embodiment of the present invention. The black dots represent collision detection points, which are uniformly and equidistantly distributed along the detector surface. The collision detection points can be uniform or non-uniform. For rigid detectors with complex shapes, the division of collision detection points can be accomplished using commercial finite element method (FEM) software. It should be noted that the number of collision detection points can be determined based on the simulation accuracy. For rigid detectors with complex structures, the density of collision detection points can be increased locally to improve simulation accuracy.

[0104] 3-2) Calculate the collision force at each collision detection point.

[0105] In one specific embodiment of the present invention, the Young's modulus of the asteroid surface material is obtained by consulting relevant literature. Compared to Poisson and the Young's modulus of the surface material of the rigid detector. Compared to Poisson .

[0106] For the There are collision detection points, and their position vectors are denoted as follows: and velocity vector Then the collision force experienced by the collision detection point is:

[0107] (7)

[0108] in, For the first The collision force experienced by each collision detection point and Representing positions respectively Distance and location from the asteroid's surface The corresponding asteroid surface normal vector can be calculated and solved in step 2).

[0109] and The first The equivalent stiffness and equivalent damping coefficient of each collision detection point are calculated using the following expressions:

[0110] (8)

[0111] in, For the first The equivalent radius of curvature of each collision detection point at the location of the collision. For the first The radius of curvature at each collision detection point can be set to a fixed value. In one embodiment of the present invention, the radius of curvature of all collision detection points is set to 1 meter. In order to be with the first The radius of curvature at the collision detection point on the asteroid surface corresponding to each collision detection point. For the equivalent elastic modulus, in The Young's modulus of the surface material of the rigid detector. Poisson's ratio of the surface material of the rigid detector. This represents the Young's modulus of the material on the asteroid's surface. is the Poisson's ratio of the material on the asteroid's surface. The coefficient of recovery is 0.2 in one specific embodiment of the present invention. For the first The magnitude of the velocity of each collision detection point just as it contacts the asteroid's surface.

[0112] 3-3) Calculate the resultant collision force and resultant collision torque on the rigid probe and the asteroid.

[0113] In a specific embodiment of the present invention, the calculation expressions for the resultant collision force on the rigid detector and the asteroid are as follows:

[0114] (9)

[0115] in, The resultant collision force experienced by the rigid detector. The resultant force of the impact on the asteroid. The number of collision detection points. For the first The collision force experienced by each collision detection point.

[0116] The expressions for calculating the resultant collision torques on the rigid probe and the asteroid are as follows:

[0117] (10)

[0118] in, The resultant collision torque on the rigid detector. The resultant impact torque on the asteroid. For the first The position vector of each collision detection point Let be the centroid position vector of the rigid detector.

[0119] 4) Dynamic simulation of rigid asteroid impacts.

[0120] In one embodiment of the present invention, a dynamic model of a rigid probe under the dynamic environment of an asteroid during a rigid impact process is established, and the expression is as follows:

[0121] (11)

[0122] in, For the mass of a rigid detector, For the mass of the asteroid, Let be the moment of inertia of the rigid detector. Let be the moment of inertia of the asteroid. Let be the centroid position vector of the rigid detector. Let be the position vector of the asteroid's center of mass.

[0123] In this embodiment of the invention, the fourth-order Runge-Kutta method is used to solve equation (11) in combination with the initial states of the asteroid and the rigid probe. This allows us to calculate the position vector, angular velocity, and velocity vector of the rigid probe at each moment during the collision process, as well as the position vector, angular velocity, and velocity vector of the asteroid's center of mass. This achieves efficient calculation of the asteroid's rigid impact dynamics.

[0124] To achieve the above embodiments, a second aspect of the present invention provides an asteroid rigid impact dynamics calculation device, comprising:

[0125] The dynamic environment construction module is used to calculate the gravitational field data of the asteroid at any location in the space where the asteroid is located, as well as the distance data between the location and the surface of the asteroid, by establishing the asteroid dynamic environment in a set coordinate system.

[0126] The collision model construction module is used to establish a collision model between the rigid probe and the asteroid, and to calculate the resultant collision force and the resultant collision torque of the rigid probe and the asteroid based on the distance data.

[0127] The dynamic model solution module is used to establish a dynamic model of the rigid probe under the dynamic environment of the asteroid during the rigid impact process based on the asteroid gravitational field data, the resultant collision force and the resultant collision torque, and solve the dynamic model to obtain the solution result of the rigid impact dynamics of the asteroid.

[0128] It should be noted that the foregoing explanation of an embodiment of a method for solving the dynamics of asteroid rigid impacts also applies to an asteroid rigid impact dynamics calculation device of this embodiment, and will not be repeated here. According to an embodiment of the present invention, an asteroid rigid impact dynamics calculation device establishes an asteroid dynamics environment in a set coordinate system, calculates the asteroid gravitational field data and the distance data between the location and the asteroid surface at any position in the space where the asteroid is located; establishes a collision model between a rigid probe and the asteroid; calculates the resultant collision force and the resultant collision torque experienced by the rigid probe and the asteroid respectively based on the distance data; establishes a dynamics model of the rigid probe in the asteroid dynamics environment during the rigid impact process based on the asteroid gravitational field data, the resultant collision force, and the resultant collision torque; and solves the dynamics model to obtain the solution result of the asteroid rigid impact dynamics. This enables efficient calculation of the changes in physical quantities such as displacement and velocity of a rigid probe over time after an impact with an asteroid, and also calculates the changes in physical quantities such as velocity and angular velocity of the asteroid after the impact, providing reliable technical support for asteroid impact defense.

[0129] To implement the above embodiments, a third aspect of the present invention provides an electronic device, comprising:

[0130] At least one processor; and a memory communicatively connected to said at least one processor;

[0131] The memory stores instructions that can be executed by the at least one processor, and the instructions are configured to perform the aforementioned method for solving the dynamics of asteroid rigid impacts.

[0132] To implement the above embodiments, a fourth aspect of the present invention provides a computer-readable storage medium storing computer instructions for causing the computer to execute the above-described method for solving the dynamics of asteroid rigid impacts.

[0133] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0134] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform an asteroid rigid impact dynamics calculation method according to the above embodiments.

[0135] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0136] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0137] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0138] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0139] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0140] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0141] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0142] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0143] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for solving the dynamics of asteroid rigid impacts, characterized in that, include: By establishing an asteroid dynamics environment within a defined coordinate system, the gravitational field data of the asteroid at any location in the space where the asteroid is located, as well as the distance data between that location and the surface of the asteroid, are calculated. A collision model between the rigid probe and the asteroid is established. Based on the distance data, the resultant collision force and the resultant collision torque of the rigid probe and the asteroid are calculated respectively. Based on the asteroid gravitational field data, the combined collision force, and the combined collision torque, a dynamic model of the rigid probe under the dynamic environment of the asteroid during the rigid impact process is established. The dynamic model is solved to obtain the solution results of the rigid impact dynamics of the asteroid. The coordinate system is the asteroid body coordinate system; the asteroid body coordinate system has the asteroid's center of mass O as the origin, the x-axis as the principal axis of the asteroid's minimum moment of inertia, the y-axis as the principal axis of the asteroid's intermediate moment of inertia, and the z-axis as the principal axis of the asteroid's maximum moment of inertia. The x-axis, y-axis and z-axis form a right-handed system. The calculation of the asteroid's gravitational field data at any location in space and the distance data between that location and the asteroid's surface includes: 1) Divide the space where the asteroid is located into a three-dimensional spatial grid along the x, y, and z directions of the selected coordinate system, where the grid spacing in the x direction is... The grid spacing in the y direction is The grid spacing in the z-direction is ; Let the grid vertex furthest from the asteroid's center of mass O be... As the grid origin, number the grid origin as... The expression for calculating the number of any grid vertex is as follows: () Where, N x Let N be the vertex's index in the x-direction of the coordinate system. y Let N be the vertex's index in the y-direction of the coordinate system. z This is the vertex's number in the z-direction of the coordinate system; This represents the position vector of the vertex. , , They represent Components in the x, y, and z directions of the coordinate system; Represents the grid origin position vector, , , They represent Components in the x, y, and z directions of the coordinate system; 2) Calculate the asteroid's gravitational field data at each grid vertex and the distance data between the grid vertex and the asteroid's surface; 3) Using the results of step 2), calculate the gravitational field data of the asteroid at any location in the space where the asteroid is located and the distance data between the location and the surface of the asteroid by linear interpolation.

2. The method according to claim 1, characterized in that, The calculation of asteroid gravitational field data and distance data from the asteroid surface at any location in space using linear interpolation includes: Any location in space where the asteroid is located asteroid gravitational field data The calculation expression is as follows: (2) Among them, the order number The gravitational field data of the asteroid at the grid vertices are ,serial number The distance data between the grid vertices and the asteroid surface is: ; Order number is The vertex is The grid vertex with the smallest number in all three numbering components is calculated using the following expressions for its numbering in the x, y, and z directions of the coordinate system: (3) in, , , They represent The components in the x, y, and z directions of the coordinate system, This represents the floor function; , , They represent The normalized coordinates along the x, y, and z directions of the coordinate system in the grid are calculated using the following expressions: (4) Location Distance from the surface of the asteroid and the corresponding asteroid surface normal vector The calculation expression is as follows: (5) in, for The total differential is expressed as follows: (6)。 3. The method according to claim 2, characterized in that, The establishment of a collision model between the rigid probe and the asteroid, and the calculation of the resultant collision force and the resultant collision torque on the rigid probe and the asteroid based on the distance data, include: 1) Determine the collision detection points for the rigid detector; Several collision detection points are set on the rigid surface of the rigid detector through simulation; 2) Calculate the collision force at each collision detection point; Record No. The position vector of each collision detection point is and velocity vector Then the first The collision force experienced by each collision detection point is: (7) in, For the first The collision force experienced by each collision detection point and Representing positions respectively Distance and location from the asteroid's surface The corresponding asteroid surface normal vector; and The first The equivalent stiffness and equivalent damping coefficient of each collision detection point are calculated using the following expressions: (8) in, For the first The equivalent radius of curvature of each collision detection point at the location of the collision. For the first The radius of curvature of each collision detection point at the collision detection point In order to be with the first The radius of curvature at the collision detection point on the asteroid surface corresponding to each collision detection point; For the equivalent elastic modulus, in The Young's modulus of the surface material of the rigid detector. Poisson's ratio of the surface material of the rigid detector. This represents the Young's modulus of the material on the asteroid's surface. Poisson's ratio of the material on the asteroid's surface; The coefficient of recovery; 3) Calculate the resultant collision force and resultant collision moment on the rigid probe and the asteroid; The calculation expressions for the resultant collision force on the rigid probe and the asteroid are as follows: (9) in, The resultant collision force experienced by the rigid detector. The resultant force of the impact on the asteroid. This represents the number of collision detection points. The expressions for calculating the resultant collision torques on the rigid probe and the asteroid are as follows: (10) in, The resultant collision torque on the rigid detector. The resultant impact torque on the asteroid. Let be the centroid position vector of the rigid detector.

4. The method according to claim 3, characterized in that, The dynamic model of the rigid probe under the asteroid dynamic environment is expressed as follows: (11) in, For the mass of a rigid detector, For the mass of the asteroid, Let be the moment of inertia of the rigid detector. Let be the moment of inertia of the asteroid. Let be the position vector of the asteroid's center of mass.

5. The method according to claim 4, characterized in that, Solving the dynamic model to obtain the solution results of the asteroid rigid impact dynamics includes: The dynamic model is solved by using the fourth-order Runge-Kutta method in combination with the initial states of the asteroid and the rigid probe. The results are obtained as follows: the position vector of the center of mass of the rigid probe, the angular velocity, and the velocity vector of the center of mass of the asteroid at each moment during the collision process. These results are the solution of the dynamics of the asteroid rigid impact.

6. A device for solving the dynamics of asteroid rigid impacts, characterized in that, include: The dynamic environment construction module is used to calculate the gravitational field data of the asteroid at any location in the space where the asteroid is located, as well as the distance data between the location and the surface of the asteroid, by establishing the asteroid dynamic environment in a set coordinate system. The collision model construction module is used to establish a collision model between the rigid probe and the asteroid, and to calculate the resultant collision force and the resultant collision torque of the rigid probe and the asteroid based on the distance data. The dynamic model solution module is used to establish a dynamic model of the rigid probe under the dynamic environment of the asteroid during the rigid impact process based on the asteroid gravitational field data, the resultant collision force and the resultant collision torque, and solve the dynamic model to obtain the solution result of the rigid impact dynamics of the asteroid. The coordinate system is the asteroid body coordinate system; the asteroid body coordinate system has the asteroid's center of mass O as the origin, the x-axis as the principal axis of the asteroid's minimum moment of inertia, the y-axis as the principal axis of the asteroid's intermediate moment of inertia, and the z-axis as the principal axis of the asteroid's maximum moment of inertia. The x-axis, y-axis and z-axis form a right-handed system. The calculation of the asteroid's gravitational field data at any location in space and the distance data between that location and the asteroid's surface includes: 1) Divide the space where the asteroid is located into a three-dimensional spatial grid along the x, y, and z directions of the selected coordinate system, where the grid spacing in the x direction is... The grid spacing in the y direction is The grid spacing in the z-direction is ; Let the grid vertex furthest from the asteroid's center of mass O be... As the grid origin, number the grid origin as... The expression for calculating the number of any grid vertex is as follows: () Where, N x Let N be the vertex's index in the x-direction of the coordinate system. y Let N be the vertex's index in the y-direction of the coordinate system. z This is the vertex's number in the z-direction of the coordinate system; This represents the position vector of the vertex. , , They represent Components in the x, y, and z directions of the coordinate system; Represents the grid origin position vector, , , They represent Components in the x, y, and z directions of the coordinate system; 2) Calculate the asteroid's gravitational field data at each grid vertex and the distance data between the grid vertex and the asteroid's surface; 3) Using the results of step 2), calculate the gravitational field data of the asteroid at any location in the space where the asteroid is located and the distance data between the location and the surface of the asteroid by linear interpolation.

7. An electronic device, characterized in that, include: At least one processor; And, a memory communicatively connected to the at least one processor; The memory stores instructions executable by the at least one processor, the instructions being configured to perform the method described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the method according to any one of claims 1-5.

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