A super-fast rendezvous and docking method based on the anchor points of a long-distance guidance terminal

Abstract

The present invention provides an ultra-fast rendezvous and docking method based on a terminal anchor point of a long-distance guidance terminal, which relates to the technical field of rendezvous and docking. The method includes: obtaining parameter information when a tracking spacecraft enters orbit; determining a target value of a terminal anchor point of the tracking spacecraft in the long-distance guidance section according to the parameter information, the long-distance guidance strategy, and a preset rendezvous and docking time; using the target value as an initial condition for the close-range autonomous control section, and entering the approach section and the translation and approach section to complete docking with the target spacecraft. The ultra-fast rendezvous and docking method based on the terminal anchor point of the long-distance guidance terminal provided by this solution can significantly shorten the rendezvous and docking time.

Description

Technical Field

[0001] The present invention relates to the technical field of rendezvous and docking, and particularly to an ultra-fast rendezvous and docking method based on the terminal anchor point of a long-distance guidance terminal. Background Art

[0002] The rendezvous and docking strategy is the way to transport astronauts from the ground to the International Space Station. This method has been adopted by the Soyuz spacecraft, the Space Shuttle, and the International Space Station, as well as the Shenzhou spacecraft. The traditional rendezvous and docking plan takes 2 - 3 days, and the existing fast rendezvous and docking time also requires 6.5 hours. The rendezvous and docking plan usually includes a long-distance guidance section, a close-range autonomous control section, and a docking section. How to ensure the effective connection of each flight section and have a certain margin between each flight section while further shortening the rendezvous and docking time is still an urgent problem to be solved. Summary of the Invention

[0003] An embodiment of the present invention provides an ultra-fast rendezvous and docking method based on the terminal anchor point of a long-distance guidance terminal, which can significantly shorten the rendezvous and docking time.

[0004] In a first aspect, an embodiment of the present invention provides an ultra-fast rendezvous and docking method based on the terminal anchor point of a long-distance guidance terminal, including:

[0005] Obtaining the parameter information of the tracking spacecraft when it enters the orbit;

[0006] Determining the target value of the terminal anchor point of the tracking spacecraft in the long-distance guidance section according to the parameter information, the long-distance guidance strategy, and the preset rendezvous and docking time;

[0007] Taking the target value as the initial condition of the close-range autonomous control section, and entering the approach section and the translation and approach section to complete the docking with the target spacecraft.

[0008] Optionally, the preset rendezvous and docking time does not exceed 2 hours.

[0009] Optionally, the long-distance guidance strategy is a two-pulse guidance strategy.

[0010] Optionally, the determining the target value of the terminal anchor point of the tracking spacecraft in the long-distance guidance section includes:

[0011] Preliminarily setting the relative height between the tracking spacecraft and the target spacecraft when the tracking spacecraft is at the terminal anchor point according to the parameter information, the long-distance guidance strategy, and the preset rendezvous and docking time;

[0012] Determining the initial value of the terminal anchor point according to the relative height; wherein, the initial value is the coordinate value of the terminal anchor point relative to the target spacecraft;

[0013] Use the initial value as the initial condition of the close-range autonomous control section, and through simulation, make the tracking spacecraft enter the approach section and the translation approach section to complete the docking with the target spacecraft, and obtain the simulation docking time when the docking is completed;

[0014] Use the initial value whose simulation docking time does not exceed the preset rendezvous and docking time as the distribution value;

[0015] Determine the target value according to the distribution value.

[0016] Optionally, the determination of the initial value of the terminal anchor point includes:

[0017] Determine the initial value as And determine the relative velocity in the track direction between the tracking spacecraft and the target spacecraft at the terminal anchor point;

[0018] The relative velocity in the track direction is determined by the following formula:

[0019] V x =-1.5ω0h0

[0020] Wherein, the V x is used to represent the relative velocity in the track direction; the ω0 is used to represent the orbital angular velocity of the target spacecraft; the h0 is used to represent the relative height.

[0021] Optionally, the determination of the target value according to the distribution value includes:

[0022] Determine the median value from the distribution value and use the median value as the target value.

[0023] Optionally, determine the error range of the target value based on the distribution value; wherein, the target value can complete the ultra-fast rendezvous and docking within the error range.

[0024] Optionally, the tracking spacecraft adopts the strategies of CW guidance and line-of-sight guidance to enter the approach section, and then enters the translation approach section including the extreme speed section and the safe approach section to complete the close-range guidance; wherein, the line-of-sight guidance is executed after 3 times of the CW guidance.

[0025] Optionally, the relative height is 1.5 km to 2.5 km.

[0026] Optionally, the approach section is a 400-meter approach.

[0027] In a second aspect, an embodiment of the present invention further provides an ultra-fast rendezvous and docking device based on a long-distance guidance terminal anchor point, including:

[0028] An acquisition module, configured to acquire parameter information when the tracking spacecraft enters the orbit;

[0029] A remote guidance module, configured to determine a target value of a terminal anchor point of the tracking spacecraft in a long-distance guidance phase according to the parameter information, a long-distance guidance strategy, and a preset rendezvous and docking time;

[0030] A short-range guidance module, configured to use the target value as an initial condition for a close-range autonomous control phase, and enter an approach phase and a translation and approach phase to complete docking with the target spacecraft.

[0031] Optionally, the remote guidance module is further configured to perform the following operations:

[0032] Preliminarily set a relative altitude between the tracking spacecraft and the target spacecraft when the tracking spacecraft is at the terminal anchor point according to the parameter information, the long-distance guidance strategy, and the preset rendezvous and docking time;

[0033] Determine an initial value of the terminal anchor point according to the relative altitude; wherein, the initial value is a coordinate value of the terminal anchor point relative to the target spacecraft;

[0034] Use the initial value as an initial condition for the close-range autonomous control phase, and enable the tracking spacecraft to enter the approach phase and the translation and approach phase to complete docking with the target spacecraft through simulation, so as to obtain a simulated docking time when docking is completed;

[0035] Use the initial value whose simulated docking time does not exceed the preset rendezvous and docking time as a distribution value;

[0036] Determine the target value according to the distribution value.

[0037] In a third aspect, an embodiment of the present invention further provides a computing device, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the method for ultra-fast rendezvous and docking based on a long-distance guidance terminal anchor point described in any one of the above is implemented.

[0038] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed in a computer, the computer is made to execute the method for ultra-fast rendezvous and docking based on a long-distance guidance terminal anchor point described in any one of the above.

[0039] An embodiment of the present invention provides an ultra-fast rendezvous and docking method based on a terminal anchor point for long-distance guidance. The method first obtains the parameter information when the spacecraft enters the orbit, and then determines the target value of the terminal anchor point in the long-distance guidance section through the parameter information, the long-distance guidance strategy, and the preset rendezvous and docking time expected for the rendezvous and docking mission. This target value is used as the initial condition for the close-range autonomous control section to enter the approach section and the translation and approach section, and finally complete the docking with the target spacecraft within the preset rendezvous and docking time. In this way, by designing the terminal anchor point, the present invention tailors and assembles the rendezvous and docking mission according to the principle of space-time folding, decomposes the entire rendezvous and docking mission into seamlessly connected long-distance guidance section, approach section, and translation and approach section, omits the acquisition section in the general rendezvous and docking process, reduces the waiting time at the holding point, ensures the independence of the guidance, navigation, and control strategies under the flight time constraint, significantly shortens the rendezvous and docking time, and can achieve ultra-fast rendezvous and docking with a total flight time not greater than 2 hours. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0041] Figure 1 is a flowchart of an ultra-fast rendezvous and docking method based on a terminal anchor point for long-distance guidance provided by an embodiment of the present invention;

[0042] Figure 2 is a hardware architecture diagram of a computing device provided by an embodiment of the present invention;

[0043] Figure 3 is a structural diagram of an ultra-fast rendezvous and docking device based on a terminal anchor point for long-distance guidance provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0045] In the prior art, for the mission of two-day rendezvous and docking, the whole process is divided into a long-distance guidance stage, a close-range autonomous control stage, and a final docking stage. The close-range autonomous control stage is further divided into a homing stage, an approach stage, and a translation and approach stage. Moreover, a hold point is set at the connection between each flight stage, and generally, after holding for several minutes, it enters the next flight stage. The long-distance guidance stage of two-day rendezvous and docking adopts a ground guidance strategy. If the long-distance guidance stage is autonomously executed on the ship and the guidance strategy is a fast rendezvous and docking method, the long-distance guidance stage is changed to a fast long-distance guidance of 6 pulses in 6.5 hours, or a 7-pulse long-distance guidance strategy under a large phase; its approach stage is divided into a 400-meter approach and a 200-meter approach, and a guidance strategy combining CW guidance and line-of-sight guidance is adopted; the translation and approach stage adopts a straight-line approaching trajectory and is controlled by a six-degree-of-freedom method.

[0046] However, the two-day rendezvous and docking time is still relatively long. The orbital period of a spacecraft near 400 km in the Earth's orbit is about 1.5 h. To complete ultra-fast rendezvous and docking within 2 h, the long-distance guidance must be short enough or even non-existent, and the close-range flight time must also be short. Therefore, how to greatly shorten the rendezvous and docking time is still the key problem of ultra-fast rendezvous and docking. The present invention proposes an ultra-fast rendezvous and docking method based on the terminal anchor point of long-distance guidance. The final output 2-h ultra-fast rendezvous and docking scheme is as follows: adopt two-pulse long-distance guidance, and immediately enter the approach stage after the end of long-distance guidance, so as to immediately enter the translation and approach stage after a short approach, making the total flight time less than 2 h.

[0047] The following is the concept of the present invention. As Figure 1 shown, an embodiment of the present invention provides an ultra-fast rendezvous and docking method based on the terminal anchor point of long-distance guidance. The method includes:

[0048] Step 100, obtaining the parameter information when the tracking spacecraft enters the orbit;

[0049] Step 102, determining the target value of the terminal anchor point of the tracking spacecraft in the long-distance guidance stage according to the parameter information, the long-distance guidance strategy, and the preset rendezvous and docking time;

[0050] Step 104, using the target value as the initial condition of the close-range autonomous control stage, and entering the approach stage and the translation and approach stage to complete the docking with the target spacecraft.

[0051] In an embodiment of the present invention, the method first obtains parameter information when the spacecraft enters the orbit, and then determines the target value of the terminal anchor point in the long-distance guidance section through the parameter information, the long-distance guidance strategy, and the preset rendezvous and docking time. The target value is used as the initial condition for the close-range autonomous control section to enter the approach section and the translation and approach section, so as to complete the docking with the target spacecraft within the preset rendezvous and docking time. In this way, by designing the terminal anchor point and tailoring and assembling the rendezvous and docking mission according to the principle of space-time folding, the entire rendezvous and docking mission is decomposed into a seamlessly connected long-distance guidance section, an approach section, and a translation and approach section, eliminating the acquisition section in the general rendezvous and docking process, reducing the holding point time waiting, significantly shortening the rendezvous and docking time, and enabling an ultra-fast rendezvous and docking with a total flight time not greater than 2h.

[0052] It should be noted that the preset rendezvous and docking time does not exceed 2h.

[0053] The following describes Figure 1 the execution manner of each step shown.

[0054] In step 100, parameter information when the tracking spacecraft enters the orbit is obtained, including: the apogee and perigee of the orbit where the tracking spacecraft is located when it enters the orbit, the out-of-plane deviation of the orbit, the initial phase angle difference when the tracking spacecraft enters the orbit, etc.

[0055] In step 102, the long-distance guidance strategy is a two-pulse guidance strategy.

[0056] In an embodiment of the present invention, for a mission with a preset rendezvous and docking time not exceeding 2h, from the perspective of the orbit injection accuracy provided by the rocket, a long-distance guidance transition must be passed to provide a suitable initial condition for the close-range autonomous control section. From the perspective of orbital dynamics, using a single-pulse guidance for long-distance guidance has very high requirements for the long-distance pulse and is almost infeasible. Therefore, a two-pulse long-distance guidance is used for guidance.

[0057] In step 102, determining the target value of the terminal anchor point of the tracking spacecraft in the long-distance guidance section includes:

[0058] According to the parameter information, the long-distance guidance strategy, and the preset rendezvous and docking time, the relative height between the tracking spacecraft and the target spacecraft when the tracking spacecraft is at the terminal anchor point is initially set;

[0059] According to the relative height, the initial value of the terminal anchor point is determined; where the initial value is the coordinate value of the terminal anchor point relative to the target spacecraft;

[0060] Take the initial value as the initial condition of the close - range autonomous control section, and through simulation, make the tracking spacecraft enter the approach section and the translation and approach section to complete the docking with the target spacecraft, and obtain the simulation docking time when the docking is completed;

[0061] Take the initial value whose simulation docking time does not exceed the preset rendezvous and docking time as the distribution value;

[0062] Determine the target value according to the distribution value.

[0063] In the embodiment of the present invention, the entire ultra - fast rendezvous and docking mission is divided into a long - distance guidance section, an approach section, and a translation and approach section according to the principle of space - time folding. In order to accurately enter the approach section from the long - distance guidance section, it is necessary to accurately locate the terminal anchor point position of the long - distance guidance section. Therefore, by setting the initial values of multiple terminal anchor points, and based on the designed close - range autonomous control section including the approach section and the translation and approach section, iterative simulation is carried out on the ultra - fast rendezvous and docking mission, and the simulation docking time after each iterative simulation is determined. If the simulation docking time for completing the docking does not exceed the preset rendezvous and docking time, the initial value corresponding to this simulation docking time is used as the distribution value and is used to determine the final target value. In this way, based on the ultra - fast rendezvous and docking mission, the reachability of each terminal anchor point is determined by traversing and simulating the initial values of each terminal anchor point, and then the initial values with reachability are counted, and further the target value of the terminal anchor point is determined to further ensure the smooth completion of the ultra - fast rendezvous and docking within no more than 2 hours. At the same time, through iterative simulation, the target value of the terminal anchor point not only meets the control effect under the limited thrust of long - distance guidance, but also meets the characteristics of weak adaptability of close - range autonomous control, and has a certain robustness.

[0064] In a preferred embodiment, after determining the target value, it further includes:

[0065] Constrain the parameter information of the tracking spacecraft when it enters the orbit according to the distribution value and the simulation docking time.

[0066] In the present invention, according to the results of iterative simulation, requirements can also be put forward for the rocket's orbit - entry conditions, mainly constraining the perigee and apogee of the tracking spacecraft, the out - of - plane deviation of the orbital plane, and the phase - angle difference between the two spacecraft at the moment of ship - rocket separation to further ensure the smooth completion of the rendezvous and docking. It also includes requirements for data observation in the measurement and control of flight control. For example, the platform setting and pulse calculation in the initial stage of orbit - entry must be within the measurement and control range, the initial moment of the first pulse execution must be within the measurement and control range, the second pulse must have the ability to intervene and be within the measurement and control range, and the final docking moment must be within the measurement and control range, etc.

[0067] In a preferred embodiment, determine the initial value as And determine the relative velocity in the track direction between the tracking spacecraft and the target spacecraft at the terminal anchor point;

[0068] The relative velocity in the track direction is determined by the following formula:

[0069] V x =-1.5ω0h0

[0070] wherein, the V x is used to represent the relative velocity in the track direction; the ω0 is used to represent the orbital angular velocity of the target spacecraft; the h0 is used to represent the relative height.

[0071] In the embodiment of the present invention, in order to reduce the flight time, directly enter the approach segment from the terminal anchor point after the long-distance guidance segment ends. If the relative height between the tracking spacecraft and the target spacecraft initially set at the terminal anchor point is h0, with the target spacecraft as the coordinate origin, then the initial value of the terminal anchor point at this time is And the relative velocity in the track direction also satisfies the above formula.

[0072] In a more preferred embodiment, the approach segment is a 400-meter approach.

[0073] It should be noted that in the approach segment, the relative distance between the tracking spacecraft and the target spacecraft can be set to 400 meters or within the allowable error range of 400 meters.

[0074] In a more preferred embodiment, the relative height is 1.5 km to 2.5 km.

[0075] It should be noted that for the express rendezvous and docking mission not exceeding 2 hours, in order to ensure that it can directly enter the 400-meter approach segment at the terminal anchor point, through experiments, it is confirmed that the relative height can be 1.5 km, 1.6 km, 1.8 km, 2.0 km, 2.2 km, 2.4 km, 2.5 km, etc.

[0076] In the embodiment of the present invention, limiting the relative height based on prior knowledge, etc., can further reduce the time required for iterative simulation and effectively improve the iterative simulation efficiency.

[0077] In a preferred embodiment, determine the median from the distribution values and use the median as the target value.

[0078] In the implementation of the present invention, using the median in the distribution values as the target value can more ensure the position accuracy of the terminal anchor point, effectively ensure that the tracking spacecraft can directly enter the approach segment, and thus successfully complete the ultra-fast rendezvous and docking.

[0079] In a preferred embodiment, an error range of the target value is determined according to the distribution value, such that the target value can still complete the ultra-fast rendezvous and docking within this error range.

[0080] In step 104, the tracking spacecraft enters the proximity phase by adopting the CW guidance and line-of-sight guidance strategies, and then enters the translation and approach phase including the extreme speed phase and the safe approach phase to complete the close-range guidance; wherein, the line-of-sight guidance is executed after 3 times of the CW guidance.

[0081] In the embodiment of the present invention, by finely designing 3 times of CW guidance and line-of-sight guidance in the proximity phase, on the basis of effectively shortening the time of the close-range guidance section, the trajectory error of the tracking spacecraft is reduced, thereby further ensuring the realization of the ultra-fast rendezvous and docking mission.

[0082] In a preferred embodiment, a time interval and the total time of the CW guidance are calculated according to the maximum pulse and the nominal thrust of the CW guidance adopted by the tracking spacecraft; wherein, 3 times of the CW guidance are executed by using pulses at equal interval times.

[0083] The time interval is determined by the following formula:

[0084]

[0085] wherein, the t jiange is used to represent the time interval; the V xmax is used to represent the maximum pulse of the adopted CW guidance on the x-axis; the a x is used to represent the nominal thrust of the adopted CW guidance on the x-axis; the V ymax is used to represent the maximum pulse of the adopted CW guidance on the y-axis; the a y is used to represent the nominal thrust of the adopted CW guidance on the y-axis; the V zmax is used to represent the maximum pulse of the adopted CW guidance on the z-axis; the a z is used to represent the nominal thrust of the adopted CW guidance on the z-axis;

[0086] The total time is determined by the following formula:

[0087] 3t jiange ≤t CW <4t jiange

[0088] In the present invention, for the 2h ultra-fast rendezvous and docking mission, immediately after the end of the long-distance guidance, the first pulse of the 400-meter proximity phase is executed based on the terminal anchor point. Since the three-axis pulse components may be relatively large, the CW guidance adopts the strategy of pulses at equal interval times to further shorten the time of the close-range guidance.

[0089] In the embodiment of the present invention, the setting of the interval time needs to ensure that the execution of the first pulse can be completed. Thus, the maximum startup time t can be calculated according to the maximum pulses and nominal thrusts of the three axes. jiange . Meanwhile, in order to ensure that the CW guidance can be executed three times and provide appropriate initial conditions for the line-of-sight guidance, the total CW guidance time cannot be too long. The range of the total CW guidance time is [3t jiange , 4t jiange ), preferably 3t jiange , otherwise the time of the line-of-sight guidance will be too short or even unable to complete the 2h ultra-fast rendezvous and docking mission.

[0090] In a preferred embodiment, the translational approach segment adopts a nominal trajectory control method of linear approximation and a phase-plane control strategy; the translational approach segment includes a rapid segment and a safe approach segment;

[0091] According to the maximum speed measurement capability of the relative measurement sensor, the approach speed of the rapid segment is determined; wherein, two groups of heterogeneous relative measurement sensors are adopted in the rapid segment;

[0092] The approach speed is:

[0093] V pingyi = 0.8 × max(V MAX )

[0094] wherein, the V pingyi is used to represent the approach speed; the V MAX is used to represent the maximum speed measurement capability of the relative measurement sensor.

[0095] In the embodiment of the present invention, a nominal trajectory control method of linear approximation is adopted, the control strategy adopts phase-plane control, and the linear approximation speed is designed in two segments, namely the rapid segment and the safe approach segment. Among them, the speed of the rapid segment is designed to be executed under the capability of the relative measurement sensor. By adopting two groups of heterogeneous relative measurement sensors and determining the maximum approach speed V pingyi through the above formula, the flight time of the rapid segment can be further shortened with high precision while ensuring safety. Among them, the safe approach segment is the same as the existing general rendezvous and docking mission, ensuring the reliability of the system.

[0096] As Figure 2 , Figure 3 shown, the embodiment of the present invention provides an ultra-fast rendezvous and docking device based on the anchor point of the long-distance guidance terminal. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. In terms of the hardware level, as Figure 2As shown in the figure, it is a hardware architecture diagram of a computing device where a super-fast rendezvous and docking device based on a long-distance guidance terminal anchor point provided by an embodiment of the present invention. In addition to Figure 2 the shown processor, memory, network interface, and non-volatile memory, the computing device where the device is located in the embodiment usually may also include other hardware, such as a forwarding chip responsible for processing packets, and so on. Taking software implementation as an example, as Figure 3 shown, as a logically meaningful device, it is formed by the CPU of its corresponding computing device reading the corresponding computer program in the non-volatile memory into the memory for running. A super-fast rendezvous and docking device based on a long-distance guidance terminal anchor point provided by this embodiment includes:

[0097] An acquisition module 300, configured to acquire parameter information when the tracking spacecraft enters the orbit;

[0098] A remote guidance module 302, configured to determine the target value of the terminal anchor point of the tracking spacecraft in the long-distance guidance section according to the parameter information, long-distance guidance strategy, and preset rendezvous and docking time;

[0099] A short-range guidance module 304, configured to use the target value as the initial condition of the close-range autonomous control section, and enter the approach section and the translation and approach section to complete the docking with the target spacecraft.

[0100] In some specific implementation manners, the acquisition module 300 may be used to execute the above step 100, the remote guidance module 302 may be used to execute the above step 102, and the short-range guidance module 304 may be used to execute the above step 104.

[0101] In some specific implementation manners, the preset rendezvous and docking time does not exceed 2h.

[0102] In some specific implementation manners, the long-distance guidance strategy adopted by the remote guidance module 302 is a two-pulse guidance strategy.

[0103] In some specific implementation manners, the remote guidance module 302 is further configured to perform the following operations:

[0104] According to the parameter information, long-distance guidance strategy, and the preset rendezvous and docking time, initially set the relative height between the tracking spacecraft and the target spacecraft when the tracking spacecraft is at the terminal anchor point;

[0105] According to the relative height, determine the initial value of the terminal anchor point; wherein, the initial value is the coordinate value of the terminal anchor point relative to the target spacecraft;

[0106] Take the initial value as the initial condition of the close - range autonomous control section, and through simulation, make the tracking spacecraft enter the approach section and the translational approach section to complete the docking with the target spacecraft, and obtain the simulation docking time when the docking is completed;

[0107] Take the initial value whose simulation docking time does not exceed the preset rendezvous and docking time as the distribution value;

[0108] Determine the median from the distribution values, and take the median as the target value.

[0109] In some specific embodiments, the remote guidance module 302 is further configured to perform the following operations:

[0110] Determine that the initial value is and determine the track - direction relative velocity between the tracking spacecraft and the target spacecraft at the terminal anchor point;

[0111] The track - direction relative velocity is determined by the following formula:

[0112] V x =-1.5ω0h0

[0113] wherein, the V x is used to represent the track - direction relative velocity; the ω0 is used to represent the orbital angular velocity of the target spacecraft; the h0 is used to represent the relative height.

[0114] In some specific embodiments, the short - range guidance module 304 is further configured to perform the following operations:

[0115] The tracking spacecraft adopts the strategies of CW guidance and line - of - sight guidance to enter the approach section, and then enters the translational approach section including the extreme - speed section and the safe - approach section to complete the short - range guidance; among them, the line - of - sight guidance is executed after 3 times of the CW guidance.

[0116] It can be understood that the structure schematically shown in the embodiments of the present invention does not constitute a specific limitation on a super - fast rendezvous and docking device based on a long - distance guidance terminal anchor point. In other embodiments of the present invention, a super - fast rendezvous and docking device based on a long - distance guidance terminal anchor point may include more or fewer components than those shown in the figure, or combine certain components, or split certain components, or have different component arrangements. The components shown in the figure can be implemented in hardware, software, or a combination of software and hardware.

[0117] Regarding the information interaction, execution process, etc. between the modules in the above - mentioned device, since they are based on the same concept as the method embodiments of the present invention, the specific content can be referred to the description in the method embodiments of the present invention, and will not be elaborated here.

[0118] An embodiment of the present invention further provides a computing device, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, a super-fast rendezvous and docking method based on a long-distance guidance terminal anchor point in any embodiment of the present invention is implemented.

[0119] An embodiment of the present invention further provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the processor is caused to execute a super-fast rendezvous and docking method based on a long-distance guidance terminal anchor point in any embodiment of the present invention.

[0120] Specifically, a system or device equipped with a storage medium can be provided. Software program code for implementing the functions in any one of the above embodiments is stored on the storage medium, and the computer (or CPU or MPU) of the system or device reads and executes the program code stored in the storage medium.

[0121] In this case, the program code read from the storage medium itself can implement the functions of any one of the above embodiments. Therefore, the program code and the storage medium storing the program code constitute a part of the present invention.

[0122] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Optionally, the program code can be downloaded from a server computer via a communication network.

[0123] A computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also 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, system, or device.

[0124] The program code included on a computer-readable medium can be transmitted by any appropriate medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination of the above.

[0125] Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0126] In addition, it should be clear that not only can the above functions of any one of the above embodiments be realized by executing the program code read by the computer, but also by causing an operating system or the like operating on the computer based on the instructions of the program code to complete part or all of the actual operations.

[0127] In addition, it can be understood that the program code read from the storage medium is written into the memory provided in the expansion board inserted into the computer or into the memory provided in the expansion module connected to the computer, and then based on the instructions of the program code, the CPU or the like installed on the expansion board or the expansion module is caused to execute part and all of the actual operations, thereby realizing the functions of any one of the above embodiments.

[0128] It should be noted that, in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0129] Those of ordinary skill in the art will understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including those of the above method embodiments. The aforementioned storage medium includes various media such as ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A super-fast rendezvous and docking method based on the anchor point of a long-distance guidance terminal, characterized in that including: Obtaining parameter information of the tracking spacecraft when it enters the orbit; Determining the target value of the terminal anchor point of the tracking spacecraft in the long-distance guidance section according to the parameter information, the long-distance guidance strategy, and a preset rendezvous and docking time not exceeding 2h; Taking the target value as the initial condition of the close-range autonomous control section, and directly entering the 400-meter approach section and the translation approach section at the terminal anchor point to complete the docking with the target spacecraft; The determining the target value of the terminal anchor point of the tracking spacecraft in the long-distance guidance section includes: Preliminarily setting the relative height between the tracking spacecraft and the target spacecraft when the tracking spacecraft is at the terminal anchor point according to the parameter information, the long-distance guidance strategy, and the preset rendezvous and docking time; the relative height is 1.5 km to 2.5 km; Determining the initial value of the terminal anchor point according to the relative height; wherein, the initial value is the coordinate value of the terminal anchor point relative to the target spacecraft; Taking the initial value as the initial condition of the close-range autonomous control section, and making the tracking spacecraft enter the approach section and the translation approach section through simulation to complete the docking with the target spacecraft, and obtaining the simulation docking time when the docking is completed; Taking the initial value whose simulation docking time does not exceed the preset rendezvous and docking time as the distribution value; Determining the target value according to the distribution value.

2. The method according to claim 1, characterized in that The long-distance guidance strategy is a two-pulse guidance strategy.

3. The method according to claim 1, wherein The determining the initial value of the terminal anchor point includes: Determine that the initial value is and determine the along-track relative velocity between the tracking spacecraft and the target spacecraft at the terminal anchor point; The trace relative velocity is determined by the following formula: V x = -1.5ω0h0 wherein, the V x is used to represent the trace relative velocity; the ω0 is used to represent the orbital angular velocity of the target spacecraft; the h0 is used to represent the relative height.

4. The method according to claim 1, characterized in that, The determining the target value according to the distribution value includes: Determining the median from the distribution value and taking the median as the target value.

5. The method according to any one of claims 1 to 4, characterized in that The tracking spacecraft adopts the strategies of CW guidance and line-of-sight guidance to enter the approach section, and then enters the translation approach section including the extreme speed section and the safe approach section to complete the close-range guidance; wherein, the line-of-sight guidance is executed after 3 times of the CW guidance.

6. A super-fast rendezvous and docking device based on a long-distance guidance terminal anchor point, characterized in that, including: An acquisition module, configured to acquire parameter information of the tracking spacecraft when it enters the orbit; A long-distance guidance module, configured to determine the target value of the terminal anchor point of the tracking spacecraft in the long-distance guidance section according to the parameter information, the long-distance guidance strategy, and a preset rendezvous and docking time not exceeding 2h; A short-range guidance module, configured to take the target value as the initial condition of the close-range autonomous control section, and directly enter the 400-meter approach section and the translation approach section at the terminal anchor point to complete the docking with the target spacecraft; The long-distance guidance module is further configured to perform the following operations: Preliminarily setting the relative height between the tracking spacecraft and the target spacecraft when the tracking spacecraft is at the terminal anchor point according to the parameter information, the long-distance guidance strategy, and the preset rendezvous and docking time; the relative height is 1.5 km to 2.5 km; Determining the initial value of the terminal anchor point according to the relative height; wherein, the initial value is the coordinate value of the terminal anchor point relative to the target spacecraft; Use the initial value as the initial condition of the close-range autonomous control section, and through simulation, make the tracking spacecraft enter the approach section and the translational approach section to complete the docking with the target spacecraft, and obtain the simulation docking time when the docking is completed; Use the initial value whose simulation docking time does not exceed the preset rendezvous and docking time as the distribution value; Determine the target value according to the distribution value.

7. A computing device, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method according to any one of claims 1-5 is implemented.

8. A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed in a computer, the computer is made to execute the method according to any one of claims 1-5.

Images