Cluster spacecraft orbit defense control method, device and equipment based on apf

Abstract

The application relates to an APF-based cluster spacecraft orbit defense control method, device and equipment. A spacecraft cluster attack-defense confrontation model is constructed; based on the spacecraft cluster attack-defense confrontation model, a spacecraft cluster defense graph is constructed according to graph theory, and an edge generation strategy is constructed based on the spacecraft cluster defense graph to calculate a defense evaluation coefficient; then threat targets are allocated to each guard spacecraft, a defense strategy adopted by each guard spacecraft when intercepting the threat target is determined according to the defense evaluation coefficient; a control law of the guard spacecraft is generated according to a conservative defense strategy, or a control law of the guard spacecraft is generated according to an aggressive defense strategy. The method provided by the application can obtain a spacecraft cluster defense control scheme in a short time with very small calculation cost, so that multiple threat spacecrafts are intercepted by multiple guard spacecrafts, effective defense is realized, and the method has the advantages of high calculation efficiency, good robustness, good allocation collaboration, simultaneous satisfaction of multiple constraints and the like.

Description

Technical Field

[0001] This invention belongs to the field of spacecraft control technology, specifically relating to a cluster spacecraft orbital defense control method, device, and equipment based on APF. Background Technology

[0002] As space missions become increasingly complex, the mission environments faced by spacecraft are also becoming more diverse. Ensuring the safety and reliability of spacecraft systems in such diverse environments has become one of the most important issues in the space field.

[0003] In existing technologies, research on defense and protection of aviation started relatively early and has yielded some results. In contrast, research on spacecraft defense measures mainly focuses on how to control spacecraft escape, resulting in overly simplistic approaches. In game-theoretic scenarios where a swarm of escort spacecraft protects a high-value target from approaching threats, research is needed on how to utilize swarm escorts to adopt more proactive defense methods.

[0004] However, when studying how to effectively defend against attacks from multiple threatening spacecraft using swarm escort spacecraft, challenges arise in the coordinated allocation planning and relative orbit control of the system. Existing methods cannot solve the complex problems of swarm planning and relative orbit interception. Summary of the Invention

[0005] Therefore, it is necessary to provide an APF-based orbital defense control method, device, and equipment for swarm spacecraft to address the aforementioned technical problems. This method comprehensively considers the coupling relationship between individual escort spacecraft control and swarm coordination, enabling multiple escort spacecraft to intercept multiple threat spacecraft and achieve effective defense.

[0006] A cluster spacecraft orbital defense control method based on APF, the method comprising:

[0007] Construct a spacecraft cluster offensive and defensive confrontation model;

[0008] Based on the spacecraft cluster attack and defense confrontation model, a spacecraft cluster defense graph is constructed according to graph theory, and an edge generation strategy is constructed based on the spacecraft cluster defense graph to calculate the defense evaluation coefficient.

[0009] Threat targets are assigned to each escort spacecraft, and based on the defense assessment coefficient, the defense strategy adopted by each escort spacecraft when intercepting the threat targets is determined. The defense strategy includes a conservative defense strategy and an aggressive defense strategy.

[0010] The control law for the escort spacecraft is generated based on the conservative defense strategy, or

[0011] The control law for the escort spacecraft is generated based on the radical defense strategy.

[0012] In one embodiment, a spacecraft swarm attack and defense confrontation model is constructed, including:

[0013] Establish a local orbital coordinate system with the target spacecraft as the origin;

[0014] Based on the dynamic equations, an offensive model for threatening spacecraft and a defensive model for escorting spacecraft are constructed.

[0015] In one embodiment, the threat spacecraft attack model is as follows:

[0016] The winning condition for the threatening spacecraft is: |r j |≤ε attack ;

[0017] When the threatening spacecraft attacks, the collision constraints with other controllable objects are as follows: k∈N, with j≠k, |r j -r k |≥ε impact ;

[0018] The distance constraint between the threatening spacecraft and the target spacecraft is: |r j |≤ε max ;

[0019] Where j is the threat spacecraft number; k represents the controllable object; t represents the simulation time; t0 represents the initial time; A = {a1, a1, ..., a m} represents the set of threatening spacecraft; N represents the set of controllable objects; r j The vector representing the position of the threatening spacecraft j; r k ε represents the position vector of spacecraft k; attack ε impact ε max All are constants.

[0020] In one embodiment, the escort spacecraft defense model is as follows:

[0021] The winning condition for the escort spacecraft is: |r j |>ε attack ;

[0022] The conditions under which the escort spacecraft successfully intercepts the threatening spacecraft are: j∈A, |r i -r j|≤ε impact ;

[0023] The collision constraints between the escort spacecraft are as follows: j∈A, |r i -r j |≥ε rep ;

[0024] The collision constraint condition between the escort spacecraft and the target spacecraft is: |r i |≥ε min ;

[0025] Where i represents the escort spacecraft number; j represents the threat spacecraft number; t represents the simulation time; t0 represents the initial time; N represents the set of controllable objects; A = {a1, a1, ..., a m} represents the set of threatening spacecraft; D = {d1, d2, ..., dn} n} represents a collection of escort spacecraft; r i The position vector of the escort spacecraft i; r j ε represents the position vector of the threatening spacecraft j; impact ε rep ε min All are constants.

[0026] In one embodiment, an edge generation strategy is constructed based on the spacecraft cluster defense graph, and defense evaluation coefficients are calculated, including:

[0027] Establish connections between the escort spacecraft, create a defense network, and base actions on the location of the threatening spacecraft j. j The defense assessment coefficients for the control law a2 required to be applied to the escort spacecraft i are calculated and expressed as follows:

[0028]

[0029] in, For r j The unit vector.

[0030] In one embodiment, threat targets are assigned to each escort spacecraft, including:

[0031] Based on the aforementioned defense evaluation coefficients, a complete defense evaluation coefficient matrix is ​​constructed, which is represented as follows:

[0032]

[0033] Where A = {a1, a1, ..., a m} represents the set of threatening spacecraft; D = {d1, d2, ..., dn}n} represents a group of escort spacecraft;

[0034] Based on the complete defense evaluation coefficient matrix, the Hungarian algorithm is used to assign threat targets to each escort spacecraft.

[0035] In one embodiment, based on the defense evaluation coefficient, the defense strategy employed by each of the escort spacecraft when intercepting the threat target is determined, including:

[0036] A defense strategy switching threshold is set, and it is determined whether the defense evaluation coefficient exceeds the defense strategy switching threshold, thereby determining whether each of the escort spacecraft adopts a conservative defense strategy or an aggressive defense strategy when intercepting the threat target.

[0037] In one embodiment, the control law of the escort spacecraft is generated according to the conservative defense strategy, and the conservative defense strategy control law a1 of the escort spacecraft i is expressed as:

[0038]

[0039] In the formula, ψ1=ψ Line +ψ Collision +ψ Target , where ψ Line This represents the construction of the central potential function, ψ. Collision Represents the collision avoidance potential function; ψ Target The repulsive potential function representing the threatening spacecraft; s i Indicates velocity; a D F represents the magnitude of the acceleration of the escort spacecraft. min Protecting the switching limits of spacecraft.

[0040] In one embodiment, the control law of the escort spacecraft is generated according to the aggressive defense strategy, and the aggressive defense strategy control law a2 of the escort spacecraft i is expressed as:

[0041]

[0042] In the formula, ψ2=ψ Attacker +ψ Corridor +ψ Collision +ψ Target , where ψ Attacker The potential function representing the threatening spacecraft; ψ Corridor ψ represents the potential function of the approach corridor; Collision Represents the collision avoidance potential function; ψ Target The repulsive potential function representing the threatening spacecraft; s i Indicates the reference control position for introducing the speed term; a D It indicates the magnitude of the acceleration of the escort spacecraft.

[0043] An APF-based swarm spacecraft orbital defense control device, the device comprising:

[0044] The adversarial model building module is used to build offensive and defensive adversarial models for spacecraft clusters;

[0045] The defense assessment calculation module is used to construct a spacecraft cluster defense graph based on the spacecraft cluster attack and defense confrontation model according to graph theory, construct an edge generation strategy based on the spacecraft cluster defense graph, and calculate the defense assessment coefficient.

[0046] The defense strategy determination module assigns threat targets to each escort spacecraft and determines the defense strategy to be adopted by each escort spacecraft when intercepting the threat targets based on the defense evaluation coefficient. The defense strategy includes a conservative defense strategy and an aggressive defense strategy.

[0047] The control law calculation module is used to generate the control law of the escort spacecraft based on the conservative defense strategy, or

[0048] The control law for the escort spacecraft is generated based on the radical defense strategy.

[0049] A computer device includes a memory and a processor, the memory storing a computer program, characterized in that the processor executes the computer program as the steps of any of the above-described APF-based cluster spacecraft orbital defense control methods.

[0050] The above-mentioned APF-based swarm spacecraft orbital defense control method, device, and equipment involve: constructing a spacecraft swarm attack-defense confrontation model; based on the model, constructing a swarm defense graph using graph theory, and then constructing an edge generation strategy based on the graph, calculating defense evaluation coefficients; assigning threat targets to each escort spacecraft, and determining the defense strategy adopted by each escort spacecraft when intercepting the threat targets based on the defense evaluation coefficients. These strategies include conservative and aggressive approaches; and generating control laws for the escort spacecraft based on either the conservative or aggressive defense strategies.

[0051] The APF-based swarm spacecraft orbital defense control method provided by this invention comprehensively considers the coupling relationship between individual control of escort spacecraft and swarm coordination. It can obtain a spacecraft swarm defense control scheme in a short time with very low computational cost, thereby using multiple escort spacecraft to intercept multiple threat spacecraft and achieve effective defense. It has the advantages of high computational efficiency, good robustness, good allocation coordination, and the ability to satisfy multiple constraints at the same time. Attached Figure Description

[0052] Figure 1A schematic diagram of the APF-based cluster spacecraft orbital defense control method provided for one embodiment;

[0053] Figure 2 A schematic diagram of the framework of an APF-based cluster spacecraft orbital defense control method for one embodiment;

[0054] Figure 3 A schematic diagram of an offensive and defensive confrontation task scenario provided in one embodiment;

[0055] Figure 4 A schematic diagram of spacecraft cluster defense allocation provided for one embodiment;

[0056] Figure 5 A schematic diagram of an aggressive defense strategy for approaching a corridor, provided as an example;

[0057] Figure 6 A conservative defense strategy countermeasure trajectory provided for one embodiment;

[0058] Figure 7 Switching curves for protecting spacecraft in a conservative defense strategy provided in one embodiment;

[0059] Figure 8 An aggressive defense strategy provided for one embodiment intercepts the trajectory of a spacecraft that threatens its flight path;

[0060] Figure 9 An aggressive defense strategy provided in one embodiment intercepts the trajectory of a spacecraft that threatens it during its approach phase;

[0061] Figure 10 The trajectory of a swarm spacecraft counter-attack mission provided in one embodiment;

[0062] Figure 11 A schematic diagram of the structural framework of an APF-based cluster spacecraft orbital defense control device provided for one embodiment;

[0063] Figure 12 An internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0064] To make the purpose, technical solution, and advantages of this application clearer, the following detailed description is provided with reference to examples:

[0065] This invention primarily addresses offensive and defensive scenarios where a swarm of escort spacecraft protects a high-value target spacecraft from approaching threats. It proposes a method for intercepting threatening spacecraft based on the Hungarian algorithm and the Artificial Potential Function (APF) method. Addressing the inability of existing methods to solve the complex problems of swarm planning and relative orbital interception, this invention establishes a spacecraft swarm offensive and defensive adversarial model, constructs a spacecraft swarm defense graph based on graph theory, develops an edge generation strategy for the swarm defense graph, generates a global target allocation scheme based on the Hungarian algorithm, and defines conservative and aggressive defense strategies based on APF. This enables the interception of multiple threatening spacecraft using multiple escort spacecraft.

[0066] See Figure 1 and Figure 2 This is a schematic diagram of the APF-based swarm spacecraft orbital defense control method provided by the present invention, which includes the following steps:

[0067] Step 102: Construct a spacecraft cluster attack and defense confrontation model.

[0068] Understandable, such as Figure 3 As shown, the constructed spacecraft swarm attack and defense model includes a target spacecraft, multiple threat spacecraft, and multiple escort spacecraft. The target spacecraft is the approaching target of the threat spacecraft, and the escort spacecraft attempt to intercept the threat spacecraft to protect the target spacecraft. The game ends when a threat spacecraft successfully approaches the target spacecraft or when all the escort spacecraft intercept all threat spacecraft.

[0069] In one embodiment, a relative orbit model is established by creating a local orbit coordinate system (LocalVerticalLocalHorizontal, LVLH coordinate system) with the target spacecraft as the origin, and constructing an attack model for the threatening spacecraft and a defense model for the escorting spacecraft based on the dynamic equations.

[0070] When constructing the model, assume there are n escort spacecraft in the adversarial mission, represented as D = {d1, d2, ..., dn}. n}; m threatening spacecraft, denoted as A = {a1, a2, ..., a m A target spacecraft T, which cannot perform any maneuvers and remains at its origin; all controllable objects in the mission can be represented as:

[0071] N = {D, A} = {d1, d2, ..., d} n ,a1,a2,...,a m};

[0072] Therefore, the dynamic equation is expressed as:

[0073]

[0074]

[0075] Where k represents the controllable object, including escort spacecraft and threat spacecraft; A represents the spacecraft relative motion dynamics constraint matrix; X k The state vector of the spacecraft, r k V represents a three-dimensional vector of a spacecraft. k B represents the spacecraft velocity; U represents the control matrix; k ω represents the continuous control quantity of the spacecraft; N represents the set of controllable objects; ω represents the orbital angular velocity of the target spacecraft.

[0076] In one embodiment, the constructed threat spacecraft attack model is as follows:

[0077] The winning conditions for threatening a spacecraft are: |r j |≤ε attack ;

[0078] When a spacecraft is threatened with an attack, the collision constraints with other controllable objects are as follows: k∈N, with j≠k, |r j -r k |≥ε impact ;

[0079] The distance constraint between the threatening spacecraft and the target spacecraft is: |r j |≤ε max ;

[0080] Where j is the threat spacecraft number; k represents the controllable object; t represents the simulation time; t0 represents the initial time; A = {a1, a1, ..., a m} represents the set of threatening spacecraft; N represents the set of controllable objects; r j The vector representing the position of the threatening spacecraft j; r k ε represents the position vector of spacecraft k; attack ε impact ε max All are constants.

[0081] In one embodiment, the constructed escort spacecraft defense model is as follows:

[0082] The winning conditions for protecting the spacecraft are: |r j |>ε attack ;

[0083] The conditions for successfully intercepting a threatening spacecraft while protecting it are: j∈A, |r i -r j |≤ε impact ;

[0084] The collision constraints between escort spacecraft are as follows: j∈A, |r i -r j |≥ε rep ;

[0085] The collision constraints between the escort spacecraft and the target spacecraft are as follows: |r i |≥ε min ;

[0086] Where i represents the escort spacecraft number; j represents the threat spacecraft number; t represents the simulation time; t0 represents the initial time; N represents the set of controllable objects; A = {a1, a1, ..., a m} represents the set of threatening spacecraft; D = {d1, d2, ..., dn} n} represents a collection of escort spacecraft; r i The position vector of the escort spacecraft i; r j ε represents the position vector of the threatening spacecraft j; impact ε rep ε min All are constants.

[0087] Step 104: Based on the spacecraft cluster attack and defense confrontation model, construct the spacecraft cluster defense graph according to graph theory, construct the edge generation strategy based on the spacecraft cluster defense graph, and calculate the defense evaluation coefficient.

[0088] Specifically, based on the spacecraft cluster attack and defense confrontation model constructed in step 102, such as Figure 4 As shown, a spacecraft swarm defense graph is constructed based on graph theory, denoted as G = {N, E}, where N is the set of vertices (controlled objects), and E is the edge, specifically in the form E = (i, j). For the task allocation problem, a coefficient matrix P needs to be introduced. The edge P( i,j The generation strategy of P( i,j The value of ) represents the defense assessment coefficient when assigning escort spacecraft i to intercept threatening spacecraft j. This defense assessment coefficient can be calculated based on the attacker's attributes and motion characteristics, as well as the defender's position. A variable x is introduced. ij When escort spacecraft i is assigned to intercept threatening spacecraft j, x ij If the value is 1, then the mathematical model for the cluster defense task allocation problem can be expressed as:

[0089]

[0090] It is worth noting that the edge generation strategy based on the spacecraft cluster defense graph is a method for constructing a cluster defense structure. It creates a defense network by establishing connections between different escort spacecraft, enabling the entire cluster to work collaboratively.

[0091] In one embodiment, a connection is established between the escort spacecraft to create a defense network, based on the location r of the threatening spacecraft j. j The defense assessment coefficients for the control law a2 required to be applied to the escort spacecraft i are calculated and expressed as follows:

[0092]

[0093] in, For r j The unit vector.

[0094] Step 106: Assign threat targets to each escort spacecraft. Based on the defense assessment coefficient, determine the defense strategy to be adopted by each escort spacecraft when intercepting threat targets. The defense strategies include conservative defense strategies and aggressive defense strategies.

[0095] It is understandable that the edge generation strategy is defined according to the edge generation strategy in step 104, and the generation strategy of edge (i,j) is based on the position r of the threatening spacecraft j. j The control law a2 needs to be applied to the escort spacecraft i in the direction of the defense assessment coefficient, and then the complete defense assessment coefficient matrix is ​​constructed.

[0096] In one embodiment, a complete defense evaluation coefficient matrix is ​​constructed based on the defense evaluation coefficients, and is represented as follows:

[0097]

[0098] Based on the complete defense assessment coefficient matrix, the Hungarian algorithm is used to assign threat targets to each escort spacecraft.

[0099] Specifically, the steps for assigning threat targets to each escort spacecraft using the Hungarian algorithm are as follows:

[0100] Step 202: Fill the right side or bottom of the defense evaluation coefficient matrix with 0 elements until the matrix becomes a square matrix.

[0101] Step 204: Subtract the minimum value of the current row from each row of the defense evaluation coefficient matrix.

[0102] Step 206: Subtract the minimum value of the current column from the value of each column of the matrix.

[0103] Step 208: Cover all the 0s in the matrix with the fewest possible horizontal or vertical lines.

[0104] Step 210: If the total number of horizontal and vertical lines is less than the dimension of the defense evaluation coefficient matrix, calculate the minimum value of the uncovered rows, subtract the minimum value from each uncovered row, add the minimum value to each covered column, and then jump to step 208.

[0105] Step 212: Assign guard spacecraft according to the matrix. If there are guard spacecraft with unassigned threat spacecraft, return to step 202. Otherwise, the algorithm ends, the assignment result is obtained, and the threat spacecraft that each guard spacecraft needs to defend against are determined.

[0106] In one embodiment, the defense strategy adopted by each escort spacecraft when intercepting a threat target is determined based on the defense evaluation coefficient, including: setting a defense strategy switching threshold, determining whether the defense evaluation coefficient exceeds the defense strategy switching threshold, thereby determining whether each escort spacecraft adopts a conservative defense strategy or an aggressive defense strategy when intercepting the threat target.

[0107] Specifically, targets are assigned to each individual escort spacecraft, and a defense strategy switching threshold ρ is set between conservative and aggressive defense strategies. When the defense evaluation coefficient P(i,j) < ρ, it is considered that the escort spacecraft is confident in intercepting the threatening spacecraft, and thus an aggressive defense strategy is adopted; conversely, when the defense evaluation coefficient P(i,j) ≥ ρ, it is considered that the escort spacecraft is not confident in intercepting the threatening spacecraft, and thus a conservative defense strategy is adopted.

[0108] Step 108: Generate the control law for the spacecraft based on either a conservative defense strategy or an aggressive defense strategy.

[0109] It is understandable that the conservative defense strategy based on APF is a strategy that controls the escort spacecraft to maintain its position between the threatening spacecraft and the target spacecraft, waits for the threatening spacecraft to approach and intercepts it, so as to achieve twice the result with half the effort and easily win the battle.

[0110] Aggressive defense strategy based on APF is a strategy that involves controlling the escort spacecraft to actively track the threatening spacecraft and take proactive countermeasures to counter the threatening spacecraft.

[0111] The advantage of an aggressive defensive strategy lies in its short engagement time, making it suitable for countering opponents who wait for an opportunity and refrain from attacking temporarily. The advantage of a conservative defensive strategy lies in its low maneuverability and cost, making it suitable for countering opponents who adopt an offensive strategy. In offensive and defensive confrontations, it is necessary to choose an appropriate strategy for counterattack based on the opponent's attack methods and capabilities, as well as one's own defensive capabilities.

[0112] Therefore, each escort spacecraft generates its own control law based on the APF according to the defense strategy received in step 106.

[0113] In one embodiment, taking the escort spacecraft i (i∈D) as an example, a conservative artificial potential function field is constructed. To increase the stability of the control system and overcome oscillations, a velocity term is introduced, defined as:

[0114] s i =r i +k p v i ;

[0115] In the formula, k p A 3×3 positive definite matrix used to adjust the weight of the velocity term on position when calculating the control law; r i Indicates the position of the escort spacecraft i; v i This represents the speed of the escort spacecraft i.

[0116] Assuming that the escort spacecraft i is assigned to intercept the threatening spacecraft j, construct the centerline potential function:

[0117]

[0118] Where h is s i to r i Distance; k line The centerline attraction coefficient.

[0119] Construct the collision avoidance potential function for escort spacecraft i:

[0120] ψ Collision (s)=∑ψ ζ (s i ),ζ∈D,ζ≠i;

[0121] In the formula,

[0122]

[0123] in, s i The distance to the friendly escort spacecraft ζ, r ζ C represents the position vector of the escort spacecraft ζ; rep d is a positive constant used to mitigate the rate of change of the gradient of the collision avoidance function; col To avoid the impact potential function's effective distance, when the relative distance is greater than d col At this time, it can be assumed that the collision avoidance control is not working.

[0124] Construct the repulsive potential function of the target spacecraft:

[0125]

[0126] Among them, C tar d is a non-negative constant used to mitigate the rate of change of the gradient of the collision avoidance function; warning The effective range of the collision avoidance potential function for the target spacecraft, when the relative distance is greater than d. warning At this time, it can be assumed that the collision avoidance control for the target spacecraft is ineffective.

[0127] The control law a1 for calculating the conservative defense strategy executed by the escort spacecraft i is expressed as:

[0128]

[0129] In the formula, ψ1=ψ Line +ψ Collision +ψ Target , where ψ Line This represents the construction of the central potential function, ψ. Collision Represents the collision avoidance potential function; ψ Target The repulsive potential function representing the threatening spacecraft; s i Indicates the velocity term; a D F represents the magnitude of the acceleration of the escort spacecraft. min Protecting the switching limits of spacecraft.

[0130] In one embodiment, taking the escort spacecraft i (i∈D) as an example, a radical artificial potential function is constructed, and the potential function of the threatening spacecraft is expressed as:

[0131]

[0132] Where, d att =|s i -r j |;k att The attraction coefficient for threatening spacecraft; C att It is a positive constant used to mitigate the rate of change of the potential function gradient.

[0133] like Figure 6 As shown, to ensure that a threatening spacecraft does not bypass the escort spacecraft and directly approach the target spacecraft, this invention proposes an approach corridor strategy for controlling the escort spacecraft. The escort spacecraft must remain within the approach corridor when approaching the threatening spacecraft, and the approach corridor potential function is constructed accordingly:

[0134]

[0135] Where, k line1 With k line2 θ represents the attraction coefficient of the centerline when the escort spacecraft approaches the corridor; θ is the angle between the line connecting the escort spacecraft and the attacking spacecraft and the centerline.corridor The semi-cone angle is close to the corridor; h = |s i -r j |sin(θ) is s i Distance to the center line; h0 = |s i -r j |cos(θ)arctan(θ corridor ) represents the distance from the corridor boundary to the centerline.

[0136] The control law a2 for calculating the aggressive defense strategy executed by the escort spacecraft i is expressed as:

[0137]

[0138] In the formula, ψ2=ψ Attacker +ψ Corridor +ψ Collision +ψ Target , where ψ Attacker The potential function representing the threatening spacecraft; ψ Corridor ψ represents the potential function of the approach corridor; Collision Represents the collision avoidance potential function; ψ Target The repulsive potential function representing the threatening spacecraft; s i Indicates the reference control position for introducing the speed term; a D It indicates the magnitude of the acceleration of the escort spacecraft.

[0139] Finally, every so often, the escort spacecraft re-plans its different operational strategies to deal with threatening spacecraft.

[0140] The above-mentioned APF-based swarm spacecraft orbital defense control method, device, and equipment involve: constructing a spacecraft swarm attack-defense confrontation model; based on the model, constructing a swarm defense graph using graph theory, and then constructing an edge generation strategy based on the graph, calculating defense evaluation coefficients; assigning threat targets to each escort spacecraft, and determining the defense strategy adopted by each escort spacecraft when intercepting the threat targets based on the defense evaluation coefficients. These strategies include conservative and aggressive approaches; and generating control laws for the escort spacecraft based on either the conservative or aggressive defense strategies.

[0141] The APF-based swarm spacecraft orbital defense control method provided by this invention comprehensively considers the coupling relationship between individual control of escort spacecraft and swarm coordination. It can obtain a spacecraft swarm defense control scheme in a short time with very low computational cost, thereby using multiple escort spacecraft to intercept multiple threat spacecraft and achieve effective defense. It has the advantages of high computational efficiency, good robustness, good allocation coordination, and the ability to satisfy multiple constraints at the same time.

[0142] It should be understood that, although Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated in this invention, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Furthermore, Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0143] In one embodiment, in order to verify the experimental effect of the present invention, simulation calculations were performed on the escort spacecraft using both a conservative defense strategy and an aggressive defense strategy.

[0144] Example 1: The objects are one target spacecraft, one escort spacecraft, and one threat spacecraft. The target spacecraft is in a GEO orbit with an orbital radius of 42,164,137 m. The other spacecraft orbit the target spacecraft at an initial time t0. In the LVLH coordinate system, the relative motion of each spacecraft is described by the orbital radius, orbital phase, and tangent of the orbital plane angle. The initial relative orbital parameters of the threat spacecraft are [600 m, 30°, 0] and the initial relative orbital parameters of the escort spacecraft are [100 m, 26°, 0]. The threat spacecraft is simulated in two cases: (1) the threat spacecraft orbits the target spacecraft continuously; (2) the threat spacecraft applies a pulse at 8640 s and approaches the target spacecraft with a transition time of 12960 s. The escort spacecraft is simulated using two strategies: a conservative defense strategy and an aggressive defense strategy. The detailed parameter settings are shown in Table 1.

[0145] Table 1 Parameter Settings for Offensive and Defensive Confrontation Mission Scenarios

[0146]

[0147]

[0148] Figure 6 The trajectory of a threatening spacecraft employing an active approach strategy was intercepted by a guard spacecraft using a conservative defense strategy. The results show that the guard spacecraft successfully intercepted the threatening spacecraft. Figure 7The engine's on / off function is shown, demonstrating that a conservative defense strategy requires less fuel to intercept threatening spacecraft and does not require continuous operation. The interception time for the escort spacecraft using this strategy is 18794 seconds. However, the conservative defense strategy cannot intercept threatening spacecraft that continuously circle around it; therefore, the corresponding simulation results are not shown.

[0149] Figure 8 , Figure 9 The paper demonstrates the spacecraft counter trajectories of the aggressive defense strategy against two strategies: circling and direct attack. The interception times are 12914s and 11988s, respectively. It can be seen that the aggressive defense strategy proposed in this invention can deal with threatening spacecraft with different attack modes, and the interception time is shorter than that of the conservative strategy.

[0150] Thus, Example 1 has verified the effectiveness of the defense strategy in a one-to-one offensive and defensive confrontation scenario. To further verify the coordination and conflict avoidance capabilities of escorting spacecraft in swarm confrontation, Example 2 will be used as an example for detailed explanation.

[0151] Example 2: The subjects are one target spacecraft, four escort spacecraft, and four threat spacecraft. The target spacecraft is in a GEO orbit with a radius of 42,164,137 m. The other spacecraft initially orbit around the target spacecraft. In the LVLH coordinate system, the relative motion of each spacecraft is described by the orbital radius, orbital phase, and tangent of the orbital plane angle. The initial relative orbital parameters of the threat and escort spacecraft are shown in Table 2, and the other control parameters are set in Table 1. Threat spacecraft a4 is set to apply a pulse at 10,000 s and approach the target spacecraft with a transition time of 12,000 s. The other threat spacecraft only orbit the target and do not attack. The strategy switching interval of the escort spacecraft is set to 10,000 s.

[0152] Table 2 Initial relative orbital parameters for escort and threat spacecraft

[0153]

[0154] The defense evaluation coefficient matrix P obtained through step 106 in the above embodiments is shown in Table 3. The task allocation problem is solved using the Hungarian algorithm, and the final matrix after the operation is shown in Table 4. Therefore, the correspondence between the escort spacecraft is d1-a2, d2-a3, d3-a1, d4-a4. At the initial moment, d1 and d3 adopt an aggressive defense strategy, while d2 and d4 adopt a conservative defense strategy. All escort spacecraft and threat spacecraft are successfully matched.

[0155] Table 3 Defense Assessment Coefficient Matrix for Protective and Threatening Spacecraft P

[0156]

[0157] Table 4 Final Allocation Results of Escort and Threatening Spacecraft

[0158]

[0159] Figure 10 The satellite constellation's trajectory at a certain moment shows that the escort spacecraft successfully matched with all the threatening spacecraft, and all the escort spacecraft approached the threatening spacecraft along the connecting lines, with no collisions occurring between the escort spacecraft.

[0160] In one embodiment, such as Figure 11 As shown, an APF-based swarm spacecraft orbital defense control device is provided, comprising: an adversarial model construction module 302, a defense assessment calculation module 304, a defense strategy determination module 306, and a control law calculation module 308, wherein:

[0161] The adversarial model construction module 302 is used to construct an offensive and defensive adversarial model for a spacecraft cluster.

[0162] The defense assessment calculation module 304 is used to construct a spacecraft cluster defense graph based on the spacecraft cluster attack and defense confrontation model, construct an edge generation strategy based on the spacecraft cluster defense graph, and calculate the defense assessment coefficient.

[0163] The defense strategy determination module 306 assigns threat targets to each escort spacecraft and determines the defense strategy to be adopted by each escort spacecraft when intercepting threat targets based on the defense assessment coefficient. The defense strategies include conservative defense strategies and aggressive defense strategies.

[0164] The control law calculation module 308 is used to generate control laws for the spacecraft based on a conservative defense strategy or an aggressive defense strategy.

[0165] Specific limitations regarding the APF-based swarm spacecraft orbital defense control device can be found in the limitations of the APF-based swarm spacecraft orbital defense control method described above, and will not be repeated here. Each module in the aforementioned APF-based swarm spacecraft orbital defense control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0166] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in Figure Y. The computer device includes a processor, memory, a network interface, and a database connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores APF-based swarm spacecraft orbital defense control data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements an APF-based swarm spacecraft orbital defense control method.

[0167] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to perform the following steps:

[0168] Step 102: Construct a spacecraft cluster attack and defense confrontation model.

[0169] Step 104: Based on the spacecraft cluster attack and defense confrontation model, construct the spacecraft cluster defense graph according to graph theory, construct the edge generation strategy based on the spacecraft cluster defense graph, and calculate the defense evaluation coefficient.

[0170] Step 106: Assign threat targets to each escort spacecraft. Based on the defense assessment coefficient, determine the defense strategy to be adopted by each escort spacecraft when intercepting threat targets. The defense strategies include conservative defense strategies and aggressive defense strategies.

[0171] Step 108: Generate the control law for the spacecraft based on either a conservative defense strategy or an aggressive defense strategy.

[0172] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0173] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0174] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for orbital defense control of swarm spacecraft based on APF, characterized in that, The method includes: Construct a spacecraft cluster offensive and defensive confrontation model; Based on the spacecraft cluster attack and defense confrontation model, a spacecraft cluster defense graph is constructed according to graph theory, and an edge generation strategy is constructed based on the spacecraft cluster defense graph to calculate the defense evaluation coefficient. Threat targets are assigned to each escort spacecraft, and based on the defense assessment coefficient, the defense strategy adopted by each escort spacecraft when intercepting the threat targets is determined. The defense strategy includes a conservative defense strategy and an aggressive defense strategy. The control law for the escort spacecraft is generated based on the conservative defense strategy, or The control law for the escort spacecraft is generated based on the radical defense strategy.

2. The APF-based swarm spacecraft orbital defense control method according to claim 1, characterized in that, Constructing a spacecraft swarm attack and defense model, including: Establish a local orbital coordinate system with the target spacecraft as the origin; Based on the dynamic equations, an offensive model for threatening spacecraft and a defensive model for escorting spacecraft are constructed.

3. The APF-based swarm spacecraft orbital defense control method according to claim 2, characterized in that, The threat spacecraft attack model is as follows: The winning condition for the threatening spacecraft is: When the threatening spacecraft attacks, the collision constraints with other controllable objects are as follows: The distance constraint between the threatening spacecraft and the target spacecraft is: Where j is the threat spacecraft number; k represents the controllable object; t represents the simulation time; t0 represents the initial time; A = {a1, a1, ..., a m } represents the set of threatening spacecraft; N represents the set of controllable objects; r j The vector representing the position of the threatening spacecraft j; r k ε represents the position vector of spacecraft k; attack ε impact ε max All are constants.

4. The APF-based swarm spacecraft orbital defense control method according to claim 2, characterized in that, The protective spacecraft defense model is as follows: The winning condition for the escort spacecraft is: The conditions under which the escort spacecraft successfully intercepts the threatening spacecraft are: The collision constraints between the escort spacecraft are as follows: The collision constraint condition between the escort spacecraft and the target spacecraft is: Where i represents the escort spacecraft number; j represents the threat spacecraft number; t represents the simulation time; t0 represents the initial time; N represents the set of controllable objects; A = {a1, a1, ..., a m } represents the set of threatening spacecraft; D = {d1, d2, ..., dn} n } represents a collection of escort spacecraft; r i The position vector of the escort spacecraft i; r j ε represents the position vector of the threatening spacecraft j; impact ε rep ε min All are constants.

5. The APF-based swarm spacecraft orbital defense control method according to any one of claims 1 to 4, characterized in that, Based on the spacecraft cluster defense graph, an edge generation strategy is constructed, and defense evaluation coefficients are calculated, including: Establish connections between the escort spacecraft, create a defense network, and base actions on the location of the threatening spacecraft j. j The defense assessment coefficients for the control law a2 required to be applied to the escort spacecraft i are calculated and expressed as follows: in, For r j The unit vector.

6. The APF-based swarm spacecraft orbital defense control method according to claim 5, characterized in that, Assign threat targets to each escort spacecraft, including: Based on the aforementioned defense evaluation coefficients, a complete defense evaluation coefficient matrix is ​​constructed, which is represented as follows: Where A = {a1, a1, ..., a m } represents the set of threatening spacecraft; D = {d1, d2, ..., dn} n } represents a group of escort spacecraft; Based on the complete defense assessment coefficient matrix, the Hungarian algorithm is used to assign threat targets to each escort spacecraft.

7. The APF-based swarm spacecraft orbital defense control method according to claim 6, characterized in that, Based on the defense assessment coefficient, the defense strategy adopted by each of the escort spacecraft when intercepting the threat target is determined, including: A defense strategy switching threshold is set, and it is determined whether the defense evaluation coefficient exceeds the defense strategy switching threshold, thereby determining whether each of the escort spacecraft adopts a conservative defense strategy or an aggressive defense strategy when intercepting the threat target.

8. The APF-based swarm spacecraft orbital defense control method according to claim 7, characterized in that, The control law for the escort spacecraft is generated based on the conservative defense strategy. The conservative defense strategy control law a1 for the escort spacecraft i is expressed as: In the formula, ψ1=ψ Line +ψ Collision +ψ Target , where ψ Line This represents the construction of the central potential function, ψ. Collision Represents the collision avoidance potential function; ψ Target The repulsive potential function representing the threatening spacecraft; s i Indicates the velocity term; a D F represents the magnitude of the acceleration of the escort spacecraft. min Protecting the switching limits of spacecraft.

9. The APF-based swarm spacecraft orbital defense control method according to claim 7, characterized in that, The control law for the escort spacecraft is generated based on the radical defense strategy. The radical defense strategy control law a2 for the escort spacecraft i is expressed as: In the formula, ψ2=ψ Attacker +ψ Corridor +ψ Collision +ψ Target , where ψ Attacker The potential function representing the threatening spacecraft; ψ Corridor ψ represents the potential function of the approach corridor; Collision Represents the collision avoidance potential function; ψ Target The repulsive potential function representing the threatening spacecraft; s i Indicates the reference control position for introducing the speed term; a D It indicates the magnitude of the acceleration of the escort spacecraft.

10. A cluster spacecraft orbital defense control device based on APF, characterized in that, The device includes: The adversarial model building module is used to build offensive and defensive adversarial models for spacecraft clusters; The defense assessment calculation module is used to construct a spacecraft cluster defense graph based on the spacecraft cluster attack and defense confrontation model according to graph theory, construct an edge generation strategy based on the spacecraft cluster defense graph, and calculate the defense assessment coefficient. The defense strategy determination module assigns threat targets to each escort spacecraft and determines the defense strategy to be adopted by each escort spacecraft when intercepting the threat targets based on the defense evaluation coefficient. The defense strategy includes a conservative defense strategy and an aggressive defense strategy. The control law calculation module is used to generate the control law of the escort spacecraft based on the conservative defense strategy, or to generate the control law of the escort spacecraft based on the aggressive defense strategy.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 9.

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