A rendezvous and docking mission planning method and device based on anchor points

Abstract

The present invention provides a rendezvous and docking mission planning method and device based on anchor points, which relates to the technical field of rendezvous and docking, wherein the method comprises: determining the flight interval obtained after the rendezvous and docking flight trajectory of an active spacecraft is divided by anchor points; the number of the anchor points is at least one; the anchor points are feature points that can constrain the rendezvous and docking flight trajectory and meet the set conditions; constructing the target requirements and constraints of each flight interval based on the set values ​​of the anchor points; iteratively solving the planning scheme of each flight interval according to the target requirements and constraints of each flight interval, combined with the existing flight phase division method and the guidance law adopted in the flight phase; outputting the planning scheme of the rendezvous and docking mission based on the solution results. This scheme can quickly output an adapted rendezvous and docking mission planning scheme for the diverse requirements of the rendezvous and docking mission on the flight time and mission scenarios.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of rendezvous and docking, and in particular to a rendezvous and docking mission planning method and device based on anchor points. Background Art

[0002] As the space station mission enters the operational phase, the frequency of rendezvous and docking launches increases, and the demand for different forms of rendezvous and docking is also increasing. Different reliability constraints, time constraints, fuel constraints, measurement and control conditions and other performance indicator constraints are strong constraints for the full rendezvous and docking mission. In addition, the space environment of the lunar orbit is complex, the accuracy of autonomous orbit determination is limited and is significantly affected by lighting conditions and relative distance. The manned lunar landing and lunar surface takeoff rendezvous and docking mission has higher requirements for speed and safety. When faced with diverse requirements such as flight time and mission scenarios, the rendezvous and docking mission planning schemes designed for different requirements are also different, and the human and time costs invested in the design schemes are both high. Therefore, it is necessary to provide a general rendezvous and docking mission planning method. Summary of the invention

[0003] The embodiment of the present invention provides a method and device for planning a rendezvous and docking mission based on anchor points, which can quickly output an adaptive rendezvous and docking mission planning solution according to the diverse requirements of the rendezvous and docking mission on flight time and mission scenarios.

[0004] In a first aspect, an embodiment of the present invention provides a method for planning a rendezvous and docking mission based on an anchor point, comprising:

[0005] Determine a flight interval obtained after the rendezvous and docking flight trajectory of the active spacecraft is divided by anchor points; the number of the anchor points is at least one; the anchor points are feature points that can constrain the rendezvous and docking flight trajectory and meet set conditions;

[0006] Constructing target requirements and constraints for each flight interval based on the set values ​​of the anchor points;

[0007] According to the target requirements and constraints of each flight interval, combined with the existing flight phase division method and the guidance law used in the flight phase, the planning scheme of each flight interval is iteratively solved;

[0008] Output the planning scheme for the rendezvous and docking mission based on the solution results.

[0009] In a second aspect, an embodiment of the present invention further provides a rendezvous and docking mission planning device based on anchor points, comprising:

[0010] A determination unit, configured to determine a flight interval obtained after the rendezvous and docking flight trajectory of the active spacecraft is divided by anchor points; the number of the anchor points is at least one; the anchor points are feature points that can constrain the rendezvous and docking flight trajectory and meet set conditions;

[0011] A construction unit, configured to construct target requirements and constraint conditions for each flight interval based on the set value of the anchor point;

[0012] An iterative solution unit is used to iteratively solve the planning scheme of each flight interval according to the target requirements and constraints of each flight interval, combined with the existing flight phase division method and the guidance law adopted in the flight phase;

[0013] The solution output unit is used to output the planning solution of the rendezvous and docking task based on the solution results.

[0014] In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of this specification is implemented.

[0015] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, enables the computer to execute the method described in any embodiment of this specification.

[0016] The embodiment of the present invention provides a rendezvous and docking mission planning method and device based on anchor points. By reasonably setting anchor points, the anchor points divide the rendezvous and docking flight trajectory into multiple flight intervals, thereby converting the complex rendezvous and docking mission planning problem under multiple strong constraints into an easy-to-solve planning problem. By constructing the target requirements and constraints of each flight interval to meet the diverse needs of the rendezvous and docking mission, combined with the existing flight phase division method and the guidance law adopted in the flight phase, the planning scheme for each flight interval is iteratively solved, thereby obtaining the planning scheme corresponding to the entire flight process. It can be seen that this scheme quickly outputs an adapted rendezvous and docking mission planning scheme in response to the diverse needs of the rendezvous and docking mission for flight time and mission scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a flow chart of a rendezvous and docking mission planning method based on anchor points provided by one embodiment of the present invention;

[0019] Figure 2 is a hardware architecture diagram of an electronic device provided by an embodiment of the present invention;

[0020] Figure 3 The present invention is a structural diagram of a rendezvous and docking mission planning device based on anchor points provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] In order to adapt to the requirements of rendezvous and docking missions in manned space flight and deep space exploration, and in view of the diverse requirements of rendezvous and docking missions on flight time and mission scenarios, the mechanism and essential problems of rendezvous and docking mission planning are studied under strong constraints such as sensor characteristics, control accessibility, safety, measurement and control conditions, lighting conditions, and energy conditions. The present invention proposes a rendezvous and docking mission planning method based on anchor points. The inventive concept is: by reasonably setting anchor points, complex rendezvous and docking mission planning problems under multiple strong constraints can be transformed into planning problems that are easy to solve in engineering; and on this basis, a flight mission planning method based on the space-time folding method, on the basis of the existing rendezvous and docking flight phase division, the flight phases can be freely added, deleted and planned through the space-time folding method, and the rendezvous and docking mission planning under multiple strong constraints can be quickly and flexibly realized through parameter configuration.

[0023] The specific implementation of the above concept is described below.

[0024] Please refer to Figure 1 , an embodiment of the present invention provides a rendezvous and docking mission planning method based on anchor points, the method comprising:

[0025] Step 100, determining a flight interval obtained by dividing the rendezvous and docking flight trajectory of the active spacecraft by anchor points; the number of the anchor points is at least one; the anchor points are feature points that can constrain the rendezvous and docking flight trajectory and meet set conditions;

[0026] Step 102, constructing target requirements and constraints for each flight interval based on the set value of the anchor point;

[0027] Step 104, iteratively solving a planning scheme for each flight interval according to the target requirements and constraints of each flight interval, combined with the existing flight phase division method and the guidance law adopted in the flight phase;

[0028] Step 106: output a planning scheme for the rendezvous and docking mission based on the solution result.

[0029] In the embodiment of the present invention, by reasonably setting the anchor point, the anchor point divides the rendezvous and docking flight trajectory into multiple flight intervals, thereby converting the complex rendezvous and docking task planning problem under multiple strong constraints into an easy-to-solve planning problem, and by constructing the target requirements and constraints of each flight interval to meet the diverse needs of the rendezvous and docking task, combined with the existing flight phase division method and the guidance law adopted in the flight phase, the planning scheme for each flight interval is iteratively solved, thereby obtaining the planning scheme corresponding to the entire flight process. It can be seen that this scheme quickly outputs an adapted rendezvous and docking task planning scheme for the diverse needs of the rendezvous and docking task for flight time and task scenarios.

[0030] Described below Figure 1 How the various steps are performed.

[0031] First, for step 100, the flight interval obtained by dividing the active spacecraft rendezvous and docking flight trajectory by anchor points is determined; the number of the anchor points is at least one; and the anchor points are feature points that can constrain the rendezvous and docking flight trajectory and meet set conditions.

[0032] In the embodiment of the present invention, according to the analysis of the characteristic points that affect the rendezvous and docking mission in the actual mission, the characteristic points that can affect the flight trajectory and meet the set conditions are defined as anchor points. The anchor point can be used as the aiming point in the long-distance guidance section. The active spacecraft located at the rear rendezvous and docks with the target spacecraft located in the front. The active spacecraft uses the anchor point as the aiming point in the long-distance guidance section. When it is determined that it has reached the anchor point, it starts to enter the subsequent stage of rendezvous and docking. The anchor point can be the relative speed of the active spacecraft and the target spacecraft.

[0033] For the rendezvous and docking mission, the active spacecraft and the target spacecraft fly on the corresponding orbits to gradually reduce the relative distance and complete the docking. Since the orbit is an approximately circular orbit, the setting conditions that the anchor point meets are:

[0034] Vx=-1.5ωTZ, and Z=4X / 3π;

[0035] Wherein, Vx is the relative velocity between the active spacecraft and the target spacecraft, ω is the orbital angular velocity of the target spacecraft, T is the orbital period, X is the coordinate value in the direction of the track, and Z is the coordinate value pointing to the center of the earth.

[0036] In the embodiment of the present invention, the number of anchor points can be one or more, depending on the actual task analysis results. In general, the number of anchor points is set to one. For particularly complex optimization problems, there can be multiple anchor points, by decomposing multiple strong constraints and multiple target requirements, first determine the local, and then coordinate the overall.

[0037] By setting anchor points reasonably, the complex rendezvous and docking mission planning problem under multiple strong constraints can be transformed into a planning problem that is easy to solve by engineering.

[0038] When the number of anchor points q is determined, the active spacecraft rendezvous and docking flight trajectory can be divided into (q+1) flight intervals, so the rendezvous and docking mission planning problem of the entire flight trajectory can be transformed into the rendezvous and docking mission planning problem of multiple flight intervals. Taking an anchor point as an example, it can be transformed into the optimization problem of rendezvous and docking mission planning from the entry point to the anchor point and from the anchor point to the docking point.

[0039] Then, for step 102, target requirements and constraints of each flight interval are constructed based on the set value of the anchor point.

[0040] The existing rendezvous and docking mission planning problems generally study the flight trajectory planning problem. By giving a clear target requirement and satisfying certain constraints, the optimized flight trajectory is found using optimization algorithms such as genetic algorithms, convex optimization, and neural networks.

[0041] In the embodiment of the present invention, the task implementation and trajectory optimization are combined, and the rendezvous and docking task planning problem is described as a multi-objective optimization problem. The optimization objectives and constraints of the problem are shown in Table 1:

[0042] Optimization goals Constraints 1. Time (shortest) Sensor measurement range (distance, field of view) 2. Fuel (most economical) Sensor measurement error 3. Phase adaptability (maximum) Guidance and control accuracy 4. Reach forward, backward, radial docking port Track safety 5. …… Safe Zone 6. Docking Corridor 7. Measurement and control coverage constraints 8. Lighting conditions (sunlight suppression angle) 9. Energy requirements 10. ……

[0043] Regarding the above optimization objectives and constraints, different task scenarios require different optimization objectives and constraints. The optimization objectives and constraints are determined based on the actual task scenarios.

[0044] In the embodiment of the present invention, after the setting value of the anchor point is determined, the target requirements and constraints of each flight interval can be constructed based on the setting value of the anchor point. Specifically:

[0045] The target requirement G of the i-th optimization target of the j-th flight interval is constructed according to the following formula: j,i :

[0046] G j,i =F i (t j ,p)

[0047] Among them, F i (t j , p) is the value of the i-th objective function and the time t of the j-th flight interval j and anchor point p, where t j The value range of is from the initial time to the end time of the jth flight interval;

[0048] The target requirement G of all optimization targets in the j-th flight interval is constructed according to the following formula: j :

[0049]

[0050] Where n is the total number of optimization objectives, k i is the weight coefficient of the i-th optimization objective;

[0051] The constraints of the j-th flight interval are constructed according to the following formula:

[0052] σ m (t) <c m (t j )

[0053] σ m (t) = T m (t j ,p,t)

[0054] Among them, σ m (t) is the set of constraints such as lighting conditions, measurement and control conditions, trajectory safety conditions, relative state, etc. during the flight process, c m (t j ) is the upper bound of the constraint condition corresponding to the jth flight interval, T m (t j ,p,t) is the constraint value during the flight and the time t of the jth flight interval j and a function of the anchor point p.

[0055] The purpose of setting anchor points is to decouple multiple strong constraints and achieve multiple optimization goals, thereby coping with normal / faulty situations.

[0056] Next, for step 104, according to the target requirements and constraints of each flight interval, combined with the existing flight phase division method and the guidance law adopted in the flight phase, the planning scheme of each flight interval is iteratively solved.

[0057] The planning of the rendezvous and docking mission is closely related to the division of each stage of the rendezvous and docking mission. The existing flight stage division method is: the launch stage from the launch point to the orbit entry point, the long-range guidance stage from the orbit entry point to the initial aiming point, the short-range guidance stage from the initial aiming point to the contact point, the docking stage from the contact point to the docking point, and the combined stage from the docking point to the separation point. Among them, the short-range guidance stage can also be divided into the homing stage, the approach stage, and the translational approach stage. Among them, the guidance laws for the long-range guidance stage, the homing stage, the approach stage, and the translational approach stage are multivariable coordinated guidance, CW guidance, line of sight guidance, and golden section phase plane control, respectively.

[0058] Each flight phase corresponds to a set of time and space, which are described by flight time and relative distance. If the flight time is zero, the relative distance is also zero, which can be understood as folding this period of time and space; if the flight time is not zero, the corresponding guidance law can be used to achieve a certain relative distance approach. These have theoretical solutions and successful engineering experience, so the use of time and space folding can quickly realize flight mission planning.

[0059] Through anchor point setting and space-time folding, the optimization problem of complex multi-task objectives is downgraded and decomposed into simple and easy-to-solve optimization problems, thus becoming an optimization problem that is feasible and easy to implement in engineering. The process of rendezvous and docking is from far to near, and the control is from coarse to fine. After the introduction of anchor points, the original complex rendezvous and docking optimization problem is downgraded to an optimization problem from the entry point to the anchor point, and then from the anchor point to the docking point. There are prior optimization methods for the optimization problem from the entry point to the anchor point, and there is also prior knowledge for the optimization from the anchor point to the docking point, that is, there is a feasible solution through the optimization of the anchor point. The introduction of anchor points allows the rendezvous and docking process to converge from the coarse error control of the entry point to the allowable error range of the anchor point, and then converge from the error range control of the anchor point to the final docking accuracy requirement, thereby also hierarchically decomposing the difficulty of the optimization problem. The setting of the anchor point depends on the main bottleneck constraints, and is ultimately determined through optimization iteration.

[0060] Specifically, the planning scheme for each flight interval is iteratively solved in the following way:

[0061] Step S1, setting an initial value for the setting value of the anchor point based on the setting condition;

[0062] Step S2: Based on the current setting value of the anchor point, the planning scheme of each flight interval is optimized by using the space-time folding method;

[0063] Step S3, determining whether the optimized planning scheme meets the end condition. If the end condition is met, the current setting value of the anchor point is used as the aiming point of the rendezvous and docking flight trajectory; if the end condition is not met, the setting value of the anchor point is adjusted, and the target requirements and constraints of each flight interval are constructed based on the setting value of the anchor point, and the process returns to step S2.

[0064] The planning scheme of each flight interval is optimized by using the time-space folding method. Specifically, the time-space folding method is: folding the flight stage with a flight time of 0; and / or folding the flight stage with a relative speed and a relative distance of 0; and / or adding flight stages based on mission requirements.

[0065] It should be noted that the space-time folding method can involve artificial experience to achieve free addition, deletion and planning of flight phases in response to different mission requirements.

[0066] In the embodiment of the present invention, the end condition is:

[0067] Condition 1: Each flight interval meets the target requirements of the corresponding flight interval; and,

[0068] Condition 2: In two adjacent flight intervals, the terminal state of the previous flight interval is completely covered by the initial condition of the next flight interval.

[0069] Condition 1 is used to ensure that each flight interval can meet the corresponding target requirements, that is, under the corresponding constraints, the planning scheme can meet the corresponding target requirements. Condition 2 is used to ensure that two adjacent flight intervals can be reasonably connected. Both are indispensable.

[0070] Taking an anchor point to divide the flight trajectory into two flight intervals as an example, in step S1, the initial value is assumed to be V0, so that the complex multi-strong constraint multi-objective optimization problem is transformed into an optimization problem from the entry point to V0 and from V0 to the docking point. According to the above description, there is a priori optimization method for the optimization problem from the entry point to the anchor point, and there is also prior knowledge for the optimization from the anchor point to the docking point, that is, the optimization through the anchor point is determined to have a feasible solution. Therefore, the optimized planning scheme of the two flight intervals can be obtained in step S2. In step S3, after the optimization of the divided intervals is completed, it is necessary to coordinate the whole, and it is necessary to ensure that the planning scheme of each flight interval meets the end condition. If it meets the condition, the V0 point is recorded as the determined Vd; if it does not meet the condition, the setting value of the anchor point is adjusted to V1. Since the setting value of the anchor point has changed, the constraints and target requirements of each flight interval need to be adjusted accordingly, and return to step S2 to re-acquire the planning scheme of each flight interval under the setting value. Assuming that V1, V2, ... Vn are iterated until Vn meets the end condition, then Vn is recorded as the determined Vd. After Vd is determined, the corresponding planning scheme is also determined. The planning scheme includes the flight time, relative distance, guidance strategy, and flight trajectory of each flight stage, and Vd is determined as the aiming point or parking point on the flight trajectory.

[0071] It should be noted that the adjustment principle of the anchor point setting value needs to be determined according to the specific task in combination with manual experience. According to the setting conditions of the anchor point, the relative distance is adjusted, and then the track height difference is adjusted accordingly.

[0072] In addition, it should be noted that the space-time folding method can occur before iteration or during iteration.

[0073] Finally, for step 106 , a planning scheme for the rendezvous and docking mission is output based on the solution results.

[0074] Since the planning scheme for each flight interval has been determined, it indicates that the planning scheme for the entire rendezvous and docking mission has been determined. After the planning scheme for the rendezvous and docking mission is output, parameter configuration can be performed based on the flight time and relative distance of each flight phase in the output planning scheme, so as to complete the design of the planning scheme for the rendezvous and docking mission using the configured parameters.

[0075] The following uses the example of designing a rendezvous and docking plan for a low-Earth orbit of about 6.5 hours to illustrate the planning method.

[0076] The process of rendezvous and docking from far to near is a process of gradually improving accuracy. There are two processes in the flight process: absolute navigation and relative navigation. This embodiment sets the end of the long-distance guidance segment as the anchor point according to the characteristics of the sensor, and preliminarily sets the position of the end of the long-distance guidance segment to the position of V0.

[0077] Based on fuel constraints, flight time constraints, and sensor field of view constraints, corresponding constraints and target requirements are established.

[0078] Taking the end position of the long-distance guidance segment as V0, select the appropriate guidance law and find out whether there is a suitable solution under various constraints from the entry point to V0 and from V0 to the docking point. Through multiple rounds of iterations, the flight plans of the long-distance guidance segment and the short-distance guidance segment are obtained.

[0079] The rendezvous and docking mission includes the long-distance guidance phase and the short-distance guidance phase. The long-distance guidance phase adopts a six-pulse strategy, and the short-distance guidance phase is divided into the search phase, the approach phase and the final translation and approach phase.

[0080] The long-distance guidance stage adopts the track root control strategy. The homing stage adopts the guidance law combining Hohmann track change and CW guidance. The approach stage adopts the guidance law combining CW guidance and line of sight guidance. The final translation approach stage adopts the six-degree-of-freedom control method of linear approximation.

[0081] The above rendezvous and docking planning scheme is simulated. According to the simulation results, it can be concluded that the long-distance guidance segment guides the active spacecraft to the predetermined V0 point through six pulses. The active spacecraft gradually approaches the target spacecraft through six pulses, and from the V0 position, the rendezvous and docking is achieved under the guidance law control of the short-distance guidance segment. The initial positions before and after the anchor point are overlapped, which can be effectively connected.

[0082] like Figure 2 , Figure 3 As shown, based on the same concept as the above-mentioned solution embodiment, the embodiment of the present invention also provides a rendezvous and docking mission planning device based on anchor points. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 2As shown, it is a hardware architecture diagram of an electronic device where an anchor-based rendezvous and docking mission planning device is provided in an embodiment of the present invention. Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 3 As shown, as a device in a logical sense, the CPU of the electronic device in which it is located reads the corresponding computer program in the non-volatile memory into the memory and runs it. This embodiment provides a rendezvous and docking mission planning device based on anchor points, including:

[0083] A determination unit 301 is used to determine a flight interval obtained after the rendezvous and docking flight trajectory of the active spacecraft is divided by anchor points; the number of the anchor points is at least one; the anchor points are feature points that can constrain the rendezvous and docking flight trajectory and meet set conditions;

[0084] A construction unit 302, configured to construct target requirements and constraint conditions for each flight interval based on the set value of the anchor point;

[0085] An iterative solution unit 303 is used to iteratively solve a planning scheme for each flight interval according to the target requirements and constraints of each flight interval, combined with an existing flight phase division method and a guidance law adopted in the flight phase;

[0086] The solution output unit 304 is used to output a planning solution for the rendezvous and docking task based on the solution result.

[0087] In one embodiment of the present invention, the setting condition is:

[0088] Vx=-1.5ωTZ, and Z=4X / 3π;

[0089] Wherein, Vx is the relative velocity between the active spacecraft and the target spacecraft in the track direction, ω is the orbital angular velocity of the target spacecraft, T is the orbital period, X is the coordinate value in the track direction, and Z is the coordinate value pointing to the center of the earth.

[0090] In one embodiment of the present invention, the construction unit is specifically used for:

[0091] The target requirement G of the i-th optimization target of the j-th flight interval is constructed according to the following formula: j,i :

[0092] G j,i =F i (t j ,p)

[0093] Among them, F i (tj , p) is the value of the i-th objective function and the time t of the j-th flight interval j and anchor point p, where t j The value range of is from the initial time to the end time of the jth flight interval;

[0094] The target requirement G of all optimization targets in the j-th flight interval is constructed according to the following formula: j :

[0095]

[0096] Where n is the total number of optimization objectives, k i is the weight coefficient of the i-th optimization objective;

[0097] The constraints of the j-th flight interval are constructed according to the following formula:

[0098] σ m (t) <c m (t j )

[0099] σ m (t) = T m (t j ,p,t)

[0100] Among them, σ m (t) is the set of constraints during the flight, c m (t j ) is the upper bound of the constraint condition corresponding to the jth flight interval, T m (t j ,p,t) is the constraint value during the flight and the time t of the jth flight interval j and a function of the anchor point p.

[0101] In one embodiment of the present invention, the iterative solution unit is specifically used to:

[0102] Step S1, setting an initial value for the setting value of the anchor point based on the setting condition;

[0103] Step S2: Based on the current setting value of the anchor point, the planning scheme of each flight interval is optimized by using the space-time folding method;

[0104] Step S3, determining whether the optimized planning scheme meets the end condition. If the end condition is met, the current setting value of the anchor point is used as the aiming point of the rendezvous and docking flight trajectory; if the end condition is not met, the setting value of the anchor point is adjusted, and the target requirements and constraints of each flight interval are constructed based on the setting value of the anchor point, and the process returns to step S2.

[0105] In one embodiment of the present invention, the end condition is:

[0106] Each flight interval meets the target requirements of the corresponding flight interval; and,

[0107] In two adjacent flight intervals, the terminal state of the previous flight interval is completely covered by the initial conditions of the next flight interval.

[0108] In one embodiment of the present invention, the space-time folding method is:

[0109] Folding the flight phases with a flight time of 0; and / or,

[0110] Folding the flight phases where both relative speed and relative distance are zero; and / or,

[0111] Increase flight phases based on mission requirements.

[0112] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a rendezvous and docking mission planning device based on anchor points. In other embodiments of the present invention, a rendezvous and docking mission planning device based on anchor points may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0113] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0114] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, an anchor-based rendezvous and docking mission planning method in any embodiment of the present invention is implemented.

[0115] 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 by a processor, the processor executes an anchor-based rendezvous and docking mission planning method in any embodiment of the present invention.

[0116] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0117] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0118] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0119] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0120] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0121] It should be noted that, in this article, 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 such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical factors in the process, method, article or device including the elements.

[0122] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rendezvous and docking mission planning method based on anchor points, characterized in that: include: Determine a flight interval obtained after the rendezvous and docking flight trajectory of the active spacecraft is divided by anchor points; the number of the anchor points is at least one; the anchor points are feature points that can constrain the rendezvous and docking flight trajectory and meet set conditions; Constructing target requirements and constraints for each flight interval based on the set values ​​of the anchor points; According to the target requirements and constraints of each flight interval, combined with the existing flight phase division method and the guidance law used in the flight phase, the planning scheme of each flight interval is iteratively solved; Output the planning scheme of the rendezvous and docking mission based on the solution results; The setting conditions are: ； Wherein, Vx is the relative velocity of the active spacecraft and the target spacecraft in the direction of the track, ω is the orbital angular velocity of the target spacecraft, T is the orbital period, X is the coordinate value in the direction of the track, and Z is the coordinate value pointing to the center of the earth; The iterative solution of the planning scheme for each flight interval includes: Step S1, setting an initial value for the setting value of the anchor point based on the setting condition; Step S2: Based on the current setting value of the anchor point, the planning scheme of each flight interval is optimized by using the space-time folding method; Step S3, determining whether the optimized planning scheme meets the end condition. If the end condition is met, the current setting value of the anchor point is used as the aiming point of the rendezvous and docking flight trajectory; if the end condition is not met, the setting value of the anchor point is adjusted, and the target requirements and constraints of each flight interval are constructed based on the setting value of the anchor point, and the process returns to step S2.

2. The method according to claim 1, characterized in that: The target requirements and constraints for constructing each flight interval include: The target requirement of the i-th optimization target of the j-th flight interval is constructed according to the following formula: : in, is the value of the i-th objective function and the time of the j-th flight interval and anchor point The function of The value range of is from the initial time to the end time of the jth flight interval; Construct the target requirements of all optimization objectives in the jth flight interval according to the following formula : Where n is the total number of optimization objectives, k i is the weight coefficient of the i-th optimization objective; The constraints of the j-th flight interval are constructed according to the following formula: in, is the set of constraints during the flight process, is the upper bound of the constraint corresponding to the jth flight interval, is the constraint value during the flight and the time of the jth flight interval and anchor point function.

3. The method according to claim 1, characterized in that The end conditions are: Each flight interval meets the target requirements of the corresponding flight interval; and, In two adjacent flight intervals, the terminal state of the previous flight interval is completely covered by the initial conditions of the next flight interval.

4. The method according to claim 1, characterized in that The space-time folding method is: Folding the flight phases with a flight time of 0; and / or, Folding the flight phases where both relative speed and relative distance are zero; and / or, Increase flight phases based on mission requirements.

5. The method according to any one of claims 1 to 4, characterized in that: After outputting the planning scheme of the rendezvous and docking task based on the solution result, the method further includes: Parameters are configured based on the flight time and relative distance of each flight phase in the output planning scheme, so as to use the configured parameters to complete the design of the planning scheme for the rendezvous and docking mission.

6. A rendezvous and docking mission planning device based on anchor points, characterized in that: include: A determination unit, configured to determine a flight interval obtained after the rendezvous and docking flight trajectory of the active spacecraft is divided by anchor points; the number of the anchor points is at least one; the anchor points are feature points that can constrain the rendezvous and docking flight trajectory and meet set conditions; A construction unit, configured to construct target requirements and constraint conditions for each flight interval based on the set value of the anchor point; An iterative solution unit is used to iteratively solve the planning scheme of each flight interval according to the target requirements and constraints of each flight interval, combined with the existing flight phase division method and the guidance law adopted in the flight phase; A solution output unit, used to output a planning solution for the rendezvous and docking task based on the solution result; The setting conditions are: ； Wherein, Vx is the relative velocity of the active spacecraft and the target spacecraft in the direction of the track, ω is the orbital angular velocity of the target spacecraft, T is the orbital period, X is the coordinate value in the direction of the track, and Z is the coordinate value pointing to the center of the earth; The iterative solution unit is specifically used to perform the following steps: Step S1, setting an initial value for the setting value of the anchor point based on the setting condition; Step S2: Based on the current setting value of the anchor point, the planning scheme of each flight interval is optimized by using the space-time folding method; Step S3, determining whether the optimized planning scheme meets the end condition. If the end condition is met, the current setting value of the anchor point is used as the aiming point of the rendezvous and docking flight trajectory; if the end condition is not met, the setting value of the anchor point is adjusted, and the target requirements and constraints of each flight interval are constructed based on the setting value of the anchor point, and the process returns to step S2.

7. The device according to claim 6, characterized in that The building block is specifically used for: The target requirement of the i-th optimization target of the j-th flight interval is constructed according to the following formula: : in, is the value of the i-th objective function and the time of the j-th flight interval and anchor point The function of The value range of is from the initial time to the end time of the jth flight interval; Construct the target requirements of all optimization objectives in the jth flight interval according to the following formula : Where n is the total number of optimization objectives, k i is the weight coefficient of the i-th optimization objective; The constraints of the j-th flight interval are constructed according to the following formula: in, is the set of constraints during the flight process, is the upper bound of the constraint corresponding to the jth flight interval, is the constraint value during the flight and the time of the jth flight interval and anchor point function.

8. The device according to claim 6, characterized in that The end conditions are: Each flight interval meets the target requirements of the corresponding flight interval; and, In two adjacent flight intervals, the terminal state of the previous flight interval is completely covered by the initial conditions of the next flight interval.

9. The device according to claim 6, characterized in that The space-time folding method is: Folding the flight phases with a flight time of 0; and / or, Folding the flight phases where both relative speed and relative distance are zero; and / or, Increase flight phases based on mission requirements.

10. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 5 is implemented.

11. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method according to any one of claims 1 to 5.

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