A long-distance pursuit and escape game trajectory planning method based on anchor point design

Abstract

The present invention provides a long-distance pursuit-evasion game trajectory planning method based on anchor point design. The method includes: discretizing the pursuit-evasion game process of two spacecraft into a number of game rounds. Before the start of each game round, determine the maneuverability of one's own spacecraft and estimate the maneuverability of the other spacecraft, and determine the anchor point of the current game round based on the maneuverability of one's own spacecraft and the maneuverability of the other spacecraft, so that one's own spacecraft executes the maneuvering strategy of the current game round according to the anchor point; determine whether the current game round can reach the game terminal. If not, continue to enter the next game round until it is determined that the game terminal is reached. This solution can discretize the continuous game process of two spacecraft into a number of game rounds, calculate for each game round respectively, thereby effectively reducing the solution difficulty, being easy to implement in engineering, and can be used for online solution to obtain a long-distance pursuit-evasion game maneuvering plan.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of spacecraft control, and particularly to a method for planning a long-distance pursuit-evasion game trajectory based on anchor point design. Background Art

[0002] With the continuous development of space rendezvous and docking technology and on-orbit service technology, China's space security situation is facing a severe test. Compared with the rendezvous and docking mission with cooperative targets, when both spacecrafts in the rendezvous have the capabilities of autonomous maneuvering and decision-making, pursuing two opposite goals of active approach and active avoidance respectively presents typical game confrontation characteristics. The optimal solution of the high-dimensional continuous game confrontation problem in the continuous time domain is quite complex in the ground offline case, and it is less feasible to rely on the spacecraft to solve it online. Therefore, there is an urgent need to provide a simplified online-solvable maneuverable feasible solution for long-distance pursuit-evasion games. Summary of the Invention

[0003] The embodiments of the present invention provide a method for planning a long-distance pursuit-evasion game trajectory based on anchor point design, which can obtain an online-solvable maneuverable solution for long-distance pursuit-evasion games.

[0004] In a first aspect, the embodiments of the present invention provide a method for planning a long-distance pursuit-evasion game trajectory based on anchor point design, including:

[0005] Discretize the pursuit-evasion game process of two spacecrafts into several game rounds. Before the start of each game round, determine the maneuvering ability of one's own spacecraft and estimate the maneuvering ability of the other spacecraft, and determine the anchor point of the current game round based on the maneuvering ability of one's own spacecraft and the maneuvering ability of the other spacecraft, so that one's own spacecraft executes the maneuvering strategy of the current game round according to the anchor point;

[0006] Determine whether the current game round can reach the game terminal. If not, continue to the next game round until it is determined that the game terminal is reached.

[0007] In a second aspect, the embodiments of the present invention further provide a device for planning a long-distance pursuit-evasion game trajectory based on anchor point design, including:

[0008] A maneuvering strategy determination unit, configured to discretize the pursuit-evasion game process of two spacecrafts into several game rounds. Before the start of each game round, determine the maneuvering ability of one's own spacecraft and estimate the maneuvering ability of the other spacecraft, and determine the anchor point of the current game round based on the maneuvering ability of one's own spacecraft and the maneuvering ability of the other spacecraft, so that one's own spacecraft executes the maneuvering strategy of the current game round according to the anchor point;

[0009] A determination unit is configured to determine whether the current game round can reach the game terminal. If not, it continues to enter the next game round until it is determined that the game terminal is reached.

[0010] In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the method described in any embodiment of this specification is implemented.

[0011] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed on a computer, the computer is made to execute the method described in any embodiment of this specification.

[0012] An embodiment of the present invention provides a method for long-distance pursuit-evasion game trajectory planning based on anchor point design. By discretizing the pursuit-evasion game process of two spacecraft into several game rounds, for each current game round, the anchor points of each game round are determined through the maneuvering capabilities of one's own spacecraft and the opponent's spacecraft. Then, one's own spacecraft executes the maneuvering strategy of the current game round according to the determined anchor points. If the current game round does not reach the game terminal, it is necessary to continue to enter the next game round until it is determined that the game terminal is reached. It can be seen that in this solution, the continuous game process of two spacecraft is discretized into several game rounds, and calculations are performed for each game round respectively, so that the solution difficulty can be effectively reduced, it is easy to be implemented in engineering, and it can be used for online solving to obtain a long-distance pursuit-evasion game maneuvering plan. Description of the Drawings

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0014] Figure 1 It is a flowchart of a method for long-distance pursuit-evasion game trajectory planning based on anchor point design provided by an embodiment of the present invention;

[0015] Figure 2 It is a hardware architecture diagram of an electronic device provided by an embodiment of the present invention;

[0016] Figure 3 It is a structural diagram of a device for long-distance pursuit-evasion game trajectory planning based on anchor point design provided by an embodiment of the present invention. Detailed Embodiments

[0017] To make the objectives, 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 with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0018] Please refer to Figure 1 , an embodiment of the present invention provides a long-distance pursuit-evasion game trajectory planning method based on anchor point design, and the method includes:

[0019] Step 100: Discretize the pursuit-evasion game process of two spacecraft into several game rounds. Before the start of each game round, determine the maneuverability of one's own spacecraft and estimate the maneuverability of the other spacecraft, and determine the anchor point of the current game round based on the maneuverability of one's own spacecraft and the maneuverability of the other spacecraft, so that one's own spacecraft executes the maneuvering strategy of the current game round according to the anchor point;

[0020] Step 102: Determine whether the current game round can reach the game terminal. If not, continue to the next game round until it is determined that the game terminal is reached.

[0021] In the embodiment of the present invention, by discretizing the pursuit-evasion game process of two spacecraft into several game rounds, for each current game round, the anchor point of each game round is determined through the maneuverability of one's own spacecraft and the maneuverability of the other spacecraft, and then one's own spacecraft executes the maneuvering strategy of the current game round according to the determined anchor point. If the current game round does not reach the game terminal, it is necessary to continue to the next game round until it is determined that the game terminal is reached. It can be seen that in this solution, the continuous game process of two spacecraft is discretized into several game rounds, and calculations are performed for each game round respectively, so as to effectively reduce the solution difficulty, be easy to implement in engineering, and can be used for online solving to obtain a long-distance pursuit-evasion game maneuvering plan.

[0022] The following describes Figure 1 the execution manners of the following steps.

[0023] First, for Step 100, discretize the pursuit-evasion game process of two spacecraft into several game rounds. Before the start of each game round, determine the maneuverability of one's own spacecraft and estimate the maneuverability of the other spacecraft, and determine the anchor point of the current game round based on the maneuverability of one's own spacecraft and the maneuverability of the other spacecraft, so that one's own spacecraft executes the maneuvering strategy of the current game round according to the anchor point.

[0024] In the embodiments of the present invention, in order to reduce the difficulty of solving, considering that the pursuit-evasion game process between two spacecraft under long-distance conditions will inevitably result in fuel consumption and rarely adopting the characteristic of continuous maneuvering without interruption, the entire pursuit-evasion game process of the two spacecraft in continuous time is discretized into several game rounds, so as to convert it into the solution of each game round. Thereby, the difficulty of solving can be reduced and it is easy to be implemented in engineering.

[0025] In order to discretize the entire pursuit-evasion game process into several game rounds, it is necessary to determine the maximum game duration of each discretized game round.

[0026] In one embodiment of the present invention, the maximum game duration of each game round can be equal. By equally dividing the maximum maneuvering duration that the own spacecraft can maneuver under constraint factors, the maximum game duration of each game round is obtained (denoted as Method 1). Among them, it is necessary to divide the maximum maneuvering duration into at least two parts, that is to say, the maximum game duration of each game round does not exceed 1 / 2 of the maximum maneuvering duration. Specifically, the maximum game duration in each game round can also be set according to experience, such as 5 minutes. Among them, the constraint factors can include at least one of energy factors, measurement and control factors, and engine startup duration limit factors. It indicates the maximum maneuvering duration that the own spacecraft can maneuver during the entire pursuit-evasion game process of the two spacecraft.

[0027] In another embodiment of the present invention, the maximum game duration of each game round is not equal. The maximum game duration of each game round is determined according to the observed duration of the other spacecraft (denoted as Method 2). Since there is an observed duration of the other spacecraft before the first game round of the two spacecraft, in order to ensure the accuracy of each game round and the estimation accuracy of the maneuvering ability of the other spacecraft can be effectively improved as the number of game rounds increases, therefore, the maximum game duration of each game round can be determined according to the observed duration of the other spacecraft. In order to reduce the risk of underestimating the maneuvering ability of the other spacecraft, twice the maximum observed single-game duration is taken as the maximum game duration. For example, before the first game round, the observed duration is 5 minutes. Assuming that the maximum game duration of the first game round is 10 minutes, if the game duration is 6 minutes after determining the anchor point of the first game round, then the maximum game duration of the second game round is 12 minutes; if the game duration is 4 minutes after determining the anchor point of the first game round, then the maximum game duration of the second game round remains 10 minutes.

[0028] In the embodiments of the present invention, when solving each game round, the concept of an anchor point is introduced, and the anchor point is used as the target point for the own spacecraft to implement the maneuvering strategy in each discretized game round.

[0029] In the embodiments of the present invention, determining the anchor point requires taking into account the current orbital information, maneuvering capabilities, and possible maneuvering strategies of the two spacecraft, etc., so as to improve the planning accuracy of the maneuvering strategy.

[0030] Among them, the maneuvering capabilities of one's own spacecraft and the opponent's spacecraft are important factors in the entire pursuit-evasion game process. In the embodiments of the present invention, the maneuvering capabilities can at least include: maximum acceleration, maximum orbital maneuvering speed increment, and maximum change in the semi-major axis of the orbit. Among them, the maneuvering capabilities of one's own spacecraft can be accurately known, while the maneuvering capabilities of the opponent's spacecraft need to be estimated through relative measurement.

[0031] The determination methods of the maneuvering capabilities of the two spacecraft will be described separately below.

[0032] First, determine the maneuvering capabilities of one's own spacecraft.

[0033] In the embodiments of the present invention, the maximum acceleration can be determined according to the engine configuration and its own mass of one's own spacecraft. After determining the maximum game duration of each game round according to the above embodiments, the maximum orbital maneuvering speed increment Δv within a single game round can be determined based on the maximum acceleration and the maximum game duration, and the maximum change in the semi-major axis of the orbit within a single game round can be calculated by combining the orbital dynamics equation.

[0034] Among them, the maneuvering capabilities of one's own spacecraft represent the maneuvering radiation belt of one's own spacecraft.

[0035] Second, estimate the maneuvering capabilities of the opponent's spacecraft.

[0036] In the embodiments of the present invention, by continuously observing the opponent's spacecraft and combining the orbital parameters of one's own spacecraft, the change in the orbital altitude Δa of the opponent's spacecraft within a period of time can be obtained, and then the orbital maneuvering speed increment implemented by the opponent's spacecraft within this period of time can be obtained by combining the orbital dynamics equation. At the same time, the maximum acceleration of the opponent's spacecraft's orbital maneuver can be obtained according to the maneuvering duration corresponding to this period of time.

[0037] Furthermore, assuming that the opponent's spacecraft also maneuvers its orbit with the maximum maneuvering capabilities and within the time period of the current game round with one's own spacecraft, then according to the determined maximum acceleration of the opponent's spacecraft's orbital maneuver and combining the orbital maneuvering duration within the current game round, the change in the semi-major axis of the orbit caused by the orbit-changing strategy that the opponent's spacecraft is about to adopt can be estimated.

[0038] The determination method of the anchor point of the current game round will be described below.

[0039] In the embodiments of the present invention, the anchor point of the current game round can be determined at least by the following methods (steps A1 - A3):

[0040] A1. Construct the dynamic equations for the long - distance pursuit - evasion game between two spacecraft, and construct the payoff metric function.

[0041] The dynamic equations are as follows:

[0042]

[0043]

[0044] where μ is the gravitational constant; ω T is the orbital angular velocity of the other spacecraft; R T is the geocentric distance of the other spacecraft, a T , e T , f T are respectively the semi - major axis, eccentricity, and true anomaly of the other spacecraft's orbit; [xyz] is the relative distance between the two spacecraft in the rendezvous and docking coordinate system. Among them, the x - axis of the rendezvous and docking coordinate system points to the - x direction of the other spacecraft's orbital coordinate system, the y - axis of the rendezvous and docking coordinate system points to the - y direction of the other spacecraft's orbital coordinate system, and the z - axis of the rendezvous and docking coordinate system points to the z direction of the other spacecraft's orbital coordinate system; and are respectively the first - order derivative and the second - order derivative of [x y z], which are used to characterize the relative velocity and relative acceleration of the two spacecraft. [a xP a yP a zP and [a xE a yE a zE are respectively the representations of the accelerations generated by the maneuvers of the own spacecraft and the other spacecraft in the rendezvous and docking coordinate system;

[0045] The payoff metric function is:

[0046]

[0047] where J is the value of the payoff metric function, [x Pf y Pf z Pf and [x Ef y Ef z Ef are respectively the positions of the own spacecraft and the other spacecraft at the end of the current game round after executing the maneuver strategy of the current game round.

[0048] A2. Determine the expected value of the payoff metric function according to the game role of the own spacecraft.

[0049] In the embodiments of the present invention, the game roles include: the tracking spacecraft and the escaping spacecraft.

[0050] Specifically, when the game role of the own spacecraft is a tracking spacecraft, the expected value of the benefit metric function is determined to be the minimum. That is to say, the smaller the value of the benefit metric function J, the smaller the relative distance between the two spacecraft, and the closer the tracking is to success; when the game role of the own spacecraft is an escaping spacecraft, the expected value of the benefit metric function is determined to be the maximum. That is to say, the larger the value of the benefit metric function J, the larger the relative distance between the two spacecraft, and the closer the escape is to success.

[0051] A3. Determine the anchor points that can satisfy the expected value within the current game round according to the dynamic equation, the maneuverability of the own spacecraft, and the maneuverability of the other spacecraft.

[0052] In an embodiment of the present invention, this step A3 can determine the anchor points that can satisfy the expected value within the current game round through the following steps:

[0053] A31. Determine the maximum game duration of the current game round, determine the maximum acceleration of the own spacecraft according to the maneuverability of the own spacecraft, and determine the maximum acceleration of the other spacecraft according to the maneuverability of the other spacecraft;

[0054] It should be noted that the maximum game duration of the current game round can be determined according to the above method 1 or method 2, which will not be elaborated here.

[0055] Since the maneuverability includes the maximum acceleration, therefore, the maximum acceleration can be directly determined from the determined maneuverability.

[0056] A32. Determine the combination set of the game duration, the acceleration of the own spacecraft, and the acceleration of the other spacecraft according to the maximum game duration, the maximum acceleration of the own spacecraft, and the maximum acceleration of the other spacecraft;

[0057] In an embodiment of the present invention, the value ranges and value intervals corresponding to the game duration, the acceleration of the own spacecraft, and the acceleration of the other spacecraft can be determined in advance.

[0058] Specifically, the value range of the game duration can be (0, t f , where t fis the maximum game duration of the current game round, and the value interval can be t'. The value range of the acceleration of the own spacecraft can be (0, aj], where aj is the maximum acceleration of the own spacecraft, and the value interval can be aj'. The value range of the acceleration of the other spacecraft can be (0, ad], where ad is the maximum acceleration of the other spacecraft, and the value interval can be ad', and this ad' can be equal to aj'. Considering that the other spacecraft cannot avoid accelerating when implementing tracking or escaping, therefore, the value range of the acceleration of the other spacecraft can be [a0, ad], where a0 is a value greater than 0 and not greater than ad, and preferably, this a0 is at least not less than half of ad.

[0059] After determining the above value ranges and value intervals, values are taken respectively within each value range, and a combination set of the game duration, the acceleration of the own spacecraft, and the acceleration of the other spacecraft can be obtained, and the combinations in the combination set do not repeat.

[0060] A33. Traverse each combination in the combination set, solve the dynamic equation according to the parameter values in the traversed combination to solve the relative positions of the two spacecraft at the end of the current game round, and substitute the solved relative positions into the revenue metric function to calculate the revenue metric function value. Determine the parameter values in the target combination with the minimum or maximum revenue metric function value calculated in the combination set as the anchor points of the current game round.

[0061] In an embodiment of the present invention, when solving the kinetic equation according to the parameter values in the traversed combination, the true relative state of the two spacecraft at the starting point of the current game round is used as the initial state for solving. Among them, the true relative state is obtained after measurement. Assume that the starting point of the current game round is t0, the game duration is determined to be t1 according to the parameter values in the traversed combination, the acceleration of one's own spacecraft is aj1, and the acceleration of the other spacecraft is ad1. Then, the relative position, relative velocity, and relative acceleration of the two spacecraft at t0 are used as the initial state. One's own spacecraft accelerates at an acceleration of aj1, and the other spacecraft accelerates at an acceleration of ad1. By solving the above kinetic equation, the relative position of the two spacecraft at t1 can be obtained. Substituting the relative position of the two spacecraft obtained by this combination into the revenue metric function, the revenue metric function value can be calculated. In this way, assuming that there are N combinations in the combination set, then N revenue metric function values can be obtained. If the game role of one's own spacecraft is a tracking spacecraft, the combination corresponding to the minimum value among the N revenue metric function values is determined as the anchor point in the current game round; if the game role of one's own spacecraft is an escaping spacecraft, the combination corresponding to the maximum value among the N revenue metric function values is determined as the anchor point in the current game round. Then, the anchor point can be obtained as the game duration, the acceleration of one's own spacecraft [a xP a yP a zP and the acceleration of the other spacecraft [a xE a yE a zE .

[0062] Then, for step 102, it is determined whether the current game round can reach the game terminal. If not, the next game round is continued until it is determined that the game terminal is reached.

[0063] To determine whether the tracking or escaping can be successful, after determining the anchor point of the current game round, it can be further determined whether the game terminal can be reached after the end of the current game round. If the game terminal can be reached, the entire pursuit-evasion game process ends after the end of the current game round. If the game terminal cannot be reached, the next game round needs to be entered to continue the pursuit-evasion game.

[0064] In an embodiment of the present invention, it can be determined whether the current game round can reach the game terminal according to the game role of one's own spacecraft, which may specifically include:

[0065] When the game role of one's own spacecraft is a tracking spacecraft, it is judged whether the relative distance between the two spacecraft at the end of the current game round is within the allowable error range of the game control target value, or it is determined whether the relative distance between the two spacecraft shows an increasing trend in a number of consecutive current game rounds; if the relative distance between the two spacecraft at the end of the current game round is within the allowable error range of the game control target value, it is determined that the game terminal is reached and the tracking is successful; if it is determined that the relative distance between the two spacecraft shows an increasing trend in a number of consecutive current game rounds, it is determined that the game terminal is reached and the tracking fails; otherwise, it is determined that the game terminal has not been reached;

[0066] When the game role of one's own spacecraft is an escaping spacecraft, it is judged whether the relative distance between the two spacecraft at the end of the current game round is within the allowable error range of the game control target value, or it is determined whether the relative distance between the two spacecraft shows an increasing trend in a number of consecutive current game rounds; if the relative distance between the two spacecraft at the end of the current game round is within the allowable error range of the game control target value, it is determined that the game terminal is reached and the escape fails; if it is determined that the relative distance between the two spacecraft shows an increasing trend in a number of consecutive current game rounds, it is determined that the game terminal is reached and the escape is successful; otherwise, it is determined that the game terminal has not been reached.

[0067] Among them, the game control target value can be determined according to the game role of one's own spacecraft in the actual situation. For example, if the game control target value is 10 meters, the allowable error range of the game control target value is within 10 meters.

[0068] It should be noted that the total game duration of multiple completed game rounds needs to be less than the maximum allowable startup duration of one's own engine. If the total game duration of multiple completed game rounds is close to the maximum maneuvering duration, it can be determined that the tracking fails or the escape fails.

[0069] When it is determined that the game terminal has not been reached and it is necessary to enter the next game round, since the observation of the other spacecraft has increased the observation duration of one more game round, the overall observation data is updated based on the observation data of the other spacecraft in the previous game round, and the maneuvering ability of the other spacecraft is re-estimated using the updated observation data, so as to determine the anchor point of the next game round using the re-estimated maneuvering ability of the other spacecraft. In this way, an online estimation method for cumulative evaluation of the behavior and ability of the other spacecraft under the condition of incomplete information about the other spacecraft. As the number of game rounds increases, the estimation of the maneuvering ability and maneuvering strategy of the other spacecraft becomes more accurate, thereby reducing the uncertainty of the maneuvering strategy of one's own side brought by the incomplete information in each dimension of the other spacecraft.

[0070] Such as Figure 2 、 Figure 3As shown in the figure, an embodiment of the present invention provides a long-distance pursuit and escape game trajectory planning device based on anchor point design. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. At the hardware level, as Figure 2 shown, it is a hardware architecture diagram of an electronic device where a long-distance pursuit and escape game trajectory planning device based on anchor point design provided by an embodiment of the present invention is located. In addition to Figure 2 the processor, memory, network interface, and non-volatile memory shown, the electronic device where the device is located in the embodiment usually may also include other hardware, such as a forwarding chip responsible for processing packets, etc. Taking software implementation as an example, as Figure 3 shown, as a logically meaningful device, it is formed by the CPU of its corresponding electronic device reading the computer program in the non-volatile memory into the memory and running it. A long-distance pursuit and escape game trajectory planning device based on anchor point design provided by this embodiment includes:

[0071] A maneuver strategy determination unit 300, configured to discretize the pursuit and escape game process of two spacecraft into several game rounds. Before the start of each game round, determine the maneuverability of its own spacecraft and estimate the maneuverability of the other spacecraft, and determine the anchor point of the current game round based on the maneuverability of its own spacecraft and the maneuverability of the other spacecraft, so that its own spacecraft executes the maneuver strategy of the current game round according to the anchor point;

[0072] A determination unit 302, configured to determine whether the current game round can reach the game terminal. If not, continue to enter the next game round until it is determined that the game terminal is reached.

[0073] In an embodiment of the present invention, when the maneuver strategy determination unit determines the anchor point of the current game round based on the maneuverability of its own spacecraft and the maneuverability of the other spacecraft, it specifically includes: constructing the dynamic equations of the long-distance pursuit and escape game of two spacecraft, and constructing a revenue measurement function; according to the game role of its own spacecraft, determining the expected value of the revenue measurement function; according to the dynamic equations and the maneuverability of its own spacecraft and the maneuverability of the other spacecraft, determining the anchor point that can satisfy the expected value within the current game round; the game roles include a tracking spacecraft and an escaping spacecraft.

[0074] In an embodiment of the present invention, the dynamic equation is:

[0075]

[0076]

[0077] Among them, μ is the gravitational constant; ω T is the orbital angular velocity of the other spacecraft; RT is the geocentric distance of the other spacecraft, a T , e T , f T are respectively the semi-major axis, eccentricity and true anomaly of the orbit of the other spacecraft; [xyz] is the relative distance between the two spacecraft in the rendezvous and docking coordinate system, where the x-axis of the rendezvous and docking coordinate system points to the -x direction of the orbit coordinate system of the other spacecraft, the y-axis of the rendezvous and docking coordinate system points to the -y direction of the orbit coordinate system of the other spacecraft, and the z-axis of the rendezvous and docking coordinate system points to the z direction of the orbit coordinate system of the other spacecraft; and are respectively the first derivative and the second derivative of [x y z], which are respectively used to characterize the relative velocity and relative acceleration of the two spacecraft, [a xP a yP a zP and [a xE a yE a zE are respectively the representations of the accelerations generated by the maneuvers of the own spacecraft and the other spacecraft in the rendezvous and docking coordinate system;

[0078] The benefit metric function is:

[0079]

[0080] where J is the value of the benefit metric function, [x Pf y Pf z Pf and [x Ef y Ef z Ef are respectively the positions of the own spacecraft and the other spacecraft at the end of the current game round after implementing the maneuver strategy of the current game round.

[0081] In an embodiment of the present invention, when the maneuver strategy determination unit determines the expected value of the benefit metric function according to the game role of the own spacecraft, it specifically includes: when the game role of the own spacecraft is a tracking spacecraft, then determine the expected value of the benefit metric function as the minimum value; when the game role of the own spacecraft is an escape spacecraft, then determine the expected value of the benefit metric function as the maximum value;

[0082] When the maneuver strategy determination unit determines the anchor points that can meet the expected value in the current game round, it specifically includes: determining the maximum game duration of the current game round, determining the maximum acceleration of its own spacecraft according to the maneuverability of its own spacecraft, and determining the maximum acceleration of the other spacecraft according to the maneuverability of the other spacecraft; determining a combination set of the game duration, the acceleration of its own spacecraft, and the acceleration of the other spacecraft according to the maximum game duration, the maximum acceleration of its own spacecraft, and the maximum acceleration of the other spacecraft; traversing each combination in the combination set, solving the dynamic equation according to the parameter values in the traversed combination to obtain the relative positions of the two spacecraft at the end of the current game round, substituting the obtained relative positions into the revenue metric function to calculate the revenue metric function value, and determining the parameter values in the target combination with the minimum or maximum revenue metric function value calculated in the combination set as the anchor points of the current game round.

[0083] In an embodiment of the present invention, when solving the dynamic equation according to the parameter values in the traversed combination to determine the anchor points that can meet the expected value in each current game round, the true relative state of the two spacecraft at the start of the corresponding current game round is used as the initial state for solving.

[0084] In an embodiment of the present invention, the maximum game duration of each game round is not equal, and the maximum game duration of each game round is determined according to the observed duration of the other spacecraft.

[0085] In an embodiment of the present invention, when the determination unit determines whether the current game round can reach the game terminal, it specifically includes:

[0086] When the game role of its own spacecraft is a tracking spacecraft, it is judged whether the relative distance between the two spacecraft at the end of the current game round is within the allowable error range of the game control target value, or it is determined whether the relative distance between the two spacecraft shows an increasing trend in a current continuous number of game rounds; if the relative distance between the two spacecraft at the end of the current game round is within the allowable error range of the game control target value, it is determined that the game terminal is reached and the tracking is successful; if it is determined that the relative distance between the two spacecraft shows an increasing trend in a current continuous number of game rounds, it is determined that the game terminal is reached and the tracking fails; otherwise, it is determined that the game terminal is not reached;

[0087] When the game role of one's own spacecraft is an escape spacecraft, it is judged whether the relative distance between the two spacecraft at the end of the current game round is within the allowable error range of the game control target value, or it is determined whether the relative distance between the two spacecraft shows an increasing trend in a certain number of consecutive game rounds currently; if the relative distance between the two spacecraft at the end of the current game round is within the allowable error range of the game control target value, it is determined that the game terminal is reached and the escape fails; if it is determined that the relative distance between the two spacecraft shows an increasing trend in a certain number of consecutive game rounds currently, it is determined that the game terminal is reached and the escape is successful; otherwise, it is determined that the game terminal has not been reached.

[0088] It can be understood that the structure schematically shown in the embodiments of the present invention does not constitute a specific limitation on a long-distance pursuit and escape game trajectory planning device based on anchor point design. In other embodiments of the present invention, a long-distance pursuit and escape game trajectory planning device based on anchor point design may include more or fewer components than those shown in the figure, or combine certain components, or split certain components, or have different component arrangements. The components shown in the figure can be implemented in hardware, software, or a combination of software and hardware.

[0089] Regarding the information interaction, execution process, etc. between the various modules in the above device, since it is based on the same concept as the method embodiments of the present invention, the specific content can be referred to the description in the method embodiments of the present invention and will not be elaborated here.

[0090] The embodiments of the present invention also provide an electronic device, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, it implements a long-distance pursuit and escape game trajectory planning method based on anchor point design in any embodiment of the present invention.

[0091] The embodiments of the present invention also provide a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the processor is enabled to execute a long-distance pursuit and escape game trajectory planning method based on anchor point design in any embodiment of the present invention.

[0092] Specifically, a system or device equipped with a storage medium can be provided. Software program codes for implementing the functions in any one of the above embodiments are stored on the storage medium, and the computer (or CPU or MPU) of the system or device is enabled to read and execute the program codes stored on the storage medium.

[0093] In this case, the program codes read from the storage medium itself can implement the functions of any one of the above embodiments. Therefore, the program codes and the storage medium storing the program codes constitute a part of the present invention.

[0094] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Optionally, the program code can be downloaded from a server computer via a communication network.

[0095] In addition, it should be clear that not only can the functions of any one of the above embodiments be realized by executing the program code read by a computer, but also by causing an operating system or the like operating on the computer to perform some or all of the actual operations based on the instructions of the program code.

[0096] In addition, it can be understood that the program code read from the storage medium is written into the memory provided in the expansion board inserted into the computer or into the memory provided in the expansion module connected to the computer, and then the CPU or the like installed on the expansion board or the expansion module performs some and all of the actual operations based on the instructions of the program code, so as to realize the functions of any one of the above embodiments.

[0097] 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 term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0098] Those 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. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including the above method embodiments; and the foregoing storage medium includes various media such as ROM, RAM, magnetic disks, or optical disks that can store program code.

[0099] 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 foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for trajectory planning of long - distance pursuit - evasion game based on anchor point design, characterized in that, it includes: Discretize the pursuit - evasion game process of two spacecrafts into several game rounds. Before the start of each game round, determine the maneuverability of one's own spacecraft and estimate the maneuverability of the other spacecraft, and determine the anchor point of the current game round based on the maneuverability of one's own spacecraft and the maneuverability of the other spacecraft, so that one's own spacecraft executes the maneuvering strategy of the current game round according to the anchor point; Determine whether the current game round can reach the game terminal. If not, continue to the next game round until it is determined that the game terminal is reached; The determination of the anchor point of the current game round based on the maneuverability of one's own spacecraft and the maneuverability of the other spacecraft includes: constructing the dynamic equations of the long - distance pursuit - evasion game of two spacecrafts, and constructing a benefit metric function; determining the expected value of the benefit metric function according to the game role of one's own spacecraft; determining the anchor point that can satisfy the expected value within the current game round according to the dynamic equations, the maneuverability of one's own spacecraft, and the maneuverability of the other spacecraft; the game roles include the tracking spacecraft and the escaping spacecraft; The dynamic equation is: where μ is the gravitational constant; ω T is the orbital angular velocity of the other spacecraft; R T is the geocentric distance of the other spacecraft, a T , e T , f T are respectively the semi-major axis, eccentricity and true anomaly of the orbit of the other spacecraft; [xyz] is the relative distance between the two spacecraft in the rendezvous and docking coordinate system. Among them, the x-axis of the rendezvous and docking coordinate system points to the -x direction of the orbit coordinate system of the other spacecraft, the y-axis of the rendezvous and docking coordinate system points to the -y direction of the orbit coordinate system of the other spacecraft, and the z-axis of the rendezvous and docking coordinate system points to the z direction of the orbit coordinate system of the other spacecraft; and are respectively the first derivative and the second derivative of [xyz], which are used to characterize the relative velocity and relative acceleration of the two spacecraft. [a xP a yP a zP and [a xE a yE a zE are respectively the representations of the accelerations generated by the maneuvers of the own spacecraft and the other spacecraft in the rendezvous and docking coordinate system; The benefit metric function is: where J is the value of the revenue measurement function, [x Pf y Pf z Pf and [x Ef y Ef z Ef are the positions of one's own spacecraft and the opponent's spacecraft at the end of the current game round after executing the maneuver strategy of the current game round, respectively; The determination of the expected value of the benefit metric function according to the game role of one's own spacecraft includes: when the game role of one's own spacecraft is the tracking spacecraft, determine the expected value of the benefit metric function as the minimum value; when the game role of one's own spacecraft is the escaping spacecraft, determine the expected value of the benefit metric function as the maximum value; The determination of the anchor point that can satisfy the expected value within the current game round includes: determining the maximum game duration of the current game round, determining the maximum acceleration of one's own spacecraft according to the maneuverability of one's own spacecraft, and determining the maximum acceleration of the other spacecraft according to the maneuverability of the other spacecraft; determining the combination set of the game duration, the acceleration of one's own spacecraft, and the acceleration of the other spacecraft according to the maximum game duration, the maximum acceleration of one's own spacecraft, and the maximum acceleration of the other spacecraft; traversing each combination in the combination set, solving the dynamic equations according to the parameter values in the traversed combination to obtain the relative positions of the two spacecrafts at the end of the current game round, substituting the obtained relative positions into the benefit metric function to calculate the benefit metric function value, and determining the parameter values in the target combination with the minimum or maximum benefit metric function value calculated in the combination set as the anchor point of the current game round.

2. The method according to claim 1, characterized in that, When solving the dynamic equations according to the parameter values in the traversed combination to determine the anchor point that can satisfy the expected value within each current game round, the true relative state of the two spacecrafts at the starting point of the corresponding current game round is used as the initial state for solving.

3. The method according to claim 1, characterized in that, The maximum game duration of each game round is not equal, and the maximum game duration of each game round is determined according to the observed duration of the other spacecraft.

4. The method according to any one of claims 1-3, characterized in that the determination of whether the current game round can reach the game terminal includes: When the game role of one's own spacecraft is a tracking spacecraft, it is judged whether the relative distance between the two spacecraft at the end of the current game round is within the allowable error range of the game control target value, or it is determined whether the relative distance between the two spacecraft shows an increasing trend in a number of consecutive current game rounds; if the relative distance between the two spacecraft at the end of the current game round is within the allowable error range of the game control target value, it is determined that the game terminal is reached and the tracking is successful; if it is determined that the relative distance between the two spacecraft shows an increasing trend in a number of consecutive current game rounds, it is determined that the game terminal is reached and the tracking fails; otherwise, it is determined that the game terminal is not reached; When the game role of one's own spacecraft is an escaping spacecraft, it is judged whether the relative distance between the two spacecraft at the end of the current game round is within the allowable error range of the game control target value, or it is determined whether the relative distance between the two spacecraft shows an increasing trend in a number of consecutive current game rounds; if the relative distance between the two spacecraft at the end of the current game round is within the allowable error range of the game control target value, it is determined that the game terminal is reached and the escape fails; if it is determined that the relative distance between the two spacecraft shows an increasing trend in a number of consecutive current game rounds, it is determined that the game terminal is reached and the escape is successful; otherwise, it is determined that the game terminal is not reached.

5. A long-distance pursuit and escape game trajectory planning device based on anchor point design, characterized in that it includes: A maneuver strategy determination unit, which is used to discretize the pursuit and escape game process of two spacecraft into several game rounds. Before the start of each game round, it determines the maneuverability of one's own spacecraft and estimates the maneuverability of the other spacecraft, and determines the anchor point of the current game round based on the maneuverability of one's own spacecraft and the maneuverability of the other spacecraft, so that one's own spacecraft executes the maneuver strategy of the current game round according to the anchor point; A determination unit, which is used to determine whether the current game round can reach the game terminal. If not, it continues to enter the next game round until it is determined that the game terminal is reached; When the maneuver strategy determination unit determines the anchor point of the current game round based on the maneuverability of one's own spacecraft and the maneuverability of the other spacecraft, it specifically includes: constructing the dynamic equation of the long-distance pursuit and escape game of two spacecraft, and constructing the revenue measurement function; according to the game role of one's own spacecraft, determining the expected value of the revenue measurement function; according to the dynamic equation, the maneuverability of one's own spacecraft, and the maneuverability of the other spacecraft, determining the anchor point that can meet the expected value within the current game round; the game roles include tracking spacecraft and escaping spacecraft; The dynamic equation is: where μ is the gravitational constant; ω T is the orbital angular velocity of the target spacecraft; R T is the geocentric distance of the target spacecraft, a T , e T , f T are respectively the semi-major axis, eccentricity and true anomaly of the target spacecraft's orbit; [xyz] is the relative distance between the two spacecraft in the rendezvous and docking coordinate system. Among them, the x-axis of the rendezvous and docking coordinate system points to the -x direction of the target spacecraft's orbital coordinate system, the y-axis of the rendezvous and docking coordinate system points to the -y direction of the target spacecraft's orbital coordinate system, and the z-axis of the rendezvous and docking coordinate system points to the z direction of the target spacecraft's orbital coordinate system; and are respectively the first derivative and the second derivative of [x y z], which are used to characterize the relative velocity and relative acceleration of the two spacecraft. [a xP a yP a zP and [a xE a yE a zE are respectively the representations of the accelerations generated by the maneuvers of the own spacecraft and the target spacecraft in the rendezvous and docking coordinate system; The revenue measurement function is: Among them, J is the value of the revenue measurement function, [x Pf y Pf z Pf and [x Ef y Ef z Ef are the positions of the own spacecraft and the opponent spacecraft at the end of the current game round after executing the maneuver strategy of the current game round, respectively; When determining the expected value of the benefit metric function according to the game role of its own spacecraft, the maneuver strategy determination unit specifically includes: when the game role of its own spacecraft is a tracking spacecraft, determining the expected value of the benefit metric function as the minimum value; when the game role of its own spacecraft is an escaping spacecraft, determining the expected value of the benefit metric function as the maximum value. When determining the anchor points that can satisfy the expected value in the current game round, the maneuver strategy determination unit specifically includes: determining the maximum game duration of the current game round, determining the maximum acceleration of its own spacecraft according to the maneuverability of its own spacecraft, and determining the maximum acceleration of the other spacecraft according to the maneuverability of the other spacecraft; determining a combination set of the game duration, the acceleration of its own spacecraft, and the acceleration of the other spacecraft according to the maximum game duration, the maximum acceleration of its own spacecraft, and the maximum acceleration of the other spacecraft; traversing each combination in the combination set, solving the dynamic equation according to the parameter values in the traversed combination to obtain the relative positions of the two spacecraft at the end of the current game round, and substituting the obtained relative positions into the benefit metric function to calculate the benefit metric function value, and determining the parameter values in the target combination with the minimum or maximum benefit metric function value calculated in the combination set as the anchor points of the current game round.

6. An electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method according to any one of claims 1-4 is implemented.

7. A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed in a computer, the computer is made to execute the method according to any one of claims 1-4.

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