Dynamic orbit game optimization method and system based on spatial net coordination capture

Abstract

The application discloses a kind of dynamic orbit game optimization method and system based on space rope net cooperation capture, belong to spacecraft technical field.The method includes according to the motion state of escape spacecraft, and the relative dynamics model of orbit pursuit-escape game spacecraft, the control input information of escape spacecraft is predicted;According to the control input information of predicted escape spacecraft, the motion trajectory of escape spacecraft is obtained;Based on the motion trajectory of escape spacecraft, the control input information of tracking spacecraft is adjusted, and the control input information of tracking spacecraft after adjustment is obtained;According to the control input information after adjustment, a plurality of tracking spacecraft drags space rope net, and completes the capture of escape spacecraft.The application drags space rope net by tracking spacecraft, uses space rope net as pursuit party, realizes the capture of multiple tracking spacecraft to escape spacecraft, helps to maintain the safety and stability of space orbit, prevents collision risk or security threat possibly caused by escape spacecraft.

Description

Technical Field

[0001] The present invention relates to the field of spacecraft technology, and in particular to a dynamic orbit game optimization method and system based on space rope net collaborative capture. Background Art

[0002] As competition for space resources intensifies, competition between spacecraft is inevitable in the future. Currently, scholars from various countries have conducted extensive research on orbital pursuit and escape strategies, in which the pursuing spacecraft attempts to approach and capture the escaping spacecraft, while the escaping spacecraft attempts to move away from the pursuing spacecraft. However, these studies do not consider specific capture methods, but rather use relative distance as the criterion for successful capture. In contemporary research on space debris removal technologies, space rope nets have a larger capture range and lower precision requirements than capture technologies such as robotic arms and harpoons, making them more suitable for capturing non-cooperative spacecraft.

[0003] The orbital pursuit problem can be described as a zero-sum differential game. The core issue is finding a Nash equilibrium strategy such that any subjective change in strategy by any party would put that party at a disadvantage. Solving differential games generally involves two main approaches. On the one hand, based on the principles of dynamic programming, the problem can be transformed into a Hamilton-Jacobi-Bellman partial differential equation. Solving this partial differential equation provides the optimal strategy for each player at a Nash equilibrium. On the other hand, by employing the maximum principle to construct a Hamiltonian function, the differential game problem can be transformed into a high-dimensional two-point boundary value problem. The optimal strategy for each player can be obtained by solving this two-point boundary value problem. However, in real-world pursuit problems, the players do not necessarily rationally follow Nash equilibrium strategies and may exhibit a degree of irrational behavior. To address this, it is necessary to consider the real-time dynamic solution of game strategies.

[0004] Furthermore, current research on orbital pursuit and escape problems primarily focuses on single pursuing and escaping spacecraft. However, as spacecraft evolve toward clustering and miniaturization, collaborative capture involving multiple spacecraft is also emerging as a viable approach to orbital pursuit and escape. This collaborative approach introduces additional constraints, including inter-spacecraft communication, collision avoidance, and configuration constraints, increasing the difficulty of solving the orbital pursuit and escape problem. Traditional differential game solutions struggle to directly address multi-spacecraft orbital pursuit and escape game problems.

[0005] In summary, when it comes to the orbital pursuit-escape game problem, traditional research has not considered the specific space capture method and can only target a single tracking spacecraft and a single escaping spacecraft. Summary of the Invention

[0006] To address the problem that existing technologies can only capture a single escaping spacecraft with a single tracking spacecraft, the present invention provides a dynamic orbit game optimization method based on collaborative capture using a space rope net. By forming a space rope net with multiple tracking spacecraft and using the space rope net as the tracking party, multiple tracking spacecraft can capture multiple escaping spacecraft.

[0007] In order to achieve the above objectives, the present invention provides the following technical solutions.

[0008] A dynamic track game optimization method based on space rope net collaborative capture, comprising:

[0009] Based on the motion state of the escaping spacecraft and the relative dynamics model of the spacecraft in the orbital pursuit-escape game, the control input information of the escaping spacecraft is predicted;

[0010] Obtaining the motion trajectory of the escape spacecraft based on the control input information of the predicted escape spacecraft;

[0011] adjusting the control input information of the tracking spacecraft based on the motion trajectory of the escaping spacecraft to obtain the adjusted control input information of the tracking spacecraft;

[0012] Several tracking spacecraft drag the space rope net according to the adjusted control input information to capture the escaping spacecraft.

[0013] As a further improvement of the present invention, the spacecraft relative dynamics model includes:

[0014]

[0015]

[0016]

[0017] Among them, x, y, z represent the coordinate axis X C ,Y C ,Z C Position component, represents its first-order derivative with respect to time, represents its second-order derivative with respect to time, ω0 is the average angular velocity of the orbital reference coordinate system, u x ,u y ,u z Represents the spacecraft on the coordinate axis X C ,Y C ,Z C acceleration component.

[0018] As a further improvement of the present invention, the control input information of the escape spacecraft is predicted and optimized to obtain the game strategy of the escape spacecraft. The motion trajectory of the escape spacecraft is predicted by the game strategy of the escape spacecraft, which is specifically expressed as follows:

[0019] The game strategy of the escape spacecraft is specifically expressed as follows:

[0020]

[0021] Where, J E is the performance index function of the escape spacecraft; u E is the control input of the escape spacecraft; r P is the position vector of the geometric center of several tracking spacecraft in the orbital coordinate system; r E is the position vector of the escape spacecraft in the orbital coordinate system; Q is the weight matrix of navigation performance; R is the weight matrix of energy consumption optimization;

[0022] The control input u of the escape spacecraft obtained through the game strategy of the escape spacecraft E , input into the spacecraft relative dynamics model to predict the motion trajectory of the escaping spacecraft.

[0023] As a further improvement of the present invention, the control input information of the tracking spacecraft is adjusted based on the motion trajectory of the escaping spacecraft, and the optimization strategy of the tracking spacecraft is obtained according to the motion trajectory of the escaping spacecraft, and the control input information of the tracking spacecraft is adjusted according to the optimization strategy of the tracking spacecraft. Specifically, it is shown as follows:

[0024]

[0025] Where: J Pi is the performance index function of the i-th tracking spacecraft; r P is the position vector of the geometric center of several tracking spacecraft in the orbital coordinate system; r E is the position vector of the escape spacecraft in the orbital coordinate system; Q is the weight matrix of navigation performance; u Pi represents the control input of the i-th tracking spacecraft; e ij =r Pi -r Pj +c ij , e ij is the error between the expected relative position of tracking spacecraft i and the expected relative position of tracking spacecraft j, c ij represents the relative position vector of tracking spacecraft i and tracking spacecraft j, i≠j; R is the weight matrix for energy consumption optimization, r Pi To track the position vector of spacecraft i in the orbital coordinate system, rPj is the position vector of the spacecraft j in the orbital coordinate system.

[0026] As a further improvement of the present invention, the control input information of several tracking spacecraft is adjusted according to the optimization strategy of the tracking spacecraft, the control input information of the several tracking spacecraft after adjustment is obtained, and the predicted states of the several tracking spacecraft are obtained. The escaping spacecraft obtains the game optimization strategy of the escaping spacecraft in the predicted time domain through the predicted states of the several tracking spacecraft after adjustment, and changes the operation trajectory of the escaping spacecraft.

[0027] As a further improvement of the present invention, the method of capturing the escaping spacecraft by using a space rope net includes:

[0028] During the game time, when the distance between the geometric center of several tracking spacecraft in the space rope net and the escaping spacecraft is less than the capture threshold, the space rope net will capture the escaping spacecraft.

[0029] At the end of the game time, if the distance between the geometric center of several tracking spacecraft in the space rope net and the escaping spacecraft is greater than the capture threshold, the motion state of the escaping spacecraft will be updated, the motion trajectory of the tracking spacecraft will be re-acquired, and a new space rope net will be formed to capture the escaping spacecraft until the space rope net completes the capture of the escaping spacecraft.

[0030] A dynamic track game optimization system based on space rope net collaborative capture, comprising:

[0031] Initialization module: used to predict the control input information of the escaping spacecraft based on its motion state and the relative dynamics model of the spacecraft in the orbital pursuit game;

[0032] Escape trajectory module: used to obtain the motion trajectory of the escape spacecraft based on the control input information of the predicted escape spacecraft;

[0033] The pursuit control module is used to adjust the control input information of the pursuit spacecraft based on the motion trajectory of the escaping spacecraft and obtain the adjusted control input information of the pursuit spacecraft;

[0034] Capture module: used by several tracking spacecraft to drag the space rope net according to the adjusted control input information to complete the capture of the escaping spacecraft.

[0035] An electronic device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of a dynamic track game optimization method based on collaborative capture of a space rope net are implemented.

[0036] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a dynamic track game optimization method based on collaborative capture of a space rope net.

[0037] A computer program product includes computer instructions, which, when executed by a processor, implement the steps of a dynamic track game optimization method based on space rope net collaborative capture.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] The present invention addresses the problem that space orbit games lack specific capture methods by introducing a space rope net as a track tracking method, forming a track pursuit game solution based on space rope net collaboration. By establishing a space rope net and designing the tracking spacecraft's trajectory based on the escaping spacecraft's motion trajectory, the escaping spacecraft is specifically captured. This capture method is not only highly feasible and practical, but also significantly improves the accuracy and success rate of capture. Furthermore, in complex orbital environments, the present invention dynamically adjusts and optimizes the tracking spacecraft's trajectory based on the escaping spacecraft's motion state and relative dynamic model, achieving effective tracking and capture of the escaping spacecraft. This allows the entire system to quickly adjust the positions of multiple tracking spacecraft, quickly respond, and adjust the tracking strategy when faced with the escaping spacecraft's changing behavior or other uncertainties. This dynamic optimization method significantly enhances the system's robustness and adaptability, improving the capture success rate and stability. Compared with traditional orbital game optimization methods, the present invention can handle the game problem between multiple tracking spacecraft and multiple escaping spacecraft, which helps to maintain the safety and stability of space orbits, prevent collision risks or security threats caused by escaping spacecraft, and protect space assets and maintain space order.

[0040] Further, by setting a capture threshold, the present application can accurately determine whether the space net successfully captures the escaped spacecraft. When the distance between the geometric center of several tracking spacecrafts in the space net and the escaped spacecraft is less than the capture threshold, it is determined that the capture is completed, which greatly improves the accuracy and reliability of the capture. At the end of the game time, if the escaped spacecraft has not been captured, the present application can automatically update the motion state of the escaped spacecraft and reacquire the motion trajectory of the tracking spacecraft. This continuous tracking and updating strategy ensures the continuity and effectiveness of the capture process and improves the success rate of the capture. Therefore, the present application has strong adaptive adjustment capability. When the escaped spacecraft changes its motion trajectory or adopts other escape strategies, the present application can quickly respond by updating the motion trajectory of the tracking spacecraft and forming a new space net. No matter how the motion state of the escaped spacecraft changes or what escape strategy is adopted, the present application can maintain the effective tracking and capture capability of the escaped spacecraft by adjusting the motion trajectory of the tracking spacecraft and the capture method, and realize the continuous tracking and capture of the escaped spacecraft. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following briefly introduces the drawings needed in the embodiments. Obviously, the drawings described below only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0042] Figure 1 A flowchart of the present application is shown in the following figure.

[0043] Figure 2 A schematic diagram of the present application is shown in the following figure.

[0044] Figure 3 A three-dimensional trajectory diagram of each spacecraft in the orbit pursuit and escape game process of the present application is shown in the following figure.

[0045] Figure 4 The real-time relative distance between the space net and the escaped spacecraft in the capture process of the embodiment of the present application is shown in the following figure.

[0046] Figure 5 The real-time relative distance between the two tracking spacecrafts under different control barrier function proportion coefficients in the embodiment of the present application is shown in the following figure.

[0047] Figure 6 The real-time relative distance between the tracking spacecrafts in the space net system when γ=0.001 in the embodiment of the present application is shown in the following figure. DETAILED DESCRIPTION

[0048] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0049] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise indicated, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present invention.

[0050] Aiming at the problem that the existing technology can only capture a single escaping spacecraft by a single tracking spacecraft, the present invention provides a dynamic orbit game optimization method based on space rope network collaborative capture, such as Figure 1 As shown, the method includes:

[0051] Based on the motion state of the escaping spacecraft and the relative dynamics model of the spacecraft in the orbital pursuit-escape game, the control input information of the escaping spacecraft is predicted;

[0052] Obtaining the motion trajectory of the escape spacecraft based on the control input information of the predicted escape spacecraft;

[0053] adjusting the control input information of the tracking spacecraft based on the motion trajectory of the escaping spacecraft to obtain the adjusted control input information of the tracking spacecraft;

[0054] Several tracking spacecraft drag the space rope net according to the adjusted control input information to capture the escaping spacecraft.

[0055] The present invention forms a space rope net through a plurality of tracking spacecraft, uses the space rope net as a tracking method, and realizes the capture of a plurality of escaping spacecraft by a plurality of tracking spacecraft.

[0056] The present invention will be further explained below with reference to the accompanying drawings:

[0057] In the present invention, space rope net capture is introduced as an orbit tracker. The system is composed of four tracking spacecraft dragging a square rope net. Therefore, the present invention provides a dynamic orbit game optimization method based on space rope net collaborative capture, including:

[0058] S1: Track pursuit game modeling:

[0059] S1.1: If Figure 2 As shown, in the orbital reference coordinate system O C X C Y C Z C Under this circumstance, a relative dynamic model of spacecraft participating in the orbital pursuit and escape game is established.

[0060]

[0061] Among them, x, y, z represent the coordinate axis X C ,Y C ,Z C Position component, represents its first-order derivative with respect to time, represents its second-order derivative with respect to time, ω0 is the average angular velocity of the orbital reference coordinate system, u x ,u y ,u z Represents the spacecraft on the coordinate axis X C ,Y C ,Z C acceleration component.

[0062] S1.2: In the orbital pursuit-escape game, the pursuit spacecraft hopes to capture the escaping spacecraft, while the escaping spacecraft hopes to stay away from the pursuit spacecraft. To facilitate control design, the present invention assumes that the communication topology between the pursuit spacecraft in the space net capture system is fully connected, and ignores the dynamic model of the rope net. The initial velocity disturbance of the spacecraft is used as the influence of the rope net dynamics on the pursuit spacecraft. For each spacecraft, the capture distance to be optimized in the present invention is regarded as the distance between the geometric center of each pursuit spacecraft and the escaping spacecraft, that is, d PE =||r P -r E ||, where r Pi and r E Respectively represent the position vectors of the i-th tracking spacecraft and the escaping spacecraft in the orbital coordinate system. Considering the characteristics of the large opening area of ​​the space rope net and the low capture accuracy requirement, a capture threshold δ is set in the present invention. When d PE When ≤δ, it means that the space rope net successfully captures the escaping spacecraft.

[0063] S1.3: To optimize the game strategy of each tracking spacecraft, the performance index function J of the i-th tracking spacecraft Pi The definitions are as follows. The first, second, and third terms on the right side of the equation reflect the optimization of navigation performance, consistent formation performance, and energy consumption, respectively. Navigation performance refers to the ability of the tracking spacecraft to move its geometric center closer to the escaping spacecraft, or the ability of the escaping spacecraft to move away from the tracking spacecraft's geometric center. Consistent formation performance refers to the ability of each tracking spacecraft to form a desired square formation configuration, thereby effectively towing the square rope net.

[0064]

[0065] Among them, eij =r Pi -r Pj +c ij , e ij is the error between the relative position of tracking spacecraft i and tracking spacecraft j and the expected relative position, c ij Q,Q represents the expected relative position vector of tracking spacecraft i and tracking spacecraft j, i≠j. f , R represent the weight matrices for optimizing navigation performance, consistent formation performance and energy consumption respectively. Pi represents the control input of the i-th tracking spacecraft, r Pi To track the position vector of spacecraft i in the orbital coordinate system, r Pj is the position vector of the spacecraft j in the orbital coordinate system.

[0066] S1.4: To optimize the game strategy of the escaping spacecraft, its performance indicator function is defined as follows.

[0067]

[0068] Among them, J E is the performance index function of the escape spacecraft; u E represents the control input of the escape spacecraft; r P is the position vector of the geometric center of several tracking spacecraft in the orbital coordinate system; r E is the position vector of the escape spacecraft in the orbital coordinate system; Q is the weight matrix of navigation performance; R is the weight matrix of energy consumption optimization;

[0069] S2: Solving the Track Pursuit Game

[0070] Traditional differential game solving is done offline, and the established pursuit trajectory is solved before the game begins. This invention fully utilizes the dynamic optimization characteristics of the Model Predictive Control (MPC) algorithm to continuously solve the game optimization strategy of the pursuit parties online.

[0071] Considering that multiple tracking spacecraft are subject to certain constraints and interference from the rope net during operation, the distance between tracking spacecraft is subject to certain constraints: it cannot be too large to break the rope net, nor too small to cause a collision. This invention introduces a control barrier function (CBF) to integrate safety constraints into the optimization design. The following is a basic overview, including the basic formulas of CBF and their application in optimization.

[0072] Define a barrier function h(x), where x represents the state of the system. This function describes the position of the system state relative to the safe region. The safe region is usually defined by h(x) ≥ 0, meaning that h(x) is non-negative when the system state x is within the safe region.

[0073] In order to ensure that the derivative of the barrier function satisfies certain conditions to keep the system state within the safe region, it is usually achieved through the following inequality:

[0074]

[0075] Among them, γ represents an extended k-type function.

[0076] The control obstacle function is added as a state constraint to the optimization problem, and the model predictive control algorithm is used to solve the optimization strategy under the safety constraint set. The performance index function of each spacecraft optimization The related constraints are shown in the following formula.

[0077]

[0078]

[0079] Among them, x t+k|t Represents the state x at time t t Predict the state vector at time t+k, u t+k|t is the control quantity input at the corresponding moment, and u represents the control sequence in the prediction time domain. t+N|t ) and q(x t+k|t ,u t+k|t )) represent the stage cost and terminal cost respectively, N represents the prediction time range. A and B represent the state x t The state transition matrix, represents the state constraint set at time t+k, represents the terminal state constraint set at time t+N, represents the control input constraint set at time t+k, △h(x t+k|t ,u t+k|t )=h(x t+k+1 )-h(x t+k ).

[0080] S2.1: Solve the game optimization strategy of the tracking spacecraft. First, from the perspective of the escaping spacecraft, consider whether it will choose the best strategy. Thus, by optimizing the performance indicator function J E to predict the trajectory of an escaping spacecraft.

[0081]

[0082] Where N represents the length of the prediction time domain, k represents the kth step of each round of prediction time domain. ∥∥ represents the vector’s two-norm, Q N Represents the navigation performance indicator function matrix of the predicted time domain terminal moment.

[0083] The MPC can be solved to obtain the predicted state r of the escaping spacecraft E * , and then substitute it into the following formula to solve the optimization strategy of the i-th tracking spacecraft.

[0084]

[0085] Among them, Q fN Represents the consistency formation performance indicator function matrix of the predicted time domain terminal moment.

[0086] By solving the above optimization problem, the game optimization strategy u of the i-th tracking spacecraft in each prediction time domain can be obtained: Pi * .

[0087] S2.2: Solve the game optimization strategy of the escaping spacecraft. First, from the perspective of the tracking spacecraft, consider that it will choose the best strategy. Thus, by optimizing the performance indicator function J Pi To predict the trajectory of each tracking spacecraft.

[0088]

[0089] By solving the MPC, the predicted state r of the geometric center of the tracking spacecraft can be obtained. P * , and then substitute into the following formula to solve the optimization strategy of the escape spacecraft.

[0090]

[0091] By solving the above optimization problem, the game optimization strategy u of the escape spacecraft in each prediction time domain can be obtained: E * .

[0092] S2.3: Scroll to the next moment and repeat S2.1 and S2.2 until the game ends: successful capture or the game time reaches the maximum limit.

[0093] For the system parameters of the present invention, set ω0 = 7.2388 × 10 -5 s -1 Relative to the orbital reference coordinate system, the initial positions and velocity vectors of each spacecraft participating in the orbital game are:

[0094] r P1 =[-0.15km,0.01km,0.2km,0.012km / s,0km / s,0km / s]

[0095] r P2=[-0.2km,0km,-0.2km,0km / s,0km / s,0km / s]

[0096] r P3 =[0.2km,0.01km,-0.2km,0km / s,0km / s,0km / s]

[0097] r P4 =0.2km,0.02km,0.2km,0km / s,0km / s,0km / s]

[0098] r E =-0.1km,0.2km,0.1km,0km / s,0km / s,0km / s]

[0099] Tracking the maximum acceleration amplitude u of the spacecraft Pmax =0.4m·s -2 , the maximum acceleration amplitude of the escaping spacecraft is u Emax =0.1m·s -2 The relevant parameters in the model predictive control algorithm are as follows: the length of the prediction time domain N = 6, the length of the control time domain N c =1, the maximum game time is 300s, and the sampling interval is 0.1s. R = diag(1,1,1), Q N =diag(1,1,1,1,1,1),Q=diag(1,1,1,6,6,6),Q f =Q fN =diag(1,1,1,1,1,1), control barrier function h=||r P -r E The capture threshold δ is 0.01 km, and the upper and lower limits of the distance between adjacent tracking spacecraft are 0.25 km and 0.5 km, respectively.

[0100] Based on the space rope net capture technology, the dynamic orbit game optimization method proposed in this invention can effectively capture the escaping spacecraft. Under the above simulation parameters, the three-dimensional trajectories of the tracking spacecraft and the escaping spacecraft during the orbit game are as follows: Figure 3 shown. Figure 4 It shows that within the maximum game time, the relative distance between the geometric center of each tracking spacecraft and the escaping spacecraft is eventually less than the capture threshold δ, indicating that the space rope net has effectively captured the escaping spacecraft. In order to verify the influence of the control obstacle function on the complete constraint of the tracking spacecraft, the orbital game with different γ values ​​is simulated. Figure 5 It can be seen that the smaller γ is, the safer it is to track the distance between spacecraft during the game. 41The real-time relative distance between the first and fourth tracking spacecraft is represented by gamma. When gamma is equal to 0.001, Figure 6 The real-time relative distance between adjacent tracking spacecraft in the game process is given, and the safety constraints required for the tracking spacecraft to drag the rope network configuration are fully met. Therefore, the orbit pursuit and escape scheme in the application further considers the specific capture method, and accelerates the practical engineering development of the orbit pursuit and escape problem.

[0101] The second object of the application is to provide a dynamic orbit game optimization system based on space rope network cooperative capture, comprising:

[0102] The initial module is used to predict the control input information of the escape spacecraft according to the motion state of the escape spacecraft and the relative dynamics model of the spacecraft in the orbit pursuit and escape game;

[0103] The escape trajectory module is used to obtain the motion trajectory of the escape spacecraft according to the predicted control input information of the escape spacecraft;

[0104] The pursuit control module is used to adjust the control input information of the tracking spacecraft based on the motion trajectory of the escape spacecraft, and obtain the adjusted control input information of the tracking spacecraft;

[0105] The capture module is used to drag the space rope network by the several tracking spacecraft according to the adjusted control input information, and complete the capture of the escape spacecraft.

[0106] The third object of the application is to provide an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to realize the steps of the dynamic orbit game optimization method based on space rope network cooperative capture.

[0107] The dynamic orbit game optimization method based on space rope network cooperative capture comprises the following steps:

[0108] The control input information of the escape spacecraft is predicted according to the motion state of the escape spacecraft and the relative dynamics model of the spacecraft in the orbit pursuit and escape game;

[0109] The motion trajectory of the escape spacecraft is obtained according to the predicted control input information of the escape spacecraft;

[0110] The control input information of the tracking spacecraft is adjusted based on the motion trajectory of the escape spacecraft, and the adjusted control input information of the tracking spacecraft is obtained;

[0111] The space rope network is dragged by the several tracking spacecraft according to the adjusted control input information, and the capture of the escape spacecraft is completed.

[0112] The fourth object of the present application is to provide a computer readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for dynamic orbit game optimization based on spatial net coordination capture.

[0113] According to the motion state of the escape spacecraft and the relative dynamics model of the orbit pursuit game spacecraft, the control input information of the escape spacecraft is predicted;

[0114] According to the predicted control input information of the escape spacecraft, the motion trajectory of the escape spacecraft is obtained;

[0115] Based on the motion trajectory of the escape spacecraft, the control input information of the tracking spacecraft is adjusted to obtain the adjusted control input information of the tracking spacecraft;

[0116] The space net is dragged by the plurality of tracking spacecrafts according to the adjusted control input information, and the capture of the escape spacecraft is completed.

[0117] The fifth object of the present application is to provide a computer program product comprising computer instructions, which, when executed by a processor, implement the various processes of the method embodiments shown above and can achieve the same technical effects, and thus will not be described here again to avoid repetition. Figure 1 The same technical effects can be achieved, and thus will not be described here again to avoid repetition.

[0118] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0119] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocks Figure 1 The functions specified in one flow or multiple flows and / or blocks

[0120] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0121] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A dynamic track game optimization method based on space rope net collaborative capture, characterized in that: include: Predict the control input information of the escaping spacecraft based on its motion state and the relative dynamics model of the spacecraft in the orbital pursuit-escape game; Obtaining the motion trajectory of the escape spacecraft based on the control input information of the predicted escape spacecraft; adjusting the control input information of the tracking spacecraft based on the motion trajectory of the escaping spacecraft to obtain the adjusted control input information of the tracking spacecraft; Several tracking spacecraft drag the space rope net according to the adjusted control input information to capture the escaping spacecraft; The spacecraft relative dynamics model includes: in, Represented on the coordinate axes Position component, represents its first-order derivative with respect to time, represents its second-order derivative with respect to time, is the average angular velocity of the orbital reference frame, Represents the spacecraft on the coordinate axis The acceleration component of The control input information of the escape spacecraft is predicted and optimized to obtain the game strategy of the escape spacecraft. The motion trajectory of the escape spacecraft is predicted by the game strategy of the escape spacecraft, which is specifically expressed as follows: The game strategy of the escape spacecraft is specifically expressed as follows: Where, is the performance index function of the escape spacecraft; Provides control input for the escape spacecraft; is the position vector of the geometric center of several tracking spacecraft in the orbital coordinate system; is the position vector of the escape spacecraft in the orbital coordinate system; is the weight matrix of navigation performance; A weight matrix optimized for energy consumption; The control input of the escape spacecraft obtained through the game strategy of the escape spacecraft , input into the spacecraft relative dynamics model to predict the trajectory of the escaping spacecraft; The control input information of the tracking spacecraft is adjusted based on the motion trajectory of the escaping spacecraft, and the optimization strategy of the tracking spacecraft is obtained according to the motion trajectory of the escaping spacecraft, and the control input information of the tracking spacecraft is adjusted according to the optimization strategy of the tracking spacecraft. The specific expression is as follows: Where: For the A performance indicator function for tracking spacecraft; is the position vector of the geometric center of several tracking spacecraft in the orbital coordinate system; is the position vector of the escape spacecraft in the orbital coordinate system; is the weight matrix of navigation performance; Indicates the Control inputs for tracking spacecraft; , To track spacecraft and tracking spacecraft The error between the relative position of and the expected relative position, Tracking spacecraft and tracking spacecraft The expected relative position vector of ; is the weight matrix for energy consumption optimization, To track spacecraft The position vector in the orbital coordinate system, To track spacecraft Position vector in orbital coordinate system; Capturing escaping spacecraft through space rope nets, including: During the game time, when the distance between the geometric center of several tracking spacecraft in the space rope net and the escaping spacecraft is less than the capture threshold, the space rope net will capture the escaping spacecraft. At the end of the game time, if the distance between the geometric center of several tracking spacecraft in the space rope net and the escaping spacecraft is greater than the capture threshold, the motion state of the escaping spacecraft will be updated until the space rope net completes the capture of the escaping spacecraft.

2. The dynamic track game optimization method based on space rope net collaborative capture according to claim 1 is characterized in that: The control input information of several tracking spacecraft is adjusted according to the optimization strategy of the tracking spacecraft, the control input information of several tracking spacecraft after adjustment is obtained, and the predicted states of several tracking spacecraft are obtained. The escaping spacecraft obtains the game optimization strategy of the escaping spacecraft in the predicted time domain through the predicted states of several tracking spacecraft after adjustment, and changes the operation trajectory of the escaping spacecraft.

3. A dynamic track game optimization system based on space rope net collaborative capture, characterized by: The dynamic track game optimization system based on space rope net collaborative capture is used to implement the dynamic track game optimization method based on space rope net collaborative capture according to any one of claims 1-2, comprising: Initialization module: used to predict the control input information of the escaping spacecraft based on its motion state and the relative dynamics model of the spacecraft in the orbital pursuit game; Escape trajectory module: used to obtain the motion trajectory of the escape spacecraft based on the control input information of the predicted escape spacecraft; Chasing control module: used to adjust the control input information of the chasing spacecraft based on the motion trajectory of the escaping spacecraft, and obtain the adjusted control input information of the chasing spacecraft; Capture module: used by several tracking spacecraft to drag the space rope net according to the adjusted control input information to complete the capture of the escaping spacecraft.

4. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method implements the steps of a dynamic track game optimization method based on collaborative capture of a space rope net as described in any one of claims 1 to 2.

5. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the dynamic trajectory game optimization method based on space rope net collaborative capture according to any one of claims 1-2 are implemented.

6. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the steps of a dynamic track game optimization method based on space rope net collaborative capture as described in any one of claims 1 to 2.

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