A task heuristic rover flight program design method

Abstract

The present application relates to the technical field of deep space exploration flight control, and particularly relates to a task heuristic planetary rover flight program design method, comprising: dividing the planetary rover task into a moving module, a sensing module, a detection module and a standby charging module according to the principle of effectively connecting the in-orbit single task of the planetary rover and the inter-module; under the constraints of the target point position, the target task and the longest task allowed time, performing flight program design based on the "target task-target point" to obtain a preliminary flight program design; introducing energy constraints to update the preliminary flight program design to obtain a final flight program design according to the principle of satisfying the energy balance of the planetary rover. The present application realizes the rapid design of the flight program under the multi-constraints of task, time, position and energy.

Description

Technical Field

[0001] This invention relates to the field of deep space exploration flight control technology, and more specifically to a mission-inspired method for designing a planetary rover flight procedure. Background Technology

[0002] In the field of deep space exploration, the on-orbit missions of planetary rovers are mostly carried out around the configured scientific payloads. They utilize their rich exploration and reconnaissance capabilities to conduct comprehensive multi-target, long-distance, and multi-path exploration. The main application scenarios and on-orbit missions include movement, sensing, exploration, data downlink, and standby charging.

[0003] Currently, the design of the planetary rover's flight procedures relies entirely on ground designers to arrange them line by line, and the design of the constraints between missions depends entirely on the flight control personnel's mastery of complex systems. Ground flight control personnel have a heavy workload, the program design time is long, and the flight control implementation is difficult. Moreover, the flight procedures have poor flexibility. When dealing with the planetary rover's unique exploration time and location adjustments, a lot of design and verification time is required, which is not conducive to rapid response to on-orbit missions.

[0004] To address this challenge, patent CN201810890347.6, "Flight Procedure Design Method for On-Orbit Propellant Replenishment of Spacecraft," designed a flight procedure execution sequence to handle the propellant replenishment process. This method can adapt to changes in tank type and quantity and complete the flight procedure design. However, it is limited to a single mission (only capable of handling propellant replenishment tasks) and cannot handle the entire on-orbit workflow of the probe, especially failing to analyze the overall energy balance of the spacecraft under energy constraints.

[0005] In addition, some scholars have proposed using the concept of modules to combine modules for different tasks, but this is limited to simple combinations under single constraints. There is no literature or patent that clearly defines a module combination method for complex on-orbit missions, especially for rover exploration and reconnaissance missions. This work still relies on professionals with considerable experience in flight program design and rover technology. At the same time, in the traditional state, after the flight program is completed, a separate energy balance analysis of the entire vehicle is carried out by professionals. The calculation time and iteration cycle are both long, which is not conducive to the rapid response of the mission.

[0006] Therefore, the current design of the planetary rover's flight procedure has the following problems:

[0007] (1) In the field of engineering applications, there are no clear academic documents or patents on the decomposition methods and principles of on-orbit functional modules of planetary rovers;

[0008] (2) For missions with multiple constraints such as time, location, and energy, there is a lack of a flight procedure design method for combining planetary rover modules and responding quickly. Summary of the Invention

[0009] In view of this, the present invention provides a mission-heuristic planetary rover flight procedure design method to solve the technical problems of planetary rover functional module decomposition, module combination for multi-constraint missions, and overall energy balance calculation.

[0010] To achieve the above objectives, the present invention adopts the following technical solution:

[0011] A mission-inspired method for designing a planetary rover flight procedure includes the following steps:

[0012] Based on the principle of covering the rover's single mission in orbit and ensuring effective connection between modules, the rover's mission is divided into a mobile module, a sensing module, a detection module, and a standby charging module;

[0013] Under the constraints of target location, target mission, and maximum allowed mission time, a preliminary flight procedure design based on the "target mission - target point" is carried out.

[0014] Based on the principle of ensuring the energy balance of the planetary rover, energy constraints were introduced to update the preliminary flight program design, resulting in the final flight program design.

[0015] Furthermore, the mobility module refers to the rover completing position and attitude changes through the navigation control system and mobility system, and its input conditions include the starting point d. i and endpoint d i+1 The movement time T is calculated from the specified moving average speed ν. yd i =(d i+1 -d i ) / ν, and calculate the time-dependent energy consumption E yd i =α×T yd i Considering the energy state, the rover's single movement is set to an upper limit value S.

[0016] Furthermore, the perception module refers to the rover's use of its onboard cameras and other sensors to perceive and measure its surrounding environment. This perception module operates on a fixed process, and the required time is a predetermined value T. gz The required energy consumption is a fixed value E. gz .

[0017] Furthermore, the aforementioned detection module refers to the rover using its onboard scientific equipment to complete a designated detection task. For this designated task, the rover executes a prescribed procedure, and the required time is a predetermined value T. tc i The required energy consumption is a fixed value E. tc i .

[0018] Furthermore, the standby charging module refers to the rover using its solar panels to complete the charging task in a static state, and it does not perform other tasks while performing the charging task. Its input conditions include the current battery charge Q. i and target power Q i+1 The charging time T is calculated from the specified average charging rate p. cd i =(Q i+1 -Q i ) / p, or determined by a given charging time T cd i The energy Q is calculated. i+1 =Q i +p×T cd i .

[0019] Furthermore, the flight procedure design process based on the "target mission - target point" includes:

[0020] Enter the target location, the target task, and the maximum allowed time for the task;

[0021] According to the final exploration mission M tc i The completion of the termination state task heuristic means that the specified final probe task is scheduled as the last one to be operated on.

[0022] Based on the rover's initial position d0 and final target position d end The required number of moves, num, is calculated, and the heuristic sort for the movement task is calculated, which includes M. yd 1 M yd 2 M yd num The first num-1 movement tasks each have a movement distance of S, and the movement time for each segment of the movement task is T. yd 1～(num-1) =S / ν; The movement time of the last segment of the task is T. yd num =(d end -d0-(num-1)×S) / ν;

[0023] Inspired by mobile mission design, the flight procedure is designed as follows:

[0024] {M yd 1 M yd 2 ,…,M yd num Mtc i}

[0025] After the rover moves to the target location, the routine mission is to conduct one environmental perception mission, followed by a reconnaissance mission. The flight procedure will then be updated to: {M yd 1 M yd 2 ,…,M yd num M gz M tc i This serves as a preliminary flight procedure design.

[0026] Furthermore, after completing the flight procedure design based on the "target mission - target point" framework, the total time for the current task is calculated as follows:

[0027] Time = (num-1) × T yd 1～num-1 +T yd num +T gz+ T tc

[0028] Among them, T gz The time required to carry out environmental perception tasks, T tc The time required to carry out the exploration mission;

[0029] The total energy consumption of the current task is calculated as follows:

[0030] Energy = α × (num - 1) × T yd 1～num-1 +α×T yd num +E gz +E tc i

[0031] Where α is the energy consumption per unit time of the mobile task; E gz Energy consumption required to carry out environmental sensing tasks; E tc i Energy consumption required to carry out exploration missions.

[0032] Furthermore, based on the principle of satisfying the planetary rover's energy balance, energy constraints are incorporated into the flight procedure design, including:

[0033] Iterate through the mission sequence in the initial flight program design. If the rover's battery level falls below a set threshold Q after performing a certain mission... limit If so, the standby charging module should be inserted before performing the task;

[0034] When the planetary rover's battery reaches full charge Q full Then, continue to traverse the task sequence after the current standby charging module, insert standby charging modules as needed, update the task sequence in the preliminary flight program design, and update the total task time.

[0035] Determine if the total task time (Time) is less than the longest allowed task time (T). max If Time < T max Then the final flight program design result will be output;

[0036] If Time > T max Then the power threshold Q will be set. limit Reduce Δ and repeat the energy balance analysis; if the energy balance and mission duration constraints still cannot be met, continue to reduce the power threshold Δ until the energy balance and mission duration constraints are met, and output the final flight procedure design results.

[0037] If the power threshold is reduced to the hard limit threshold Q alert If this is the case, it means that the current state of the rover cannot meet the mission requirements within the longest allowed time, and there is no solution in the flight program design.

[0038] Furthermore, the charging time of the inserted standby charging module is T. cd i =(Q full -Q i ) / p, where Q full To fully charge the battery, Q i ρ represents the current battery charge, and p represents the average charging rate.

[0039] In the initial flight procedure design, after inserting the standby charging module as needed, the total mission time is updated to: Time = (num-1) × T yd 1～num-1 +T yd num +T gz +T tc +Σ i T cd i .

[0040] As can be seen from the above technical solution, compared with the prior art, the present invention has the following beneficial effects:

[0041] Based on the working characteristics and mission features of the planetary rover, this invention decomposes the rover's functional modules, laying the foundation for mission-heuristic module combination. Using a mission-heuristic strategy based on the "target mission-target point" dual calibration method, it combines functional modules for movement, sensing, detection, and standby charging under multiple constraints such as mission, time, and location, enabling rapid generation and accurate response of on-orbit mission flight procedures. Simultaneously, by using the time correlation coefficient between modules and power consumption, energy constraints are introduced simultaneously with the completion of the flight procedure, solving the problem of accurate analysis and efficient response in the energy balance analysis of the flight procedure. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0043] Figure 1 An overall framework diagram of the mission-heuristic planetary rover flight procedure design method provided by the present invention;

[0044] Figure 2 A flowchart for flight procedure design provided for this invention;

[0045] Figure 3 This is an example diagram of the simulation of the planetary rover's power consumption in the flight procedure design provided by the present invention. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] like Figure 1 As shown in the figure, an embodiment of the present invention discloses a mission-inspired planetary rover flight procedure design method, including the following steps:

[0048] S1. Based on the principle of covering the single mission of the planetary rover in orbit and ensuring effective connection between modules, the mission of the planetary rover is divided into a mobile module, a sensing module, a detection module, and a standby charging module.

[0049] S2. Under the constraints of target point location, target mission, and maximum allowed mission time, conduct flight procedure design based on "target mission - target point" to obtain preliminary flight procedure design;

[0050] S3. Based on the principle of ensuring the energy balance of the planetary rover, energy constraints are introduced to update the preliminary flight program design, resulting in the final flight program design.

[0051] The following provides further explanation of each of the above steps.

[0052] S1. Decomposition of Planetary Vehicle Functional Modules:

[0053] Based on the principle of covering the rover's individual on-orbit tasks and ensuring effective interoperability between modules, the functional modules of the rover are decomposed. The rover's on-orbit missions primarily involve moving to a designated target point and completing stationary tasks through environmental sensing or scientific exploration methods. During movement or exploration, if the rover's energy level falls below a set threshold, the rover needs to stop its mission and recharge.

[0054] Based on the above functional module decomposition principles and task requirement analysis, the planetary rover's functional modules (task-level actions) mainly include:

[0055] 1) Motion Module: This refers to the planetary rover's ability to change position and attitude through its navigation and motion control systems. Its input conditions include the starting point d. i and endpoint d i+1 The movement time T is calculated from the specified moving average speed ν (usually a fixed value). yd i =(d i+1 -d i ) / ν, and calculate the time-dependent energy consumption E yd i =α×T yd i (A linear function related to time); considering the energy state, the rover's single movement is set to an upper limit value S.

[0056] 2) Sensing Module: This refers to the rover's use of its onboard cameras and other sensors to perceive and measure its surroundings. The sensing module follows a fixed procedure, and the required time is a predetermined value T. gz The required energy consumption is a fixed value E. gz .

[0057] 3) Exploration Module: This refers to the rover's use of onboard scientific equipment to complete designated exploration tasks. For each task, the rover follows a prescribed procedure, and the required time is a fixed value T. tc i The required energy consumption is a fixed value E. tc i .

[0058] 4) Standby charging module: This refers to the rover's ability to complete charging tasks using its solar panels while stationary, without performing other tasks during charging. Its input conditions include the current battery charge level Q. i and target power Q i+1 The charging time T is calculated from the specified average charging rate p (usually a fixed value). cd i =(Q i+1 -Q i ) / p, or determined by a given charging time T cd i The energy Q is calculated. i+1 =Q i +p×T cd i (A linear function that is dependent on time).

[0059] Each of the above functional modules has independent execution capability and no parallel movement relationship. They can be freely combined according to mission needs. Each module can effectively respond to the mission requirements of the planetary rover and has the dual attributes of "running time" and "consumption function".

[0060] S2. The on-orbit mission of the planetary rover can ensure the safety of the entire vehicle under the premise of ensuring energy security. Therefore, the basic principle of the planetary rover flight procedure is to obtain a feasible solution for mission execution, with in-situ missions (standby charging module, sensing module and detection module) and path missions (mobile module) as nodes.

[0061] The final on-orbit target position is specified via ground teleoperation or other ground-based methods. end Information on the detection mission type and the longest mission time constraint T max We began designing mission-heuristic flight procedures based on the "target task - target point" dual calibration method, such as... Figure 2 As shown, it specifically includes:

[0062] Data input: Input the target point location, target task, and maximum allowed task time;

[0063] Termination state task-inspired design: based on the final probe task M tc i The completion of the termination state task heuristic means that the specified final probe task is scheduled as the last one to be operated on.

[0064] Mobile mission-inspired design: based on the rover's initial position d0 (autonomously maintained by the navigation and control system) and final target position d end Calculate the required number of moves, num:

[0065] num=(d end-d0) / S

[0066] Where num represents the floor function.

[0067] The calculated heuristic sort of the movement tasks includes M. yd 1 M yd 2 M yd num The first num-1 movement tasks each have a movement distance of S, and the movement time for each segment of the movement task is T. yd 1～(num-1) =S / ν; The movement time of the last segment of the task is T. yd num =(d end -d0-(num-1)×S) / ν;

[0068] Inspired by mobile mission design, the flight procedure is designed as follows:

[0069] {M yd 1 M yd 2 ,…,M yd num M tc i}

[0070] After the rover moves to the target location, the routine mission is to conduct one environmental perception mission, followed by a reconnaissance mission. The flight procedure will then be updated to: {M yd 1 M yd 2 ,…,M yd num M gz M tc i This serves as a preliminary flight procedure design.

[0071] After completing the flight procedure design based on the "target mission - target point" model, the total time for the current task is calculated as follows:

[0072] Time = (num-1) × T yd 1～num-1 +T yd num +T gz+ T tc

[0073] Among them, T gz The time required to carry out environmental perception tasks, T tc The time required to carry out the exploration mission;

[0074] The total energy consumption of the current task is calculated as follows:

[0075] Energy = α × (num - 1) × T yd 1～num-1 +α×T yd num +E gz +E tc i

[0076] Where α is the energy consumption per unit time of the mobile task; E gz Energy consumption required to carry out environmental sensing tasks; E tc i Energy consumption required to carry out exploration missions.

[0077] S3. Energy Balance Analysis: Based on the flight procedure determined by the above heuristic workflow, the flight is generated heuristically under the premise of a given target location and target mission, thus satisfying the target location and target mission constraints. However, during actual on-orbit operation, the rover also needs to satisfy energy constraints, that is, the rover's energy consumption cannot be lower than the set threshold Q at any given time. limit Specifically, it includes:

[0078] Iterate through the mission sequence in the initial flight program design. If the rover's battery level falls below a set threshold Q after performing a certain mission... limit If the battery level exceeds the soft limit before the task is executed, the task needs to be split up, and the standby charging module should be inserted before the task is executed.

[0079] Next, determine whether the planetary rover's battery has reached full charge (Q). full When the planetary rover's battery reaches full charge Q full Then, continue traversing the task sequence after the current standby charging module is inserted, and insert standby charging modules as needed. The charging time of each inserted standby charging module is T. cd i =(Q full -Q i ) / p, where Q full To fully charge the battery, Q i ρ represents the current battery charge, and p represents the average charging rate.

[0080] The task sequence in the initial flight procedure design is updated, and the total task time Time is updated as follows: Time = (num-1) × T yd 1～num-1 +T yd num +T gz +T tc +Σ i Tcd i .

[0081] Determine if the total task time (Time) is less than the longest allowed task time (T). max If Time < T max Then the final flight program design result will be output;

[0082] If Time > T max Then the power threshold Q will be set. limit If Δ is reduced, the task sequence in the initial flight procedure design is re-examined, and the energy balance analysis process is repeated. If the energy balance and mission duration constraints still cannot be met, the power threshold is reduced by Δ until the energy balance and mission duration constraints are met, and the final flight procedure design result is output.

[0083] If the power threshold is reduced to the hard limit threshold Q alert If this happens, it means that the current state of the rover cannot meet the mission requirements within the longest allowed time, the flight program design has no solution, and the output is that no solution can be found within the current longest allowed time.

[0084] The rover flight procedure, completed based on the above task-inspired steps, satisfies the target point constraint, the final exploration mission constraint, and the mission duration constraint, while also ensuring the rover's energy balance. A simulation example of the flight procedure's power consumption is provided below. Figure 2 As shown.

[0085] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0086] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mission-inspired planetary rover flight procedure design method, characterized in that, Includes the following steps: Based on the principle of covering the rover's single mission in orbit and ensuring effective connection between modules, the rover's mission is divided into a mobile module, a sensing module, a detection module, and a standby charging module; Under the constraints of target location, target mission, and maximum allowed mission time, a preliminary flight procedure design based on "target mission - target point" is carried out to obtain the preliminary flight procedure design. Based on the principle of ensuring the energy balance of the planetary rover, energy constraints were introduced to update the preliminary flight program design, resulting in the final flight program design. The flight procedure design process based on "target mission - target point" includes: Enter the target location, the target task, and the maximum allowed time for the task; According to the final exploration mission M tc i The completion of the termination state task heuristic means that the specified final probe task is scheduled as the last one to be operated on. ; Based on the rover's initial position d0 and final target position d end The required number of moves, num, is calculated, and the heuristic sort for the movement task is calculated, which includes M. yd 1 M yd 2 ,∙∙∙∙∙,M yd num The first num-1 movement tasks each have a movement distance of S, and the movement time for each segment of the movement task is T. yd 1~(num-1) =S / ν; The movement time of the last segment of the task is T. yd num =(d end -d0-(num-1)×S) / ν; Inspired by mobile mission design, the flight procedure is designed as follows: ； After the rover moves to the target location, the routine mission is to conduct one environmental perception mission, followed by a reconnaissance mission. The flight procedure will then be updated as follows: This serves as a preliminary flight procedure design. After completing the flight procedure design based on the "target mission - target point" model, the total time for the current task is calculated as follows: Time=(num-1)× T yd 1~num-1 +T yd num +T gz+ T tc； Among them, T gz The time required to carry out environmental perception tasks, T tc The time required to carry out the exploration mission; The total energy consumption of the current task is calculated as follows: Energy=α×(num-1)× T yd 1~num-1 +α×T yd num +E gz +E tc i ； Where α is the energy consumption per unit time of the mobile task; E gz Energy consumption required to carry out environmental sensing tasks; E tc i Energy consumption required to carry out exploration missions; The principle of ensuring the energy balance of the planetary rover is to incorporate energy constraints into the flight procedure design, including: Iterate through the mission sequence in the initial flight program design. If the rover's battery level falls below a set threshold Q after performing a certain mission... limit If so, the standby charging module should be inserted before performing the task; When the planetary rover's battery reaches full charge Q full Then, continue to traverse the task sequence after the current standby charging module, insert standby charging modules as needed, update the task sequence in the preliminary flight program design, and update the total task time. Determine if the total task time (Time) is less than the longest allowed task time (T). max If Time < T max Then the final flight program design result will be output; If Time > T max Then the power threshold Q will be set. limit Reduce Δ and repeat the energy balance analysis; if the energy balance and mission duration constraints still cannot be met, continue to reduce the power threshold Δ until the energy balance and mission duration constraints are met, and output the final flight procedure design results. If the power threshold is reduced to the hard limit threshold Q alert If this is the case, it means that the current state of the rover cannot meet the mission requirements within the longest allowed time, and there is no solution in the flight program design.

2. The mission-inspired planetary rover flight procedure design method according to claim 1, characterized in that, The aforementioned mobility module refers to the rover's ability to change position and attitude through a navigation and control system and a mobility system. Its input conditions include the starting point d. i and endpoint d i+1 The movement time T is calculated from the specified moving average speed ν. yd i =( d i+1 -d i ) / ν, and calculate the time-dependent energy consumption E yd i =α×T yd i Considering the energy state, the rover's single movement is set to an upper limit value S.

3. The mission-inspired planetary rover flight procedure design method according to claim 1, characterized in that, The perception module refers to the rover's use of its onboard cameras and other sensors to perceive and measure its surrounding environment. This perception module follows a fixed process, and the required time is a predetermined value T. gz The required energy consumption is a fixed value E. gz .

4. The mission-inspired planetary rover flight procedure design method according to claim 1, characterized in that, The aforementioned detection module refers to the rover's use of its onboard scientific equipment to complete designated detection tasks. For each designated task, the rover executes a prescribed procedure, and the required time is a predetermined value T. tc i The required energy consumption is a fixed value E. tc i .

5. The mission-inspired planetary rover flight procedure design method according to claim 1, characterized in that, The standby charging module refers to the rover using its solar panels to complete the charging task in a static state, without performing other tasks while charging. Its input conditions include the current battery charge Q. i and target power Q i+1 The charging time T is calculated from the specified average charging rate p. cd i =(Q i+1 -Q i ) / p, or determined by a given charging time T cd i The energy Q is calculated. i+1 =Q i +p×T cd i .

6. The mission-inspired planetary rover flight procedure design method according to claim 5, characterized in that, The charging time of the inserted standby charging module is T. cd i =(Q full -Q i ) / p, where Q full To fully charge the battery, Q i ρ represents the current battery charge, and p represents the average charging rate. In the initial flight procedure design, after inserting the standby charging module as needed, the total mission time is updated to: Time = (num-1) × T yd 1~num-1 +T yd num +T gz +T tc +Σ i T cd i .

Images