Spacecraft pursuit and evasion control method and apparatus, computer device, and medium

Abstract

The present disclosure provides a spacecraft pursuit control method, device, computer equipment and medium, comprising: acquiring a reference orbit in a two-spacecraft pursuit process; determining a spacecraft on-orbit pursuit orbit dynamics model that meets perturbation factors in the two-spacecraft pursuit process based on the reference orbit in the two-spacecraft pursuit process; determining a spacecraft on-orbit pursuit differential game model based on the spacecraft on-orbit pursuit orbit dynamics model and preset countermeasure parameters in the two-spacecraft pursuit process; and determining a pursuit game control strategy of the two spacecrafts based on the spacecraft on-orbit pursuit differential game model. Thus, by constructing a spacecraft on-orbit pursuit orbit dynamics model that meets perturbation factors in the two-spacecraft pursuit process, a spacecraft on-orbit pursuit differential game model is determined, the operation efficiency of the spacecraft pursuit differential game is effectively improved, and the pursuit game control strategy of the two spacecrafts is easily formulated.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the field of spacecraft pursuit-evasion control, and in particular, to a spacecraft pursuit-evasion control method, device, computer equipment and medium. BACKGROUND

[0002] The spacecraft pursuit-evasion problem embodies the antagonistic behavior between the two spacecrafts, and the optimal goal of the two antagonists is a competitive relationship. The goal of the interceptor spacecraft is to approach and destroy the target as much as possible, while the target spacecraft adopts a maneuvering strategy that is beneficial to itself to avoid interception.

[0003] Differential games are an effective tool and scientific method for solving such conflict and competition problems. Since differential games take into account the influence of different players' selected strategies on the results, they are more in line with actual control requirements and are widely used in the research of pursuit-evasion antagonistic problems in the military field. The research on pursuit-evasion problems based on differential game theory has achieved rich research results, but most of the research focuses on the ground and aviation fields, and the game modeling is usually based on a two-dimensional plane, and the model is relatively simple. The spacecraft pursuit-evasion problem is a three-dimensional antagonistic process, and the two players follow their own orbit dynamics laws, involving high-dimensional nonlinear differential equations, and the game modeling is more complex and the solution is more difficult.

[0004] However, the existing research ideas for missile or aircraft pursuit-evasion problems, especially the simple linear missile pursuit-evasion problem research method, are difficult to be directly applied to spacecraft pursuit-evasion problems. There are few studies on spacecraft pursuit-evasion differential game problems, and there are still many challenges in spacecraft pursuit-evasion differential game modeling and solving, making it difficult to effectively develop control strategies for spacecraft pursuit-evasion. SUMMARY

[0005] The embodiments described herein provide a spacecraft pursuit-evasion control method, device, computer equipment and medium, which overcome the above problems.

[0006] In a first aspect, according to the content of the present disclosure, a spacecraft pursuit-evasion control method is provided, comprising:

[0007] obtaining a reference orbit in a pursuit-evasion process of two spacecrafts, the reference orbit being used to describe a motion orbit of one of the two spacecrafts in the pursuit-evasion process of the two spacecrafts, the two spacecrafts including a first interceptor spacecraft and a first target spacecraft;

[0008] determining a spacecraft in-orbit pursuit-evasion orbit dynamics model that satisfies a perturbation factor in the pursuit-evasion process of the two spacecrafts based on the reference orbit in the pursuit-evasion process of the two spacecrafts;

[0009] determine a spacecraft in-orbit pursuit differential game model based on the spacecraft in-orbit pursuit differential game model and preset countermeasure parameters in the pursuit process of the two spacecrafts, the preset countermeasure parameters comprising relative distance and interception time, and the spacecraft in-orbit pursuit differential game model comprising a fixed stay period differential game model and a survival type differential game model, the fixed stay period differential game model being used for pursuit decision based on the relative distance between the first interception spacecraft and the first target spacecraft, and the survival type differential game model being used for pursuit decision based on the interception time of the first interception spacecraft in pursuit of the first target spacecraft;

[0010] determine a pursuit game control strategy of the two spacecrafts based on the spacecraft in-orbit pursuit differential game model.

[0011] In a second aspect, the present disclosure provides a spacecraft pursuit control device, comprising:

[0012] a first determination module configured to determine a spacecraft in-orbit pursuit orbit dynamics model meeting a perturbation factor in the pursuit process of the two spacecrafts based on the reference orbit in the pursuit process of the two spacecrafts.

[0013] a first determination module configured to determine a spacecraft in-orbit pursuit orbit dynamics model meeting a perturbation factor in the pursuit process of the two spacecrafts based on the reference orbit in the pursuit process of the two spacecrafts.

[0014] determine a spacecraft in-orbit pursuit differential game model based on the spacecraft in-orbit pursuit differential game model and preset countermeasure parameters in the pursuit process of the two spacecrafts, the preset countermeasure parameters comprising relative distance and interception time, and the spacecraft in-orbit pursuit differential game model comprising a fixed stay period differential game model and a survival type differential game model, the fixed stay period differential game model being used for pursuit decision based on the relative distance between the first interception spacecraft and the first target spacecraft, and the survival type differential game model being used for pursuit decision based on the interception time of the first interception spacecraft in pursuit of the first target spacecraft;

[0015] determine a pursuit game control strategy of the two spacecrafts based on the spacecraft in-orbit pursuit differential game model.

[0016] In a third aspect, a computer device is provided, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the spacecraft pursuit control method in any one of the above embodiments when executing the computer program.

[0017] In a fourth aspect, a computer-readable storage medium is provided, and the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of the spacecraft pursuit control method in any one of the above embodiments are implemented.

[0018] The spacecraft pursuit control method provided by the embodiments of the present application acquires a reference orbit in a pursuit process of two spacecrafts, the reference orbit is used to describe a motion orbit of one of the two spacecrafts in the pursuit process, the two spacecrafts include a first interceptor spacecraft and a first target spacecraft, a spacecraft on-orbit pursuit orbit dynamics model that satisfies a perturbation factor in the pursuit process of the two spacecrafts is determined based on the reference orbit in the pursuit process of the two spacecrafts, a spacecraft on-orbit pursuit differential game model is determined based on the spacecraft on-orbit pursuit orbit dynamics model and preset countermeasure parameters in the pursuit process of the two spacecrafts, the preset countermeasure parameters include a relative distance and an interception time, the spacecraft on-orbit pursuit differential game model includes a fixed stay period differential game model and a survival type differential game model, the fixed stay period differential game model is used to make a pursuit decision based on the relative distance between the first interceptor spacecraft and the first target spacecraft, and the survival type differential game model is used to make a pursuit decision based on the interception time of the first interceptor spacecraft in pursuit of the first target spacecraft, and a pursuit game control strategy of the two spacecrafts is determined based on the spacecraft on-orbit pursuit differential game model. In this way, by constructing the spacecraft on-orbit pursuit orbit dynamics model that satisfies the perturbation factor in the pursuit process of the two spacecrafts, the spacecraft on-orbit pursuit differential game model is determined, the operation efficiency of the spacecraft pursuit differential game is effectively improved, and the pursuit game control strategy of the two spacecrafts can be easily formulated.

[0019] The above description is only a summary of the technical solutions of the embodiments of the present application. In order to more clearly understand the technical means of the embodiments of the present application, the embodiments of the present application can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings of the embodiments will be briefly described below. It should be known that the drawings described below only relate to some embodiments of the present application, but not limit the present application, wherein:

[0021] Figure 1 is a flowchart of a spacecraft pursuit control method provided by the present application.

[0022] Figure 2 is a structural schematic diagram of a spacecraft pursuit control device provided by the present application.

[0023] Figure 3is a structural schematic diagram of a computer device provided by the disclosure.

[0024] It should be noted that the elements in the drawings are schematic and not drawn to scale. DETAILED DESCRIPTION

[0025] In order to make the purposes, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without any inventive effort also belong to the scope of protection of the present disclosure.

[0026] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this present subject matter belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the specification and relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. As used herein, the statement that two or more parts are "connected" or "coupled" together refer to an indirect or direct connection or coupling.

[0027] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. A person of ordinary skill in the art will readily recognize from the disclosure herein, given the total volume of this application that the embodiments described herein can be combined with one another in various ways.

[0028] The term "and / or", merely describes an associated relationship of associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of existence of A, existence of A and B, and existence of B. In addition, the character " / " herein generally represents that the front and rear associated objects are in an "or" relationship. Terms such as "first" and "second" are merely used to distinguish one component (or part of a component) from another component (or another part of a component).

[0029] In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more (including two), and similarly, "a plurality of groups" means two or more groups (including two groups).

[0030] Differential game is a mathematical theory of game process in which a motion system described by a differential equation or a system of differential equations is controlled by two or more decision makers to achieve their own optimal objectives. The basic idea of using differential game theory to analyze the pursuit-evasion problem is based on the maximum principle in optimal control theory. The optimal conditions derived from the two-sided optimal control problem are transformed into a high-dimensional two-point boundary value problem to study the concept, existence and solution method of the game solution, so as to obtain the optimal control strategy of the pursuit-evasion game and the pursuit-evasion game rule. Due to the complexity and variability of the pursuit-evasion problem, it is very difficult to solve the two-point boundary value problem of differential game, and it is impossible to obtain an analytical solution. Therefore, the research on pursuit-evasion differential game mainly focuses on the development and application of numerical solution methods.

[0031] Most of the research on spacecraft pursuit-evasion problems is based on two-person zero-sum differential game theory. For the "one-on-one" on-orbit pursuit-evasion problem of two spacecrafts, game modeling and numerical solution methods are studied, forming two kinds of solution ideas: one is to regard the pursuit-evasion differential game as a two-sided optimal control problem, derive the optimal conditions, and transform the optimal control into a high-dimensional nonlinear two-point boundary value problem for solving. The direct method or indirect method is used to solve the saddle point of the differential game to determine the optimal control strategy of the pursuit-evasion game. The other is to transform the two-sided optimal control problem corresponding to the differential game into a one-sided optimal control problem under the premise that both sides of the pursuit-evasion game adopt the optimal control strategy, and then use numerical optimization methods to solve it. Compared with the first solution method, transforming the two-sided optimal control problem into a one-sided optimal control problem can effectively simplify the game model and make it easier to solve. Based on this idea, for the space rendezvous problem of a maneuvering target, the optimal parameters of the pursuit-evasion game are the covariant variables of both sides, the two-sided optimal control problem of the pursuit-evasion game is transformed into a one-sided optimal control problem for easy analysis and solution, and a method for solving differential game problems using nonlinear programming is proposed. The combination of optimal control and game theory effectively improves the computational efficiency of spacecraft pursuit-evasion differential game.

[0032] Currently, there is not much research on multi-spacecraft pursuit-evasion differential game problems, which has only attracted attention in recent years. Most of the research on pursuit-evasion problems based on differential game theory still focuses on theory. Although some progress has been made in the pursuit-evasion problem of two-dimensional plane missiles and aircraft, the theoretical exploration and application research of complex on-orbit spacecraft pursuit-evasion problems have just begun and face many problems to be solved:

[0033] The spacecraft pursuit and evasion is a confrontation problem in three-dimensional space. The research on differential game control strategy based on missile and aircraft pursuit and evasion problems generally adopts a two-dimensional model in a plane, which has great limitations in practical applications. In order to facilitate calculation, many studies reduce the dimension or linearize and discretize the three-dimensional space spacecraft pursuit and evasion differential game model, which usually brings certain calculation error. Therefore, it is necessary to perfect the three-dimensional space spacecraft pursuit and evasion differential game model and carry out corresponding differential game theory research.

[0034] The spacecraft confrontation is complex and changeable, making the game solution more difficult. The solution of differential game has always been a problem to be solved in this field. Due to the involvement of two-point boundary value problems that are difficult to solve, there is no perfect solution method at present. The dynamic model of spacecraft pursuit and evasion problem is a high-dimensional nonlinear differential equation system, and the solution of spacecraft pursuit and evasion problem faces greater challenges. It is urgent to carry out in-depth research on improving the calculation efficiency and accuracy and explore intelligent and efficient calculation methods.

[0035] At present, the research on spacecraft pursuit and evasion problem is mostly "one-to-one" two-party game, and the multi-party pursuit and evasion problem involving multiple participants is rarely studied. Most of the existing researches simply increase the number of game members on the basis of "one-to-one" pursuit and evasion differential game, set the safety distance between multiple members, and plan the path, which does not reflect the pursuit and evasion confrontation between multiple spacecrafts, and is essentially a two-party game problem. For more complex multi-party pursuit and evasion problem, the research is currently limited to the pursuit, evasion and defense of three-party game, and the pursuit and evasion coordination control problem of multiple spacecraft cluster combat has not been considered.

[0036] In order to enable personnel in the technical field to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings.

[0037] Figure 1 is a flowchart of a spacecraft pursuit and evasion control method provided by the embodiments of the present disclosure, as Figure 1 shown, the specific process of the spacecraft pursuit and evasion control method includes:

[0038] S110, acquiring a reference orbit in a two-party spacecraft pursuit and evasion process.

[0039] The reference orbit is used to describe the motion orbit of one party in the two-party spacecraft pursuit and evasion process, and the two-party spacecraft includes one first interception spacecraft and one first target spacecraft. The first interception spacecraft is a spacecraft for target pursuit, and the first target spacecraft is a spacecraft to be pursued.

[0040] Under normal circumstances, the spacecraft in-orbit pursuit needs to meet certain detection conditions, therefore, the relative distance between the spacecrafts cannot be too far, and the relative motion can be used to describe the motion state of the pursuit and evasion parties.

[0041] S120, determining, based on the reference orbit in the pursuit-evasion process of the two spacecraft, a spacecraft in-orbit pursuit-evasion orbit dynamics model that meets the perturbation factor in the pursuit-evasion process of the two spacecraft.

[0042] Wherein, the spacecraft in-orbit pursuit-evasion is a complex continuous dynamic game process, in order to study the countermeasure law and control strategy of the spacecraft in-orbit pursuit-evasion, a mathematical model capable of accurately describing the motion law of the pursuit-evasion spacecraft needs to be established.

[0043] The spacecraft in-orbit pursuit-evasion orbit dynamics model includes a relative motion model and a perturbation motion model.

[0044] In some embodiments, based on the reference orbit in the pursuit-evasion process of the two spacecraft, the spacecraft in-orbit pursuit-evasion orbit dynamics model that meets the perturbation factor in the pursuit-evasion process of the two spacecraft is determined, including:

[0045] Based on the reference orbit in the pursuit-evasion process of the two spacecraft, a relative motion model is established; based on the perturbation factor in the pursuit-evasion process of the two spacecraft, a perturbation motion model is established; based on the relative motion model and the perturbation motion model, the spacecraft in-orbit pursuit-evasion orbit dynamics model that meets the perturbation factor in the pursuit-evasion process of the two spacecraft is determined.

[0046] Wherein, the motion state of the reference orbit is used to describe the relative motion state between the first target spacecraft and the first interceptor spacecraft.

[0047] The pursuit-evasion process is a dynamic continuous countermeasure, both sides of the pursuit-evasion need to carry out orbit control and the control strategy is unknown, and the relative motion model cannot be established as a reference. Considering that the distance between the two spacecrafts in the pursuit-evasion is relatively close, a reference orbit can be selected to establish a close-range relative motion model, and the motion state under the reference orbit is used to describe the relative motion state of the two sides of the pursuit-evasion.

[0048] On this basis, fully considering the influence of the perturbation factor (such as solar radiation pressure perturbation, atmospheric rotation and lunar gravity perturbation), a spacecraft dynamics model (i.e. spacecraft in-orbit pursuit-evasion orbit dynamics model) that meets the actual flight conditions is established.

[0049] S130, based on the spacecraft in-orbit pursuit-evasion orbit dynamics model and the preset countermeasure parameters in the pursuit-evasion process of the two spacecraft, determining a spacecraft in-orbit pursuit-evasion differential game model.

[0050] The preset countermeasure parameters include a relative distance and an interception time, and the spacecraft in-orbit pursuit evasion differential countermeasure model includes a fixed stay period differential countermeasure model and a survival type differential countermeasure model. The fixed stay period differential countermeasure model is used for making a pursuit evasion decision based on the relative distance between the first interception spacecraft and the first target spacecraft, and the survival type differential countermeasure model is used for making a pursuit evasion decision based on the interception time of the first interception spacecraft pursuing the first target spacecraft.

[0051] In a one-to-one spacecraft pursuit evasion process, the countermeasure time is an important factor affecting the countermeasure result. According to whether the countermeasure time is a variable, the spacecraft pursuit evasion differential countermeasure model can be divided into a fixed stay period differential countermeasure model and a survival type differential countermeasure model.

[0052] In some embodiments, based on the spacecraft in-orbit pursuit evasion orbit dynamics model and preset countermeasure parameters in the pursuit evasion process of the two spacecrafts, the spacecraft in-orbit pursuit evasion differential countermeasure model is determined, including:

[0053] The variable type of the pursuit evasion countermeasure time in the pursuit evasion process of the two spacecrafts is acquired. If the variable type of the pursuit evasion countermeasure time is a variable, a fixed stay period differential countermeasure model is established based on the spacecraft in-orbit pursuit evasion orbit dynamics model and the relative distance between the first interception spacecraft and the first target spacecraft. If the variable type of the pursuit evasion countermeasure time is a non-variable, a survival type differential countermeasure model is established based on the spacecraft in-orbit pursuit evasion orbit dynamics model and the interception time of the first interception spacecraft pursuing the first target spacecraft.

[0054] For the fixed stay period differential countermeasure model, the relative distance of the two parties at the terminal time is taken as a performance index to establish a corresponding differential countermeasure model. Whether the pursuit evasion is successful is judged according to the terminal relative distance. The interception spacecraft attempts to minimize the terminal relative distance through orbit control, and the target spacecraft attempts to increase the terminal relative distance as much as possible through orbit control.

[0055] For the survival type differential countermeasure model, the pursuit evasion countermeasure time (i.e., the interception time) is taken as a performance index. The interception spacecraft attempts to intercept the target as soon as possible through control, and the target hopes to prolong the interception time as much as possible through control. According to different countermeasure objectives, corresponding performance index functions are determined to establish pursuit evasion differential countermeasure models under different conditions, so as to analyze the corresponding countermeasure game rules.

[0056] In addition, the pursuit evasion problem based on the zero-sum differential countermeasure is a typical two-sided optimal control problem, which needs to be converted into a two-point boundary value problem for solution. Generally, an analytical solution cannot be obtained, and only a numerical solution method can be used. Due to the complex nonlinear time-varying terms in the spacecraft pursuit evasion dynamics model, the pursuit evasion differential countermeasure model is more complex, and the corresponding two-point boundary value problem involves a high-dimensional nonlinear equation set (the dimension of the equation set is twice the dimension of the dynamics equation), and the numerical solution is more difficult.

[0057] The pursuit-dodge differential game can be solved based on the cooperative coevolution and the semi-direct method, i.e., solving the differential game value (such as the relative distance and the interception time as mentioned above) of the spacecraft in-orbit pursuit-dodge differential game model.

[0058] The cooperative coevolution algorithm is a global optimization algorithm based on the biological cooperative evolution idea, which fully considers the relationship between the population and the population, and the relationship between the population and the environment. The mutually opposed populations represent the opposing parties. In the evolution process, the populations evolve towards their own optimal payment function according to the enemy information, and have good robustness, progressive learning ability and autonomous search ability. The complex spacecraft nonlinear differential game problem is converted into the search for the Nash equilibrium point in the pursuit-dodge anti-interception process. The global optimization characteristics of the cooperative coevolution algorithm are used to preprocess the initial value of the parameters, and then the semi-direct method is used for differential game solving. The combination of the cooperative coevolution algorithm and the semi-direct method can provide a feasible initial guess value for the semi-direct method, thereby shortening the calculation time while ensuring the calculation accuracy, which is an effective way to solve the spacecraft pursuit-dodge differential game problem.

[0059] The cooperative coevolution algorithm is used to preprocess the initial value of the multi-interval node convergence required by the semi-direct method, and then the semi-direct method is used for nonlinear programming solving, which can effectively solve the two-point boundary value numerical solving problem.

[0060] S140, based on the spacecraft in-orbit pursuit-dodge differential game model, determining the pursuit game control strategy of the spacecrafts.

[0061] If the spacecraft in-orbit pursuit-dodge differential game model is a fixed stay period differential game model, the relative distance between the first interception spacecraft and the first target spacecraft can be used to determine the pursuit game control strategy of the spacecrafts, such as setting the interception path and flight speed of the first interception spacecraft, the escape path and flight speed of the first target spacecraft, based on the relative distance between the first interception spacecraft and the first target spacecraft.

[0062] If the spacecraft in-orbit pursuit-dodge differential game model is a survival type differential game model, the interception time between the first interception spacecraft and the first target spacecraft can be used to determine the pursuit game control strategy of the spacecrafts, such as setting the interception path and flight speed of the first interception spacecraft, the escape path and flight speed of the first target spacecraft, based on the interception time of the first interception spacecraft to intercept the first target spacecraft.

[0063] In this embodiment, the reference orbit in the pursuit-evasion process of the two spacecrafts is obtained, the reference orbit is used to describe the motion orbit of one of the two spacecrafts in the pursuit-evasion process of the two spacecrafts, the two spacecrafts include a first interceptor spacecraft and a first target spacecraft; based on the reference orbit in the pursuit-evasion process of the two spacecrafts, a spacecraft in-orbit pursuit-evasion orbit dynamics model satisfying perturbation factors in the pursuit-evasion process of the two spacecrafts is determined; based on the spacecraft in-orbit pursuit-evasion orbit dynamics model and preset countermeasure parameters in the pursuit-evasion process of the two spacecrafts, a spacecraft in-orbit pursuit-evasion differential countermeasure model is determined, the preset countermeasure parameters include a relative distance and an interception time, the spacecraft in-orbit pursuit-evasion differential countermeasure model includes a fixed stay period differential countermeasure model and a survival type differential countermeasure model, the fixed stay period differential countermeasure model is used for making pursuit-evasion decisions based on the relative distance between the first interceptor spacecraft and the first target spacecraft, and the survival type differential countermeasure model is used for making pursuit-evasion decisions based on the interception time of the first interceptor spacecraft pursuing the first target spacecraft; based on the spacecraft in-orbit pursuit-evasion differential countermeasure model, a pursuit-evasion game control strategy of the two spacecrafts is determined. In this way, by constructing the spacecraft in-orbit pursuit-evasion orbit dynamics model satisfying the perturbation factors in the pursuit-evasion process of the two spacecrafts, the spacecraft in-orbit pursuit-evasion differential countermeasure model is determined, the operation efficiency of the spacecraft pursuit-evasion differential countermeasure is effectively improved, and the pursuit-evasion game control strategy of the two spacecrafts is facilitated to be formulated.

[0064] In some embodiments, the countermeasure control can also be performed on the multiple-to-one spacecraft pursuit-evasion problem. The spacecraft "multiple-to-one" pursuit-evasion problem can be regarded as a combination of multiple spacecraft "one-to-one" pursuit-evasion problems, but they cannot be simply combined as independent two-person zero-sum differential countermeasure problems, because multiple spacecrafts jointly have an interception target, and as long as one set of pursuit-evasion countermeasures is successful, the entire pursuit-evasion countermeasure can be regarded as being successfully implemented.

[0065] Therefore, for the spacecraft "multiple-to-one" pursuit-evasion problem, the steps of differential countermeasure modeling, countermeasure space analysis, and optimal countermeasure solution can be sequentially analyzed based on the single-spacecraft two-person zero-sum pursuit-evasion differential countermeasure research method described above. It should be noted that the "multiple-to-one" pursuit-evasion is a whole countermeasure problem of multiple spacecrafts, and when the differential countermeasure model is constructed and the countermeasure is analyzed and solved, the optimization of the whole countermeasure and the cooperation of the multiple spacecrafts must be considered.

[0066] The spacecraft pursuit-evasion control method can further include:

[0067] determining a performance constraint index in the multiple-to-one spacecraft pursuit-evasion process; based on the performance constraint index, establishing a spacecraft multiple-to-one pursuit-evasion differential countermeasure model; based on the spacecraft multiple-to-one pursuit-evasion differential countermeasure model, determining a pursuit-evasion cooperative control strategy of the multiple-to-one spacecraft.

[0068] The multiple-to-one spacecraft includes multiple second interceptor spacecrafts and one second target spacecraft. The performance constraint index is used to constrain the sum of absolute values of relative distances between all second interceptor spacecrafts and the second target spacecraft at the terminal time to be optimal, and the sum of absolute values of relative distances between all second interceptor spacecrafts and the second target spacecraft at the terminal time to be minimal.

[0069] Due to the pursuit and evasion countermeasures involving multiple spacecrafts, when establishing the multiple-to-one pursuit and evasion differential game model, on one hand, the individual target of the spacecraft pursuit and evasion countermeasures needs to be considered, and on the other hand, the overall target of the multiple spacecrafts pursuing and evading simultaneously needs to be considered.

[0070] Therefore, it is particularly important to select a suitable performance index function, and reasonably selecting the performance index function (i.e. the performance constraint index) can not only simplify the problem solving, but also fully exert the pursuit and evasion advantages of each spacecraft and effectively improve the interception efficiency.

[0071] The form of the performance index function depends on the type of the differential game. For the multiple spacecraft pursuit and evasion problem, the interception ability and interception effect of the multiple-to-one pursuit and evasion countermeasures are mainly concerned, and the countermeasure end time is no longer the conflict point of the participants.

[0072] The multiple-to-one pursuit and evasion differential game mainly considers the fixed stay period differential game in which the countermeasure time is not a variable. In the countermeasure process, each interceptor spacecraft needs to try to chase the target spacecraft and shorten the relative distance with the target spacecraft, so as to increase the probability of successfully intercepting the target spacecraft. As long as one interceptor spacecraft successfully approaches the target spacecraft within the specified time, the countermeasure is considered successful, and all interceptor spacecrafts are not required to achieve interception. At this time, the performance index function can be selected as the minimum value of the relative distance between each interceptor spacecraft and the target spacecraft at the countermeasure end time t f .

[0073] J1=min{|ρ1(t f )|,|ρ2(t f )|,…|ρ n (t f )|} (1)

[0074] The performance index function constraint shown in formula (1) can give the optimal control strategy for the interceptor spacecraft with the minimum relative distance to the target spacecraft at the terminal time, but the control strategy of other interceptor spacecrafts is not necessarily optimal. Therefore, the performance index function is only optimal for one interceptor spacecraft, and does not have overall optimality.

[0075] In order to reflect the overall optimality, the performance index function can be taken as ρ i (t f) as shown in equation (2).

[0076]

[0077] The differential game under the performance index constraint shown in equation (2) can guarantee that the sum of the absolute values of the relative distances of all the interceptor spacecrafts from the target spacecraft at the terminal time is optimal, and the overall performance is relatively optimal, but cannot guarantee that the control strategy of the spacecraft with the minimum relative distance is optimal.

[0078] In order to take into account the individual performance and overall optimality, the performance index function shown in equation (3) is selected.

[0079]

[0080] The differential game under the performance index constraint shown in equation (3) can guarantee that the absolute value of the relative distance of each interceptor spacecraft from the target spacecraft at the terminal time is optimal, and the overall performance is optimal.

[0081] In some embodiments, based on the spacecraft many-to-one pursuit-evasion differential game model, a pursuit-evasion cooperative control strategy of the many-to-one spacecraft is determined, including:

[0082] Based on the spacecraft many-to-one pursuit-evasion differential game model, a differential game space structure of the spacecraft many-to-one pursuit-evasion is determined; based on the capture region and the escape region in the pursuit-evasion process of the many-to-one spacecraft, an interception range of the second target spacecraft is determined in the differential game space structure; based on the interception range of the second target spacecraft, an optimal interception trajectory of each second interceptor spacecraft relative to the second target spacecraft is determined to obtain the pursuit-evasion cooperative control strategy of the many-to-one spacecraft.

[0083] Wherein, on the basis of determining the performance index function, a spacecraft many-to-one pursuit-evasion differential game model is established in combination with a two-person zero-sum differential game modeling method; then, a differential game space structure of the spacecraft many-to-one pursuit-evasion is determined by using a qualitative differential game method, the interception range of the spacecraft is analyzed according to the concepts of the capture region and the escape region, and the cooperative control mode of the many spacecrafts is determined. On this basis, the optimal interception trajectory of the many-to-one differential game is solved by using cooperative evolution and a semi-direct method, the cooperative control strategy of the spacecraft many-to-one pursuit-evasion is determined, and the basic principles of the many-to-one pursuit-evasion cooperative control are given.

[0084] The capture region and the escape region in the pursuit-evasion process of the many-to-one spacecraft are determined based on the spacecraft many-to-one pursuit-evasion differential game model.

[0085] For example, for the spacecraft pursuit-evasion game problem, the problem that must be concerned is whether a certain outcome of the game can be achieved, the interceptor is concerned about whether interception is achieved, and the evader is concerned about whether escape is successful. Based on the qualitative differential game theory, the pursuit-evasion game space can be divided into two possible regions, i.e., a capture region and an escape region.

[0086] In the capture region, the interceptor spacecraft can always select a suitable control strategy to achieve the capture of the target spacecraft; in the escape region, the escape target (target spacecraft) can always select a suitable control strategy to avoid interception. The boundary surface between the capture region and the escape region is called a boundary fence, and on the boundary fence, the pursuit and evasion sides will take their own optimal control strategies to prevent entering the escape region or the capture region. The pursuit-evasion boundary fence is not only an important factor for studying and analyzing the spacecraft pursuit-evasion problem, but also can provide an important theoretical basis for the cooperative control of the multi-spacecraft pursuit-evasion problem.

[0087] Based on the spacecraft multi-to-one pursuit-evasion differential game model, the qualitative differential game method is used to study the solution method of the spacecraft pursuit-evasion boundary fence, and the capture region and the escape region of the spacecraft are determined, which provides a necessary basis for the subsequent research on the cooperative control method of the multi-spacecraft pursuit-evasion problem.

[0088] In some embodiments, the multi-to-multi spacecraft pursuit-evasion problem can also be controlled by game. The spacecraft "multi-to-one" pursuit-evasion process is essentially still a two-person pursuit-evasion game problem, and the modeling method, game type, and single-spacecraft two-person zero-sum differential game have no essential difference, except that the game index is relatively complex, and the cooperative control game solution is more difficult. However, the "multi-to-multi" pursuit-evasion problem not only involves the pursuit and evasion of both sides, but also considers the defense of the interceptor spacecraft implementing anti-interception, involving multiple pursuit-evasion games among multiple spacecraft, and requiring the pursuit-evasion differential game optimization design based on multi-target interception task planning.

[0089] The spacecraft pursuit-evasion control method can further include:

[0090] In the multi-to-multi spacecraft pursuit-evasion process, a performance index parameter is established between each third target spacecraft and the corresponding third interceptor spacecraft, and the performance index parameter includes: a relative distance between each third interceptor spacecraft and the corresponding third target spacecraft at the terminal time, and a decision weight of each third interceptor spacecraft; based on the performance index parameter and a preset index parameter, a spacecraft multi-to-multi pursuit-evasion differential game model is constructed; and based on the spacecraft multi-to-multi pursuit-evasion differential game model, a multi-to-multi spacecraft pursuit-evasion cooperative control strategy is determined.

[0091] The task planning of the multi-target pursuit-evasion process belongs to a combinatorial optimization problem. First, the interception time, interception target and interception path are reasonably allocated under the premise of meeting the constraint conditions. Then, the pursuit-evasion countermeasures among multiple spacecrafts are designed based on the differential game method to make the overall combat effectiveness of the system optimal. The defense system preparation time, orbit transfer fuel consumption, standby threat degree, attack threat degree and other optimization indexes are converted into a unified evaluation quantity through fuzzy comprehensive evaluation. The best orbit transfer scheme is selected based on the Borda number ranking. The comprehensive effectiveness function is established based on the attack benefit, attack cost, fuel consumption, target coverage and damage degree. The interception time, interception target and interception path are allocated based on the Nash equilibrium theory to realize the multi-spacecraft cooperative task planning. On this basis, the interception-escape-defense multi-party pursuit-evasion countermeasure problem is further solved and optimized.

[0092] To simplify the problem, the "many-to-many" pursuit-evasion countermeasure process is divided into two simultaneous two-party pursuit-evasion countermeasures. One is the pursuit-evasion countermeasure between the interceptor spacecraft P and the target spacecraft E. The other is the pursuit-evasion countermeasure between the defense spacecraft D and the interceptor spacecraft P.

[0093] In the pursuit-evasion countermeasure between the interceptor spacecraft and the target spacecraft, the target spacecraft only needs to consider the threat from the interceptor spacecraft. In the pursuit-evasion countermeasure between the defense spacecraft and the interceptor spacecraft, the interceptor spacecraft only needs to consider the threat from the defense spacecraft. Compared with the interceptor spacecraft P, the maneuvering strategies of the target spacecraft E and the defense spacecraft D are relatively easy to construct. The performance index function (i.e., performance index parameter) of the interceptor spacecraft can be established for the target spacecraft E and the defense spacecraft D, as shown in formula (4).

[0094]

[0095] In formula (4), represents the terminal time the relative distance between the interceptor spacecraft and the target spacecraft, represents the terminal time the relative distance between the defense spacecraft and the interceptor spacecraft.

[0096] The interceptor spacecraft wants to get away from the interceptor spacecraft as far as possible, so that the relative distance between the interceptor spacecraft and the interceptor spacecraft at the terminal time exceeds the interception range. The defense spacecraft wants to get close to the interceptor spacecraft as much as possible to destroy the interceptor spacecraft before the interceptor spacecraft intercepts the target spacecraft.

[0097] Both countermeasure processes are related to the interceptor spacecraft. The interceptor spacecraft P needs to consider the anti-interception of the defense spacecraft D while intercepting the target spacecraft E, so that the performance index of the target spacecraft is as small as possible, and the performance index of the defense spacecraft is as large as possible. The performance index function shown in formula (5) can be selected.

[0098]

[0099] In formula (5), parameters k1 and k2 represent the weights of the two parts of the strategy measured by the interceptor spacecraft at the decision time. When k1>k2, it means that the interceptor spacecraft is more willing to reduce the terminal distance between the interceptor and the target spacecraft, and the interception of the target is more important. When k1<k2, it means that the interceptor spacecraft is more willing to increase the terminal distance between the interceptor and the defense spacecraft, and the safety of the interceptor itself is more important. When k1=k2, it means that the interceptor spacecraft always considers self-protection during the interception process. When k1=0 or k2=0, it means that the interceptor spacecraft only considers the strategy with one spacecraft. At this time, the three-party pursuit-evasion game evolves into a two-party pursuit-evasion game problem considering only the target spacecraft or only the defense spacecraft.

[0100] In some embodiments, based on the spacecraft multi-to-multi pursuit-evasion differential game model, a pursuit-evasion cooperative control strategy of the multi-to-multi spacecraft is determined, comprising:

[0101] The non-cooperative game equilibrium (i.e., Nash equilibrium) of the spacecraft multi-to-multi pursuit-evasion differential game model is processed to obtain the interception time, interception target and interception path corresponding to the pursuit-evasion process of the multi-to-multi spacecraft. The interception time, interception target and interception path corresponding to the pursuit-evasion process of the multi-to-multi spacecraft are allocated to determine the pursuit-evasion cooperative control strategy of the multi-to-multi spacecraft.

[0102] In the model, a comprehensive performance function is established by combining factors such as maneuvering time, fuel consumption and capture range. According to different performance requirements, a spacecraft multi-party pursuit-evasion game performance index function is determined, a spacecraft multi-to-multi pursuit-evasion differential game model is constructed, a complex multi-party optimal planning problem is converted into a search for a Nash equilibrium point in the pursuit-evasion anti-interception process, a semi-direct method and a cooperative evolution algorithm are used to solve the multi-to-multi differential game saddle point, and a cooperative control strategy of the spacecraft multi-to-multi pursuit-evasion is determined.

[0103] In summary, the present embodiment aims at the current situation of complex mathematical model, difficult numerical solution and insufficient theoretical research of multi-spacecraft on-orbit pursuit-evasion, constructs a pursuit-evasion differential game model containing complex dynamic characteristics of spacecraft, studies an intelligent and efficient multi-party pursuit-evasion differential game numerical optimization method, and determines the multi-to-one and multi-to-multi pursuit-evasion differential game cooperative control strategies with the goal of optimal comprehensive performance. The present embodiment has the following relative advantages:

[0104] The present embodiment breaks through the limitations of traditional single-spacecraft one-to-one pursuit-evasion problem, establishes a complete multi-spacecraft pursuit-evasion differential game problem model, conducts in-depth research on the multi-spacecraft cooperative pursuit-evasion strategy, is more consistent with the actual space attack and defense confrontation in the future, and has higher theoretical research value.

[0105] In view of the problems of a spacecraft pursuit and evasion differential game model, such as complexity, large amount of numerical solution calculation, and convergence difficulty, a new cooperative co-evolution algorithm is proposed by combining the semi-direct parameterization method, which can effectively make up for the shortcomings of traditional numerical optimization methods, such as sensitivity to initial value, poor convergence, and large amount of calculation, and improve the calculation efficiency of the spacecraft pursuit and evasion differential game problem.

[0106] From the overall operational effectiveness, for different cases of single maneuvering target and targets with defense counter-interception measures, the spacecraft "one-to-many" and "many-to-many" pursuit and evasion cooperative control strategies are studied respectively, the maneuvering capability, time limit and performance index constraint are comprehensively considered, the multi-spacecraft cooperative control strategy is determined based on the structure characteristics of the game space, the method is simple and easy to implement, and the operational effectiveness of the multi-spacecraft pursuit and evasion can be effectively improved.

[0107] Figure 2 A structure diagram of a spacecraft pursuit and evasion control device is provided in this embodiment, wherein the spacecraft pursuit and evasion control device can include an acquisition module 210, a first determination module 220, a second determination module 230, and a third determination module 240.

[0108] The acquisition module 210 is configured to acquire a reference orbit in a pursuit and evasion process of two spacecrafts, the reference orbit is configured to describe a motion orbit of one of the two spacecrafts in the pursuit and evasion process, and the two spacecrafts include a first interceptor spacecraft and a first target spacecraft.

[0109] The first determination module 220 is configured to determine a spacecraft in-orbit pursuit and evasion orbit dynamics model that meets a perturbation factor in the pursuit and evasion process of the two spacecrafts based on the reference orbit in the pursuit and evasion process of the two spacecrafts.

[0110] The second determination module 230 is configured to determine a spacecraft in-orbit pursuit and evasion differential game model based on the spacecraft in-orbit pursuit and evasion orbit dynamics model and preset game parameters in the pursuit and evasion process of the two spacecrafts, the preset game parameters include a relative distance and an interception time, and the spacecraft in-orbit pursuit and evasion differential game model includes a fixed stay period differential game model and a survival type differential game model, the fixed stay period differential game model is configured to make a pursuit and evasion determination based on the relative distance between the first interceptor spacecraft and the first target spacecraft, and the survival type differential game model is configured to make a pursuit and evasion determination based on the interception time of the first interceptor spacecraft in pursuit of the first target spacecraft.

[0111] The third determination module 240 is configured to determine a pursuit and evasion game control strategy of the two spacecrafts based on the spacecraft in-orbit pursuit and evasion differential game model.

[0112] In this embodiment, the first determination module 220 can be specifically configured to:

[0113] The relative motion model is established based on the reference orbit in the pursuit and evasion process of the two spacecrafts, and the motion state of the reference orbit is used to describe the relative motion state between the first target spacecraft and the first interceptor spacecraft; the perturbation motion model is established based on the perturbation factors in the pursuit and evasion process of the two spacecrafts; and the spacecraft in-orbit pursuit and evasion orbit dynamics model that meets the perturbation factors in the pursuit and evasion process of the two spacecrafts is determined based on the relative motion model and the perturbation motion model.

[0114] In the embodiment, the second determining module 230 is specifically configured to:

[0115] The variable type of the pursuit and evasion countermeasure time in the pursuit and evasion process of the two spacecrafts is acquired; if the variable type of the pursuit and evasion countermeasure time is variable, a fixed stay period differential countermeasure model is established based on the spacecraft in-orbit pursuit and evasion orbit dynamics model and the relative distance between the first interceptor spacecraft and the first target spacecraft; and if the variable type of the pursuit and evasion countermeasure time is non-variable, a survival type differential countermeasure model is established based on the spacecraft in-orbit pursuit and evasion orbit dynamics model and the interception time of the first interceptor spacecraft in pursuit of the first target spacecraft.

[0116] In the embodiment, the fourth determining module and the first establishing module are further included.

[0117] The fourth determining module is configured to determine a performance constraint index in a many-to-one spacecraft pursuit and evasion process, the many-to-one spacecraft including a plurality of second interceptor spacecrafts and one second target spacecraft, the performance constraint index being used to constrain the sum of absolute values of relative distances between all the second interceptor spacecrafts and the second target spacecraft at a terminal time to be optimal and the sum of absolute values of the relative distances between all the second interceptor spacecrafts and the second target spacecraft at the terminal time to be minimal.

[0118] The first establishing module is configured to establish a spacecraft many-to-one pursuit and evasion differential countermeasure model based on the performance constraint index.

[0119] The fourth determining module is further configured to determine a pursuit and evasion cooperative control strategy of the many-to-one spacecraft based on the spacecraft many-to-one pursuit and evasion differential countermeasure model.

[0120] In the embodiment, the fourth determining module is specifically configured to:

[0121] Based on the spacecraft multi-to-one pursuit differential game model, the differential game space structure of the spacecraft multi-to-one pursuit is determined; based on the capture region and the escape region in the multi-to-one spacecraft pursuit process, the interception range of the second target spacecraft is determined in the differential game space structure, and the capture region and the escape region in the multi-to-one spacecraft pursuit process are determined based on the spacecraft multi-to-one pursuit differential game model; based on the interception range of the second target spacecraft, the optimal interception trajectory of each second interception spacecraft relative to the second target spacecraft is determined to obtain the pursuit coordination control strategy of the multi-to-one spacecraft.

[0122] In the embodiment, the method further comprises a second establishing module, a constructing module and a fifth determining module.

[0123] The second establishing module is configured to establish performance index parameters between each third target spacecraft and a corresponding third interception spacecraft in the multi-to-multi spacecraft pursuit process, and the performance index parameters comprise a relative distance between each third interception spacecraft and a corresponding third target spacecraft at a terminal time and a decision weight of each third interception spacecraft.

[0124] The constructing module is configured to construct a spacecraft multi-to-multi pursuit differential game model based on the performance index parameters and preset index parameters.

[0125] The fifth determining module is configured to determine a pursuit coordination control strategy of the multi-to-multi spacecraft based on the spacecraft multi-to-multi pursuit differential game model.

[0126] In the embodiment, the fifth determining module is specifically configured to:

[0127] The spacecraft multi-to-multi pursuit differential game model is subjected to non-cooperative game equilibrium to obtain an interception time, an interception target and an interception path corresponding to the multi-to-multi spacecraft pursuit process, and the interception time, the interception target and the interception path corresponding to the multi-to-multi spacecraft pursuit process are subjected to multi-party pursuit countermeasure allocation to determine the pursuit coordination control strategy of the multi-to-multi spacecraft.

[0128] The spacecraft pursuit control device provided by the present disclosure can execute the method embodiments described above, and the specific implementation principles and technical effects can be referred to the method embodiments described above, which will not be described here again.

[0129] The present disclosure also provides a computer device. For details, please refer to Figure 3 , Figure 3 The present disclosure also provides a computer device. For details, please refer to

[0130] The computer device includes a memory 310 and a processor 320 which are communicatively connected through a system bus. It is to be noted that only the memory 310 and the processor 320 are shown in the figure, but it is to be understood that all the components shown are not required to be implemented, and more or less components can be alternatively implemented. Among them, the computer device herein is a device capable of automatically performing numerical calculation and / or information processing according to pre-set or stored instructions, which hardware includes but is not limited to microprocessor, application specific integrated circuit (ASIC), field-programmable gate array (FPGA), digital signal processor (DSP), embedded device, etc.

[0131] The computer device can be a desktop computer, a notebook computer, a palm computer, a cloud server and the like. The computer device can interact with the user through a keyboard, a mouse, a remote controller, a touchpad or a voice control device and the like.

[0132] The memory 310 includes at least one type of readable storage medium, including non-volatile memory or volatile memory, for example, flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. The RAM can include static RAM or dynamic RAM. In some embodiments, the memory 310 can be an internal storage unit of the computer device, for example, a hard disk or a memory of the computer device. In other embodiments, the memory 310 can also be an external storage device of the computer device, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, or a flash card, etc. equipped on the computer device. Of course, the memory 310 can include both an internal storage unit and an external storage device of the computer device. In the present embodiment, the memory 310 is generally used to store an operating system and various application software installed on the computer device, for example, program codes of the above-described method, etc. In addition, the memory 310 can also be used to temporarily store various data that has been output or will be output.

[0133] The processor 320 is generally used to perform the overall operation of the computer device. In the present embodiment, the memory 310 is used to store program codes or instructions, which include computer operation instructions, and the processor 320 is used to execute the program codes or instructions stored in the memory 310 or process data, for example, run the program codes of the above-described method.

[0134] In this article, the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus system can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is shown in the figure, but it does not mean that there is only one bus or only one type of bus.

[0135] Another embodiment of the present application also provides a computer readable medium, which can be a computer readable signal medium or a computer readable medium. The processor in the computer reads the computer readable program code stored in the computer readable medium, so that the processor can perform the function actions specified in each step or combination of steps in the above method; generate the device implementing the function actions specified in each block or combination of blocks in the block diagram.

[0136] The computer readable medium includes but is not limited to electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any appropriate combination of the foregoing, for storing program codes or instructions, which include computer operation instructions, and processors for executing the program codes or instructions of the above method stored in the memory.

[0137] The definition of the memory and the processor can refer to the description of the foregoing computer device embodiment, which will not be repeated here.

[0138] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiment described above is only schematic, for example, the division of modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0139] The function units or modules in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of software function unit.

[0140] If the integrated unit is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or say the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0141] In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. In the device claim enumerating several means, several of these means can be embodied by one and the same item of hardware. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination of these measures cannot be used to advantage. The use of relative terms such as "first", "second" and "third", etc. does not connote any prioritization, but such terms are used to distinguish a certain feature from another feature with the same name. The steps of the methods described in the above embodiments should not be understood as necessarily limited in their sequence, except when this is explicitly specified.

[0142] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; even though the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A spacecraft pursuit and escape control method, characterized in that, include: The reference orbits of the two spacecraft during the pursuit process are obtained. The reference orbits are used to describe the motion trajectory of one of the two spacecraft during the pursuit process. The two spacecraft include: a first interceptor spacecraft and a first target spacecraft. Based on the reference orbits during the pursuit and escape process of the two spacecraft, determine the on-orbit pursuit and escape orbit dynamics model of the spacecraft that satisfies the perturbation factors during the pursuit and escape process of the two spacecraft; Based on the orbital dynamics model of the spacecraft's on-orbit pursuit and escape and the preset countermeasure parameters during the pursuit and escape process of the two spacecraft, an on-orbit pursuit and escape differential countermeasure model is determined. The preset countermeasure parameters include: relative distance and interception time. The on-orbit pursuit and escape differential countermeasure model includes: a fixed-stay-time differential countermeasure model and a survival-type differential countermeasure model. The fixed-stay-time differential countermeasure model is used to determine the pursuit and escape based on the relative distance between the first intercepting spacecraft and the first target spacecraft. The survival-type differential countermeasure model is used to determine the pursuit and escape based on the interception time of the first intercepting spacecraft pursuing and escaping the first target spacecraft. Based on the on-orbit pursuit-escape differential game model of the spacecraft, the pursuit-escape game control strategies of the two spacecraft are determined.

2. The method according to claim 1, characterized in that, The determination of the on-orbit pursuit orbit dynamics model of the spacecraft satisfying perturbation factors during the pursuit process, based on the reference orbits of the two spacecraft, includes: Based on the reference orbits during the pursuit and escape process of the two spacecraft, a relative motion model is established, and the motion state of the reference orbit is used to describe the relative motion state between the first target spacecraft and the first interceptor spacecraft. Based on the perturbation factors during the pursuit and escape process of the spacecraft from both sides, a perturbation motion model is established; Based on the relative motion model and the perturbation motion model, the on-orbit pursuit dynamics model of the spacecraft that satisfies the perturbation factors during the pursuit process of the two spacecraft is determined.

3. The method according to claim 1, characterized in that, The determination of the spacecraft's on-orbit pursuit and escape orbital dynamics model based on the spacecraft's on-orbit pursuit and escape orbital dynamics model and the preset countermeasure parameters during the pursuit and escape process of both spacecraft includes: Obtain the variable type of the pursuit and escape countermeasure time during the pursuit and escape process of the spacecraft from both sides; If the variable type of the pursuit and escape strategy time is a variable, then based on the on-orbit pursuit and escape orbital dynamics model of the spacecraft and the relative distance between the first intercepting spacecraft and the first target spacecraft, the fixed stay period differential strategy model is established. If the variable type of the pursuit and escape strategy time is a non-variable, then the survival-type differential strategy model is established based on the on-orbit pursuit and escape orbital dynamics model of the spacecraft and the interception time of the first intercepting spacecraft pursuing and escaping the first target spacecraft.

4. The method according to claim 1, characterized in that, Also includes: A performance constraint index is determined during the multi-to-one spacecraft pursuit process. The multi-to-one spacecraft includes: multiple second interceptor spacecraft and one second target spacecraft. The performance constraint index is used to constrain the sum of the absolute values ​​of the relative distances between all the second interceptor spacecraft and the second target spacecraft at the terminal time to be optimal, and the sum of the absolute values ​​of the relative distances between all the second interceptor spacecraft and the second target spacecraft at the terminal time to be minimum. Based on the aforementioned performance constraints, a spacecraft multi-to-one pursuit and escape differential game model is established. Based on the spacecraft's many-to-one pursuit-escape differential game model, the pursuit-escape cooperative control strategy of the many-to-one spacecraft is determined.

5. The method according to claim 4, characterized in that, The determination of the collaborative control strategy for the many-to-one pursuit and escape of the spacecraft based on the spacecraft's many-to-one pursuit and escape differential game model includes: Based on the spacecraft many-to-one pursuit and escape differential game model, the space structure of the spacecraft many-to-one pursuit and escape differential game is determined. Based on the capture area and escape area in the many-to-one spacecraft pursuit process, the interception range of the second target spacecraft is determined in the differential game space structure. The capture area and escape area in the many-to-one spacecraft pursuit process are determined based on the spacecraft many-to-one pursuit differential game model. Based on the interception range of the second target spacecraft, the optimal interception trajectory of each second interceptor spacecraft relative to the second target spacecraft is determined to obtain the multi-to-one spacecraft pursuit and escape cooperative control strategy.

6. The method according to claim 1, characterized in that, Also includes: In the multi-to-multi spacecraft pursuit process, performance index parameters are established between each third target spacecraft and its corresponding third interceptor spacecraft. The performance index parameters include: the relative distance between each third interceptor spacecraft and its corresponding third target spacecraft at the terminal time, and the decision weight of each third interceptor spacecraft. Based on the performance index parameters and preset index parameters, a spacecraft multi-to-multi pursuit and escape differential strategy model is constructed. Based on the spacecraft's many-to-many pursuit and escape differential game model, the pursuit and escape cooperative control strategy of the many-to-many spacecraft is determined.

7. The method according to claim 6, characterized in that, The determination of the multi-to-multi spacecraft pursuit and escape cooperative control strategy based on the multi-to-multi spacecraft pursuit and escape differential game model includes: By performing a non-cooperative game equilibrium on the spacecraft multi-to-multi spacecraft pursuit and escape differential game model, the interception time, interception target, and interception path corresponding to the multi-to-multi spacecraft pursuit and escape process are obtained; The interception time, interception target, and interception path corresponding to the multi-to-multi spacecraft pursuit and escape process are allocated with multi-party pursuit and escape countermeasures to determine the multi-to-multi spacecraft pursuit and escape collaborative control strategy.

8. A spacecraft pursuit and escape control device, characterized in that, include: The acquisition module is used to acquire the reference orbits of the two spacecraft during the pursuit process. The reference orbits are used to describe the motion orbits of one of the two spacecraft during the pursuit process. The two spacecraft include: a first interceptor spacecraft and a first target spacecraft. The first determining module is used to determine the on-orbit pursuit orbit dynamics model of the spacecraft that satisfies the perturbation factors during the pursuit process of the two spacecraft based on the reference orbit during the pursuit process of the two spacecraft. The second determining module is used to determine the spacecraft's on-orbit pursuit and escape differential strategy model based on the spacecraft's on-orbit pursuit and escape orbital dynamics model and the preset countermeasure parameters during the pursuit and escape process of the two spacecraft. The preset countermeasure parameters include: relative distance and interception time. The spacecraft's on-orbit pursuit and escape differential strategy model includes: a fixed stay period differential strategy model and a survival-type differential strategy model. The fixed stay period differential strategy model is used to determine the pursuit and escape based on the relative distance between the first intercepting spacecraft and the first target spacecraft. The survival-type differential strategy model is used to determine the pursuit and escape based on the interception time of the first intercepting spacecraft pursuing and escaping the first target spacecraft. The third determining module is used to determine the pursuit and escape game control strategy of the two spacecraft based on the on-orbit pursuit and escape differential game model of the spacecraft.

9. A computer device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the spacecraft pursuit and escape control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the spacecraft pursuit and escape control method as described in any one of claims 1 to 7.

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