Method for removing irregular space debris through space-based laser and application of method

Abstract

The invention discloses a method for removing irregular space debris through space-based laser and application of the method, and belongs to the technical field of space debris removal. The method comprises the following steps: S1, collecting space debris data by using a space-based platform; s2, determining six orbit elements of space debris according to the space debris data; s3, establishing a time-varying relative position model between the space-based platform and the space debris; s4, determining the speed increment of the space debris; and S5, determining whether the space debris is in the working range of the space-based platform or not according to the results of the step S3 and the step S4, and when the space debris is in the working range of the space-based platform, removing the space debris. According to the space-based laser and debris parameters, the coupling coefficient, the position quantity and the introduced debris shape condition, the speed increment is accurately calculated, meanwhile, the relative position model of the debris and the space base is established, the orbital transfer process of the debris can be more accurately calculated, and the accuracy of space debris removal through the space-based laser is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of space debris removal, and in particular to a method for removing irregular space debris using space-based laser and an application thereof. Background Art

[0002] Space debris refers to man-made objects that have lost their functions and remain in Earth orbit, as well as fragments generated by collisions or failures. With the continuous rise of human space activities, the amount of space debris is growing, and the threat to space safety is becoming increasingly severe. In particular, in low-Earth orbit, the amount of space debris has reached an unprecedented level, and is showing an accelerating growth trend. The growing amount of space debris has made the near-Earth space environment increasingly deteriorating. If it is not actively removed, its amount will increase rapidly in the next 200 years. Once the amount of space debris reaches saturation, it means that the probability of space debris colliding with satellites increases, and there may even be a cascade collision effect of space debris, turning orbital resources into ruins. Therefore, how to control and reduce the amount of space debris has become an important issue in the advancement of space technology.

[0003] Small-sized space debris poses the greatest threat to satellites in orbit. The size of small-sized debris ranges from 1cm to 10cm, and mainly includes: mission-related objects, such as explosive bolts; small fragments produced by high-intensity explosions and collisions; large pieces of paint flakes that fall off due to degradation of the temperature control coating surface; coolant leaked from nuclear reactors; other moving parts that fall off, such as antennas. Moreover, the shapes of space debris are complex and varied, and more than 98% of space debris are irregular in shape, which will greatly affect the speed increment after the pulsed laser drives the space debris. Laser removal technology is particularly prominent due to its convenient operation, high efficiency, short response time and good economy. The basic principle of laser removal technology is to use high-intensity pulsed lasers to irradiate the surface of the debris, so that the surface material is quickly vaporized and a backjet plume is generated, similar to the effect of rocket reverse thrust, thereby giving the debris a speed increment, causing its orbital altitude to decrease, and eventually entering the atmosphere and burning up.

[0004] Laser removal systems are mainly divided into two forms: ground-based and space-based. The advantages of ground-based laser removal systems are low construction and maintenance costs and high energy conversion efficiency; however, due to the influence of the earth's curvature and atmospheric interference, the monitoring time and processing efficiency of ground-based systems for space debris are limited to a certain extent. On the contrary, space-based laser removal systems can provide all-weather monitoring and processing capabilities, and their efficiency is significantly higher than that of ground-based systems, but correspondingly, space-based systems face high construction and maintenance costs and energy supply challenges. However, traditional space-based laser removal of space debris has the following disadvantages: in the traditional space-based laser removal of space debris, the velocity increment change during the movement of space debris is estimated using a general model, which reduces the accuracy of space-based laser removal of space debris; no complete database has been established to record the orbit reduction situation for subsequent research, which reduces the efficiency of space-based laser removal of space debris. Summary of the invention

[0005] In view of the above problems, the present invention aims to provide a method and application of space-based laser to remove irregular debris in space. According to the space-based laser and debris parameters, coupling coefficient, and position quantity, the debris shape condition is introduced to accurately calculate the velocity increment. At the same time, the relationship between the speed and distance of the debris and the satellite over time is established, which can more accurately calculate the debris's orbit change process and increase the accuracy of space-based laser to remove space debris. In addition, the formation of a database of parameters such as debris orbit, shape, label, and working range can improve the efficiency of future space debris removal.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A method for removing irregular debris in space by space-based laser comprises the following steps:

[0008] S1: Collect space debris data using space-based platforms;

[0009] S2: Determine the six orbital numbers of space debris based on the collected space debris data;

[0010] S3: Model the relative position of the space-based platform and space debris over time;

[0011] S4: Determine the velocity increment of space debris;

[0012] S5: According to the results of step S3 and step S4, determine whether the space debris is within the working range of the space-based platform, and when the space debris is within the working range of the space-based platform, remove the space debris.

[0013] Furthermore, the six orbital parameters of space debris include: the modulus a of the specific angular momentum, the inclination i of the space debris, the right ascension Ω of the ascending node, the eccentricity e, the argument of perigee ω and the true anomaly θ.

[0014] Furthermore, the specific operation of step S3 includes the following steps:

[0015] S301: Use the fourth-order Runge-Kutta method and dynamic equations to establish the motion model of space debris, denoted as y1;

[0016] S302: Establishing a motion model of the space-based platform, denoted as y2;

[0017] S303: Use |y2-y1| to represent the relative position model between the space-based platform and the space debris that changes over time.

[0018] Furthermore, the specific operation of step S301 includes the following steps:

[0019] S3011: define the state vector y(t)=[r(t):v(t)] of the space debris, where r(t) and v(t) represent the position and velocity of the space debris at the current time t, respectively;

[0020] S3012: Select a time step h, and continue to move according to the current speed and acceleration. Within the time step h, the change in the position and speed of the space debris is expressed as k1=h·f(t, y(t)), where, It represents the vector of velocity and acceleration;

[0021] S3013: Order It represents the position and velocity of the space debris at this point in time if it changes at the speed predicted by k1 within half a time step h / 2 starting from the current time t;

[0022] S3014: Order k4=h·f(t+h,y(t)+k3), where k3 represents the position and velocity change of the space debris at this time point if the speed changes according to k2 within half a time step h / 2 starting from the current time t; k4 represents the position and velocity change of the space debris at this time point if the speed changes according to k3 within the entire time step starting from the current time t;

[0023] S3015: By formula Calculate the speed and position of the space debris when the time step h is reached, that is, the motion equation y1 of the space debris changing with time.

[0024] Furthermore, the specific operation of step S4 includes the following steps:

[0025] S401: Calculate the impulse coupling coefficient of the laser

[0026]

[0027] Where, E is the laser energy; I is the impulse obtained under the action of the laser, C m The unit is N·s / J;

[0028] S402: According to the impulse formula, laser energy formula and density formula, the velocity increment formula of space debris can be obtained as follows:

[0029]

[0030] Where Δv is the velocity increment of space debris; E d represents the laser energy density, A represents the area of ​​the laser spot on the space debris, ρ represents the material density of the space debris, and V represents the volume of the space debris.

[0031] Furthermore, the calculation formula for the area A of the laser spot on the space debris is:

[0032]

[0033] Where n is the number of intervals into which the laser spot is divided, x0, x1, ..., x n The nodes for the interval division, each small interval [x i , x i+1 ] forms a trapezoid, f(x i ) and f(x i+1 ) represents the node x i and x i+1 The length of the corresponding ordinate, H represents x i and x i+1 The distance between i is the area of ​​each trapezoid,

[0034] Furthermore, the calculation formula for the volume V of space debris is:

[0035]

[0036] The identified spatial debris point cloud data is down-voxelized to obtain the down-voxelized V grid , N in and N total They represent the number of points falling inside the model and the total number of random points counted using the Monte Carlo integration method.

[0037] Furthermore, the present invention also includes the application of the aforementioned method in establishing a system database for space-based laser removal of irregular debris in space.

[0038] Furthermore, the method for establishing a system database for removing irregular space debris using space-based lasers comprises the following steps:

[0039] Step 1: Number the collected space debris and record the location and velocity information of the space debris;

[0040] Step 2: After the space debris number, add the motion information of the space debris, including the six orbital numbers and motion model;

[0041] Step 3: Add shape information and other elements of space debris;

[0042] Step 4: Add the motion model of the space-based platform and the relative motion model between the space-based platform and space debris;

[0043] Step 5: Add the working range of the space-based platform and the parameter settings for clearing space debris;

[0044] Step 6: Save the data information from step 1 to step 5 to form a database.

[0045] The beneficial effects of the present invention are:

[0046] 1. The method of removing irregular space debris by space-based laser in the present invention introduces the fragment shape condition to accurately calculate the velocity increment according to the space-based laser and debris parameters, coupling coefficient, and position quantity. At the same time, a relative position model between the space-based platform and the space debris that changes with time is established, which can more accurately calculate the debris's orbit change process and increase the accuracy of space-based laser removal of space debris.

[0047] 2. The present invention forms a database of parameters such as the movement, shape, number, and working range of space debris, which can facilitate researchers to better utilize the contents of the database and optimize future debris removal plans, thereby accurately predicting the movement trajectory of space debris and removing it, thereby improving the efficiency of debris removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a flowchart of the method for removing irregular debris in space using space-based laser in the present invention. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0050] Embodiment 1:

[0051] Embodiment 1 provides a method for removing irregular debris in space by space-based laser, which specifically includes the following steps:

[0052] S1: Space debris data collection;

[0053] Specifically, the detection equipment of the space-based platform is used to identify space debris targets within its working range; the identified space debris information is transmitted to the space-based laser control system, which drives the laser removal equipment to continuously locate and track the space debris; finally, the shape information, position information and other information of the detected space debris are transmitted to the ground through the space-based control system.

[0054] Further, step S2: determining the six orbital numbers of the space debris;

[0055] The initial velocity v0 and initial position r0 of the space debris collected in step S1 are used to calculate six orbital elements of the space debris according to the two-body motion equation and Newton's law: the modulus a of the specific angular momentum, the inclination i of the space debris, the right ascension Ω of the ascending node, the eccentricity e, the argument of perigee ω and the true anomaly θ. The calculation process is prior art and will not be described in detail in this application.

[0056] Further, step S3: establishing a relative position model between the space-based platform and the space debris that changes over time;

[0057] Specifically, S301: Use the fourth-order Runge-Kutta method and dynamic equations to establish a motion model of space debris;

[0058] Define the state vector of the space debris y(t) = [r(t):v(t)], where r(t) and v(t) represent the position and velocity of the space debris at the current time t. Select a time step h, and continue to move at the current velocity and acceleration. Within the time step h, the change in the position and velocity of the space debris is expressed as k1 = h·f(t, y(t)), where It represents the vector of velocity and acceleration.

[0059] make It represents the position and velocity of the space debris at this point in time if it changes at the speed predicted by k1 within half a time step h / 2 starting from the current time t.

[0060] make k4 = h·f(t+h, y(t)+k3), where k3 represents the position and velocity change of the space debris at this point in time if the speed changes according to k2 within half a time step h / 2 starting from the current time t. k4 represents the position and velocity change of the space debris at this point in time if the speed changes according to k3 within the entire time step starting from the current time t.

[0061] Finally, through the formula Calculate the speed and position of the space debris when the time step h is reached, that is, the motion equation of the space debris changing with time, denoted as y1.

[0062] S302: Use the method in step 301 to establish a space-based platform motion model, namely y2.

[0063] It should be noted here that if the motion model of the space-based platform is known, it can be used directly.

[0064] S303: Use |y2-y1| to represent the relative position model between the space-based platform and the space debris that changes over time.

[0065] Further, step S4: determining the velocity increment of the space debris;

[0066] Under the action of pulsed laser, the impulse coupling coefficient refers to the impulse obtained by consuming unit laser energy. The impulse coupling coefficient of the laser is expressed as

[0067]

[0068] Where, E is the laser energy; I is the impulse obtained under the action of the laser, C m The unit is N·s / J.

[0069] According to the impulse formula, laser energy formula and density formula, the velocity increment formula of space debris can be obtained as follows:

[0070]

[0071] Where Δv is the velocity increment of space debris; E d represents the laser energy density, A represents the area of ​​the laser spot on the space debris, ρ represents the material density of the space debris. Since aerospace materials and space materials are both aluminum, ρ directly uses the density of aluminum; V represents the volume of the space debris.

[0072] In the above formula, let It represents the ratio of the irradiated area of ​​the laser spot on the space debris to the volume of the space debris. Therefore, the velocity increment of the space debris can be calculated based on γ.

[0073] The area of ​​the irregular laser spot can be determined by the trapezoidal method. The fitting function is determined by fitting the boundary points, and then the interval is divided into n small intervals, so that n+1 nodes x0, x1, ..., x are obtained. n In each small interval [x i , x i+1 ] forms a trapezoid, f(x i ) and f(x i+1 ) represents the node x i and x i+1 The length of the corresponding ordinate, H represents x i and x i+1The distance between them can be calculated by the following formula:

[0074]

[0075] Adding up the areas of all the trapezoids gives an approximate value for the laser spot area of ​​the entire region:

[0076]

[0077] For volume, the identified spatial debris point cloud data is down-voxelized to obtain the down-voxelized V grid , and then use the Monte Carlo integration method to count the number of points N that fall inside the model in And the total number of random points N total The volume V of space debris can be calculated by the following formula:

[0078]

[0079] The velocity increment of the space debris can be calculated based on the calculated laser spot area A and the space debris volume V.

[0080] S5: Determine whether the space debris is within the working range of the space-based platform, and remove the space debris when it is within the working range of the space-based platform;

[0081] Because the purpose of removing space debris is to reduce the speed of space debris to reach the atmosphere, and then the purpose of laser active removal of orbital debris can be achieved through atmospheric action. The purpose of deceleration should be formed between the space-based platform and the space debris, so it can be achieved by selecting the appropriate space-based laser working range.

[0082] Specifically, the relative position model between the space-based platform and the space debris that changes with time established in step S3 is used to determine whether the space debris is within the working range of the space-based platform at a certain moment. If so, the space-based platform clears the space debris. At this time, the direction of clearing the space debris is adjusted according to the speed increment of the space debris in step S4 (the speed increment of the space debris is a vector. Only when the clearing direction when the space-based platform clears the space debris is opposite to the direction of the space debris speed increment can the purpose of decelerating the space debris be achieved); if not, the space-based platform chooses not to clear the space debris at this moment.

[0083] After the space-based laser aims at the space debris within its working range, it activates the high-energy laser autonomously or by receiving commands to irradiate the space debris, changing the original orbit of the space debris, lowering its perigee altitude to the atmosphere, and clearing it away under the action of the atmosphere.

[0084] Embodiment 2:

[0085] Embodiment 2 provides a system database for space-based laser removal of irregular debris in space, which is an application of the method in Embodiment 1. The method for establishing the database includes the following steps:

[0086] Step 1: Number the collected space debris and record the location and velocity information of the space debris;

[0087] Step 2: After the space debris number, add the motion information of the space debris, including the six orbital numbers and motion model;

[0088] Step 3: Add shape information and other elements of space debris;

[0089] Step 4: Add the motion model of the space-based platform and the relative motion model between the space-based platform and space debris;

[0090] Step 5: Add the working range of the space-based platform and the parameter settings for clearing space debris;

[0091] Step 6: Save the above data information as .xlsx or other formats to form a database. When clearing space debris in the future, you can directly call the information in the database to quickly clear the space debris.

[0092] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for removing irregular debris in space using space-based laser, characterized in that: The following steps are included: S1: Collect space debris data using space-based platforms; S2: Determine the six orbital numbers of space debris based on the collected space debris data; S3: Model the relative position of the space-based platform and space debris over time; S4: Determine the velocity increment of space debris; S5: According to the results of step S3 and step S4, determine whether the space debris is within the working range of the space-based platform, and when the space debris is within the working range of the space-based platform, remove the space debris.

2. The method for removing irregular space debris using space-based laser according to claim 1, characterized in that: The six orbital parameters of space debris include: the modulus a of the specific angular momentum, the inclination i of the space debris, the right ascension Ω of the ascending node, the eccentricity e, the argument of perigee ω and the true anomaly θ.

3. The method for removing irregular space debris by space-based laser according to claim 2, characterized in that: The specific operation of step S3 includes the following steps: S301: Use the fourth-order Runge-Kutta method and dynamic equations to establish the motion model of space debris, denoted as y1; S302: Establishing a motion model of the space-based platform, denoted as y2; S303: Use |y2-y1| to represent the relative position model between the space-based platform and the space debris that changes over time.

4. The method for removing irregular space debris using space-based laser according to claim 3, characterized in that: The specific operation of step S301 includes the following steps: S3011: define the state vector y(t)=[r(t):v(t)] of the space debris, where r(t) and v(t) represent the position and velocity of the space debris at the current time t, respectively; S3012: Select a time step h, and continue to move according to the current speed and acceleration. Within the time step h, the change in the position and speed of the space debris is expressed as k1=h·f(t, y(t)), where, It represents the vector of velocity and acceleration; S3013: Order It represents the position and velocity of the space debris at this point in time if it changes at the speed predicted by k1 within half a time step h / 2 starting from the current time t; S3014: Order k4 = h f (t + h, y (t) + k3), k3 represents the position and velocity change of the space debris at this point in time if it changes at the speed predicted by k2 within half a time step h / 2 starting from the current time t; k4 represents the position and velocity change of the space debris at this point in time if it changes at the speed predicted by k3 within the entire time step starting from the current time t; S3015: By formula Calculate the speed and position of the space debris when the time step h is reached, that is, the motion equation y1 of the space debris changing with time.

5. The method for removing irregular space debris using space-based laser according to claim 4, characterized in that: The specific operation of step S4 includes the following steps: S401: Calculate the impulse coupling coefficient of the laser Where E is the laser energy; I is the impulse obtained under the action of the laser, C m The unit is N·s / J; S402: According to the impulse formula, laser energy formula and density formula, the velocity increment formula of space debris can be obtained as follows: Where Δv is the velocity increment of space debris; E d represents the laser energy density, A represents the area of ​​the laser spot on the space debris, ρ represents the material density of the space debris, and V represents the volume of the space debris.

6. The method for removing irregular space debris using space-based laser according to claim 5, characterized in that: The calculation formula for the area A of the laser spot on the space debris is: Where n is the number of intervals into which the laser spot is divided, x0, x1, ..., x n The nodes for the interval division, each small interval [x i , x i+1 ] forms a trapezoid, f(x i ) and f(x i+1 ) represents node x i and x i+1 The length of the corresponding ordinate, H represents x i and x i+1 The distance between i is the area of ​​each trapezoid, 7. The method for removing irregular space debris using space-based laser according to claim 6, characterized in that: The volume V of space debris is calculated as follows: The identified spatial debris point cloud data is down-voxelized to obtain the down-voxelized V grid , N in and N total They represent the number of points falling inside the model and the total number of random points counted using the Monte Carlo integration method.

8. Application of the method according to any one of claims 1 to 7 in establishing a system database for space-based laser removal of irregular space debris.

9. The use according to claim 8, characterized in that The method for establishing a system database for removing irregular space debris using space-based lasers comprises the following steps: Step 1: Number the collected space debris and record the location and velocity information of the space debris; Step 2: After the space debris number, add the motion information of the space debris, including the six orbital numbers and motion model; Step 3: Add shape information and other elements of space debris; Step 4: Add the motion model of the space-based platform and the relative motion model between the space-based platform and space debris; Step 5: Add the working range of the space-based platform and the parameter settings for clearing space debris; Step 6: Save the data information from step 1 to step 5 to form a database.

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