Asteroid defense-oriented terminal guidance handover method and device in high-speed impact

Abstract

The invention provides a terminal guidance handover method and device for asteroid defense in high-speed impact, and belongs to the technical field of asteroid defense. Comprising the following steps: confirming the state before shift change; finding and identifying a target asteroid by a guide camera of a terminal guidance system; setting the identified state of the target asteroid by the terminal guidance system and sending the identified state to the ground; sending a shift change instruction to a high-speed impact aircraft by the ground; according to the shift change method, the factors are comprehensively considered, the engineering practicability is high, smooth shift change of the high-speed impact aircraft from the middle guidance system to the terminal guidance system can be achieved, the reliability of the aircraft is improved, and the reliability of the aircraft is improved. The stable transition of the attitude and orbit of the high-speed impact aircraft before and after shift exchange is ensured, and the high-speed impact aircraft can finally successfully complete the accurate impact on the target asteroid.

Description

Technical Field

[0001] The present invention belongs to the technical field of asteroid defense, and in particular relates to a high-speed impact terminal guidance handover method and device for asteroid defense. Background Art

[0002] The impact of near-Earth asteroids on the Earth is related to human survival and security and is a common threat faced by mankind in the long run. Developing asteroid defense technology is an inevitable choice to protect our home Earth.

[0003] In order to achieve a precise impact with the target asteroid, the high-speed impact vehicle must go through the mid-range guidance flight phase and the terminal guidance flight phase. The mid-range guidance flight phase refers to the flight process of the high-speed impact vehicle approaching the asteroid in the heliocentric flight. In the mid-range guidance flight phase, the high-speed impact vehicle completes navigation, guidance and control under the guidance of ground radio. However, due to the limited accuracy of the ground's orbit determination of asteroids (about 100 kilometers), in order to achieve a precise impact with a 30m-class target, the high-speed impact vehicle must establish high-precision relative autonomous navigation and guidance control with the asteroid in the final stage of the mission. The handover process from the mid-range guidance system to the terminal guidance system involves a series of issues such as target identification, joint confirmation between the sky and the earth, error chain transmission, flight procedures, and fault plans. The existing "Tianwen" and "Chang'e" series of deep space exploration engineering missions do not involve this issue. Therefore, it is of great practical significance to study a reasonable terminal guidance handover method for high-speed impact of asteroid defense, which can lay a technical foundation for the detailed design of handover scheme, strategy selection, precision chain analysis, etc. of the first near-Earth asteroid defense demonstration and verification mission, provide strong technical support for the smooth implementation of engineering tasks, reduce the demand for terminal guidance capabilities, and improve the probability of mission success. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes a high-speed impact terminal guidance handover method for asteroid defense, comprising:

[0005] Step 1: Complete the status confirmation before handover on the ground;

[0006] Step 2: The guidance camera of the terminal guidance system of the high-speed impact vehicle is turned on to take pictures of the target sky area;

[0007] Step 3: The terminal guidance system extracts the target characteristic parameters of the target asteroid based on the image data taken by the guidance camera, and determines whether the target asteroid is found. If the target asteroid is found, it proceeds to step 4, otherwise it repeats steps 2 to 3;

[0008] Step 4: The terminal guidance system sets the target asteroid identification state;

[0009] Step 5: After the high-speed impact vehicle obtains the target asteroid identification status, it sends the target asteroid identification status and target characteristic parameters to the ground;

[0010] Step 6: After receiving the target asteroid identification status and target characteristic parameters, the ground determines whether the judgment in step 3 is correct. If it is determined that the judgment in step 3 is incorrect, a command is sent to the terminal guidance system to clear the target asteroid identification status and repeat steps 2 to 6. If it is determined that the judgment in step 3 is correct, proceed to step 7.

[0011] Step 7: The ground sends a handover command to the high-speed impact aircraft;

[0012] Step 8: After receiving the shift handover instruction, the high-speed impact aircraft sets the on-duty status;

[0013] Step 9: The ground determines the current on-duty status of the aircraft based on the telemetry data of the high-speed impact aircraft. If the terminal guidance system is not on duty, the ground sends a command to the high-speed impact aircraft to start the control guidance system, and the ground checks, processes, and clears the fault status of the terminal guidance system of the high-speed impact aircraft; if the terminal guidance system is on duty, execute step 10;

[0014] Step 10: After the last guidance system is on duty, the guidance system of the high-speed impact vehicle autonomous control stops control;

[0015] Step 11: The intermediate guidance system sends the stop control time and the attitude and orbit data of the high-speed impact vehicle at the corresponding time to the terminal guidance system;

[0016] Step 12: The terminal guidance system starts control, updates the target attitude, and performs attitude and orbit stabilization and tracking control of the high-speed impact vehicle;

[0017] Step 13: The ground determines the attitude and orbit stability of the high-speed impact aircraft. If the attitude or orbit is abnormal, a handover instruction is sent to the high-speed impact aircraft; if the attitude and orbit of the high-speed impact aircraft are stable, the handover method ends.

[0018] A high-speed mid-impact terminal guidance handover device for asteroid defense, comprising:

[0019] The status confirmation module before the shift handover is used to complete the status confirmation before the shift handover on the ground;

[0020] The camera module starts the guidance camera of the terminal guidance system of the high-speed impact vehicle and takes pictures of the target sky area.

[0021] Target asteroid judgment module: The terminal guidance system extracts the target characteristic parameters of the target asteroid based on the image data taken by the guidance camera, and judges whether the target asteroid is found. If the target asteroid is found, the function of the state setting module is executed, otherwise the functions of the photo taking module and the target asteroid judgment module are repeatedly executed in sequence;

[0022] The state setting module, the terminal guidance system sets the target asteroid identification state;

[0023] The state recognition module, after the high-speed impact vehicle obtains the target asteroid recognition state, sends the target asteroid recognition state and target characteristic parameters to the ground;

[0024] The determination module determines whether the determination of the target asteroid determination module is correct after receiving the target asteroid identification status and target characteristic parameters on the ground. If the determination is incorrect, a command is sent to the terminal guidance system to clear the setting of the target asteroid identification status, and repeatedly execute the functions of the photographing module, the target asteroid determination module, the status setting module, the status identification module and the determination module in sequence; if the determination is correct, the function of the handover instruction module is executed;

[0025] The handover command module sends handover commands from the ground to the high-speed impact aircraft;

[0026] The status setting module sets the status of the aircraft on duty after the high-speed impact aircraft receives the shift handover instruction;

[0027] The on-duty aircraft status judgment module is used to judge the current on-duty aircraft status based on the telemetry data of the high-speed impact aircraft. If the terminal guidance system is not on duty, the ground sends a command to the high-speed impact aircraft to start the control guidance system, and the ground checks, processes, and clears the fault status of the terminal guidance system of the high-speed impact aircraft; if the terminal guidance system is on duty, the function of the stop control module is executed;

[0028] Stop control module, after the terminal guidance system is on duty, the high-speed impact aircraft autonomously controls the guidance system to stop control;

[0029] The data transmission module, the middle guidance system transmits its stop control time and the attitude and orbit data of the high-speed impact vehicle at the corresponding time to the terminal guidance system;

[0030] Update module, start control of terminal guidance system, update target attitude, perform attitude orbit stabilization and tracking control of high-speed impact vehicle;

[0031] The attitude and orbit stability judgment module judges the attitude and orbit stability of the high-speed impact aircraft on the ground. If the attitude or orbit is abnormal, a handover instruction is sent to the high-speed impact aircraft; if the attitude and orbit of the high-speed impact aircraft are stable, the handover method ends.

[0032] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the terminal guidance handover method for high-speed impact in asteroid defense are implemented.

[0033] A non-transitory computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the terminal guidance handover method for high-speed impact for asteroid defense.

[0034] The present invention has the following beneficial effects:

[0035] The present invention relates to a shift handover method which fully considers status confirmation before the shift handover, abnormality handling during the shift handover, and smooth transition of attitude and orbit during the shift handover, and comprehensively considers various influencing factors of the shift handover, has a comprehensive fault plan, and has strong engineering practicality. According to the shift handover method of the present invention, a smooth shift handover from a mid-guidance system to a terminal guidance system of a high-speed impact vehicle can be achieved, ensuring a smooth transition of the attitude and orbit of the high-speed impact vehicle before and after the shift handover, so as to ensure that the high-speed impact vehicle can eventually successfully complete a precise impact on a target asteroid. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a flow chart of the terminal guidance handover method for high-speed impact in asteroid defense of the present invention;

[0037] Figure 2 This is the status confirmation flow chart before shift handover. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] like Figure 1 As shown, the terminal guidance handover method for high-speed impact of asteroid defense of the present invention includes:

[0040] Step 1: Complete the status confirmation process before the shift handover on the ground. The status confirmation process before the shift handover includes six parallel sub-processes. The status confirmation process before the shift handover is completed when the conditions of the six parallel sub-processes are met.

[0041] Step 2: After the conditions of the six parallel sub-processes in step 1 are met, the two guidance cameras of the terminal guidance system of the high-speed impact spacecraft are turned on to take pictures of the target sky area.

[0042] Step 3: The terminal guidance system of the high-speed impact vehicle extracts the target characteristic parameters (shape, size, surface morphology, material, surface reflection characteristics) of the target asteroid based on the image data taken by the guidance camera, and determines whether the target asteroid is found, that is, the extracted target characteristic parameters of the target asteroid are compared with the pre-bound parameters. If the difference between each target characteristic parameter (shape, size, surface morphology, material, surface reflection characteristics) and the pre-bound parameters is less than the set threshold, it is determined that the target asteroid is found and proceeds to step 4. Otherwise, repeat steps 2 to 3.

[0043] Step 4: The terminal guidance system of the high-speed impact vehicle sets the target asteroid identification state.

[0044] Step 5: After the high-speed impact vehicle obtains the target asteroid identification status, it sends the target asteroid identification status and target characteristic parameters (shape, size, surface morphology, material, surface reflection characteristics) to the ground.

[0045] Step 6: After receiving the target asteroid identification status and target characteristic parameters, the ground determines whether the judgment in step 3 is correct, that is, whether the target asteroid found in step 3 is the correct target asteroid. If the judgment in step 3 is incorrect, send a command to the terminal guidance system to clear the setting of the target asteroid identification status, and repeat steps 2 to 6; if the judgment in step 3 is correct, go to step 7. The specific judgment method is: the ground compares the target characteristic parameters (shape, size, surface morphology, material, surface reflection characteristics) extracted from the observation data with the target characteristic parameters (shape, size, surface morphology, material, surface reflection characteristics) received from the high-speed impact vehicle. If the differences in each target characteristic parameter (shape, size, surface morphology, material, surface reflection characteristics) are all less than the set threshold, it is determined that the judgment in step 3 is correct.

[0046] Step 7: The ground sends a handover command to the high-speed impact aircraft.

[0047] Step 8: After receiving the shift handover instruction, the high-speed impact aircraft sets the on-duty status.

[0048] Step 9: The ground determines the current on-duty status of the aircraft based on the telemetry data of the high-speed impact aircraft. If the terminal guidance system is not on duty (i.e., the shift handover is unsuccessful), the ground sends a command to the high-speed impact aircraft to start the guidance system, and the ground checks, processes, and clears the fault status of the terminal guidance system of the high-speed impact aircraft; if the terminal guidance system is on duty (i.e., the shift handover is successful), execute step 10.

[0049] Step 10: After the terminal guidance system is on duty, the high-speed impact vehicle autonomously controls the intermediate guidance system to stop control. The terminal guidance system is on duty, and the terminal guidance system autonomously takes over control. At this time, the intermediate guidance system does not participate in control.

[0050] Step 11: The intermediate guidance system sends the stop control time and the attitude and orbit data of the high-speed impact vehicle at the corresponding time to the terminal guidance system.

[0051] Step 12: The terminal guidance system starts control. The terminal guidance system extracts the target aiming point according to the guidance camera image and updates the target attitude. It combines the stop control time sent by the intermediate guidance system and the attitude and orbit data of the high-speed impact vehicle at the corresponding time to perform attitude and orbit stabilization and tracking control of the high-speed impact vehicle.

[0052] Step 13: The ground determines the attitude and orbit stability of the high-speed impact aircraft based on the telemetry data of the high-speed impact aircraft detected by it. If the attitude or orbit is abnormal, the ground sends a handover instruction to the high-speed impact aircraft, and the high-speed impact aircraft autonomously starts the guidance system to control the attitude and orbit. The ground checks, processes and clears the fault of the terminal guidance system on the high-speed impact aircraft based on the telemetry data of the high-speed impact aircraft detected by it, and then repeats steps 2 to 13; if the attitude and orbit of the high-speed impact aircraft are stable, the handover method ends.

[0053] Among them, Figure 2 As shown in the figure, the status confirmation process before handover in step 1 is as follows:

[0054] (a) Confirmation of the shift handover window: The ground personnel confirm whether the current time of the high-speed impact vehicle satisfies the shift handover window from the intermediate guidance system to the terminal guidance system of the high-speed impact vehicle based on the onboard time telemetry data of the high-speed impact vehicle. If so, the shift handover window confirmation condition is met; if not, this step is repeated.

[0055] (b) Confirmation of on-duty status: The ground confirms whether the high-speed impact aircraft has a medium-range guidance system on duty based on the high-speed impact aircraft's on-duty status telemetry data. If so, the on-duty status confirmation conditions are met. If not, the ground sends a handover instruction to the high-speed impact aircraft and repeats this step.

[0056] (c) Time alignment status confirmation: The ground confirms whether the terminal guidance system of the high-speed impact vehicle is time-aligned with the mid-range guidance system based on the time synchronization status telemetry data of the high-speed impact vehicle. If they are aligned, the time alignment status confirmation condition is met. If they are not aligned, the ground sends a time synchronization command to the high-speed impact vehicle and repeats this step.

[0057] (d) Attitude pointing confirmation: The ground confirms based on the attitude telemetry data of the high-speed impact spacecraft whether the guidance camera on the high-speed impact spacecraft is pointing to the target asteroid area under the current attitude of the high-speed impact spacecraft and whether the stability meets the index requirements. If so, the attitude pointing confirmation conditions are met. Otherwise, the ground sends instructions to the high-speed impact spacecraft to adjust the attitude of the high-speed impact spacecraft and repeats this step.

[0058] (e) Target distance confirmation: The ground confirms whether the distance between the high-speed impact spacecraft and the target asteroid is less than the maximum detection distance of the guidance camera based on the orbit telemetry data of the high-speed impact spacecraft and the orbit determination data of the target asteroid. If so, the target distance confirmation condition is met. Otherwise, the ground decides whether to perform orbit control or wait based on the current orbital status of the high-speed impact spacecraft and the target asteroid (if the deviation between the orbit of the high-speed impact spacecraft and the nominal orbit is less than the threshold, wait; otherwise, perform orbit control on the high-speed impact spacecraft and adjust the orbit to be within the nominal orbit deviation range), and repeat this step.

[0059] (f) Confirmation of the target asteroid status data. The ground confirms whether the target asteroid status data is the latest version based on the telemetry data of the target asteroid characteristic parameters transmitted by the high-speed impact spacecraft. If so, the target asteroid status data confirmation conditions are met. Otherwise, the ground sends a command to the high-speed impact spacecraft to enter the latest version of the target asteroid status parameters and repeat this step.

[0060] The shift handover method involved in the present invention has the advantages of comprehensive consideration of influencing factors and fault contingency plans, strong engineering practicality, etc. According to the shift handover method of the present invention, the smooth shift handover of the two major systems of the high-speed impact vehicle from the intermediate guidance system to the terminal guidance system can be achieved, ensuring the smooth transition of the attitude and orbit of the high-speed impact vehicle before and after the shift handover, so as to ensure that the high-speed impact vehicle can finally successfully complete the precise impact on the target asteroid.

[0061] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

[0062] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The solutions in the embodiments of the present invention may be implemented in various computer languages, for example, object-oriented programming language Java and interpreted scripting language JavaScript, etc.

[0063] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0064] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0065] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0066] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0067] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A high-speed impact terminal guidance handover method for asteroid defense, characterized in that: include: Step 1: Complete the status confirmation before handover on the ground; Step 2: The guidance camera of the terminal guidance system of the high-speed impact vehicle is turned on to take pictures of the target sky area; Step 3: The terminal guidance system extracts the target characteristic parameters of the target asteroid based on the image data taken by the guidance camera, and determines whether the target asteroid is found. If the target asteroid is found, it proceeds to step 4, otherwise it repeats steps 2 to 3; Step 4: The terminal guidance system sets the target asteroid identification state; Step 5: After the high-speed impact vehicle obtains the target asteroid identification status, it sends the target asteroid identification status and target characteristic parameters to the ground; Step 6: After receiving the target asteroid identification status and target characteristic parameters, the ground determines whether the judgment in step 3 is correct. If it is determined that the judgment in step 3 is incorrect, a command is sent to the terminal guidance system to clear the target asteroid identification status and repeat steps 2 to 6. If it is determined that the judgment in step 3 is correct, proceed to step 7. Step 7: The ground sends a handover command to the high-speed impact aircraft; Step 8: After receiving the shift handover instruction, the high-speed impact aircraft sets the on-duty status; Step 9: The ground determines the current on-duty status of the aircraft based on the telemetry data of the high-speed impact aircraft. If the terminal guidance system is not on duty, the ground sends a command to the high-speed impact aircraft to start the control guidance system, and the ground checks, processes, and clears the fault status of the terminal guidance system of the high-speed impact aircraft; if the terminal guidance system is on duty, execute step 10; Step 10: After the last guidance system is on duty, the guidance system of the high-speed impact vehicle autonomous control stops control; Step 11: The intermediate guidance system sends the stop control time and the attitude and orbit data of the high-speed impact vehicle at the corresponding time to the terminal guidance system; Step 12: The terminal guidance system starts control, updates the target attitude, and performs attitude and orbit stabilization and tracking control of the high-speed impact vehicle; Step 13: The ground determines the attitude and orbit stability of the high-speed impact aircraft. If the attitude or orbit is abnormal, a handover instruction is sent to the high-speed impact aircraft; if the attitude and orbit of the high-speed impact aircraft are stable, the handover method ends.

2. The terminal guidance handover method for high-speed impact for asteroid defense according to claim 1, characterized in that: In step 1, the pre-shift status confirmation process includes six parallel sub-processes, namely, the shift window confirmation sub-process, the on-duty aircraft status confirmation sub-process, the time alignment status confirmation sub-process, the attitude pointing confirmation sub-process, the target distance confirmation sub-process and the target asteroid status data confirmation sub-process; completing the pre-shift status confirmation includes confirming that the conditions of the six parallel sub-processes are all met.

3. The terminal guidance handover method for high-speed impact for asteroid defense according to claim 2, characterized in that: The six parallel sub-processes are specifically: Confirmation of the shift handover window: the ground confirms whether the current time of the high-speed impact aircraft meets the shift handover window from the intermediate guidance system to the terminal guidance system of the high-speed impact aircraft based on the onboard time telemetry data of the high-speed impact aircraft. If so, the shift handover window confirmation condition is met; if not, repeat this step; On-duty status confirmation: the ground confirms whether the high-speed impact aircraft has a medium guidance system on duty based on the on-duty status telemetry data of the high-speed impact aircraft. If so, the on-duty status confirmation condition is met. If not, the ground sends a handover instruction to the high-speed impact aircraft and repeats this step. Time alignment status confirmation: the ground confirms whether the terminal guidance system of the high-speed impact aircraft is time-aligned with the mid-range guidance system based on the time synchronization status telemetry data of the high-speed impact aircraft. If they are aligned, the time alignment status confirmation condition is met. If they are not aligned, the ground sends a time synchronization command to the high-speed impact aircraft and repeats this step; Attitude pointing confirmation: the ground confirms based on the attitude telemetry data of the high-speed impact spacecraft whether the guidance camera on the high-speed impact spacecraft is pointing to the target asteroid region under the current attitude of the high-speed impact spacecraft and whether the stability meets the index requirements. If so, the attitude pointing confirmation condition is met. Otherwise, the ground sends a command to the high-speed impact spacecraft to adjust the attitude of the high-speed impact spacecraft and repeats this step; Target distance confirmation: The ground confirms whether the distance between the high-speed impact spacecraft and the target asteroid is less than the maximum detection distance of the guidance camera based on the orbit telemetry data of the high-speed impact spacecraft and the orbit determination data of the target asteroid. If so, the target distance confirmation condition is met. Otherwise, the ground decides whether to perform orbit control or wait based on the current orbital status of the high-speed impact spacecraft and the target asteroid. If the deviation between the orbit of the high-speed impact spacecraft and the nominal orbit is less than the threshold, wait. Otherwise, perform orbit control on the high-speed impact spacecraft, adjust the orbit to be within the nominal orbit deviation range, and repeat this step. Target asteroid status data confirmation: The ground confirms whether the target asteroid status data is the latest version based on the target asteroid characteristic parameter telemetry data transmitted by the high-speed impact spacecraft. If so, the target asteroid status data confirmation conditions are met. Otherwise, the ground sends a command to the high-speed impact spacecraft to note the latest version of the target asteroid status parameters and repeat this step.

4. The terminal guidance handover method for high-speed impact for asteroid defense according to claim 1, characterized in that: In step 3, the target characteristic parameters of the target asteroid include shape, size, surface morphology, material, and surface reflectivity.

5. The terminal guidance handover method for high-speed impact for asteroid defense according to claim 1, characterized in that: In step 3, the determination of whether the target asteroid is found specifically includes: comparing the extracted target characteristic parameters of the target asteroid with the pre-bound parameters. If the difference between each target characteristic parameter and the pre-bound parameters is less than the set threshold, it is determined that the target asteroid is found, and the process proceeds to step 4. Otherwise, steps 2 to 3 are repeated.

6. The terminal guidance handover method for high-speed impact for asteroid defense according to claim 1, characterized in that: In step 6, determining whether the judgment in step 3 is correct specifically includes: comparing the target characteristic parameters extracted by the ground through observation data with the target characteristic parameters transmitted by the high-speed impact aircraft. If the differences in each target characteristic parameter are less than the set threshold, it is determined that the judgment in step 3 is correct.

7. The terminal guidance handover method for high-speed impact for asteroid defense according to claim 1, characterized in that: Step 12 is specifically as follows: the terminal guidance system starts control, the terminal guidance system extracts the target aiming point according to the guidance camera image and updates the target attitude, and combines the stop control time sent by the intermediate guidance system and the attitude and orbit data of the high-speed impact vehicle at the corresponding time to perform attitude and orbit stabilization and tracking control of the high-speed impact vehicle.

8. The terminal guidance handover method for high-speed impact for asteroid defense according to claim 1, characterized in that: Step 13 is specifically as follows: the ground determines the attitude and orbit stability of the high-speed impact aircraft based on the telemetry data of the high-speed impact aircraft detected by it; if the attitude or orbit is abnormal, the ground sends a handover instruction to the high-speed impact aircraft, and the high-speed impact aircraft autonomously starts the guidance system to control the attitude and orbit; the ground checks, processes and clears the fault of the terminal guidance system on the high-speed impact aircraft based on the telemetry data of the high-speed impact aircraft detected by it, and then repeats steps 2 to 13; if the attitude and orbit of the high-speed impact aircraft are stable, the handover method ends.

9. A high-speed impact terminal guidance handover device for asteroid defense, characterized in that: include: The status confirmation module before the shift handover is used to complete the status confirmation before the shift handover on the ground; The camera module starts the guidance camera of the terminal guidance system of the high-speed impact vehicle and takes pictures of the target sky area. Target asteroid judgment module: The terminal guidance system extracts the target characteristic parameters of the target asteroid based on the image data taken by the guidance camera, and judges whether the target asteroid is found. If the target asteroid is found, the function of the state setting module is executed, otherwise the functions of the photo taking module and the target asteroid judgment module are repeatedly executed in sequence; The state setting module, the terminal guidance system sets the target asteroid identification state; The state recognition module, after the high-speed impact vehicle obtains the target asteroid recognition state, sends the target asteroid recognition state and target characteristic parameters to the ground; The determination module determines whether the determination of the target asteroid determination module is correct after receiving the target asteroid identification status and target characteristic parameters on the ground. If the determination is incorrect, a command is sent to the terminal guidance system to clear the setting of the target asteroid identification status, and repeatedly execute the functions of the photographing module, the target asteroid determination module, the status setting module, the status identification module and the determination module in sequence; if the determination is correct, the function of the handover instruction module is executed; The handover command module sends handover commands from the ground to the high-speed impact aircraft; The status setting module sets the status of the aircraft on duty after the high-speed impact aircraft receives the shift handover instruction; The on-duty aircraft status judgment module is used to judge the current on-duty aircraft status based on the telemetry data of the high-speed impact aircraft. If the terminal guidance system is not on duty, the ground sends a command to the high-speed impact aircraft to start the control guidance system, and the ground checks, processes, and clears the fault status of the terminal guidance system of the high-speed impact aircraft; if the terminal guidance system is on duty, the function of the stop control module is executed; Stop control module, after the terminal guidance system is on duty, the high-speed impact aircraft autonomously controls the guidance system to stop control; The data transmission module, the middle guidance system transmits its stop control time and the attitude and orbit data of the high-speed impact vehicle at the corresponding time to the terminal guidance system; Update module, start control of terminal guidance system, update target attitude, perform attitude orbit stabilization and tracking control of high-speed impact vehicle; The attitude and orbit stability judgment module judges the attitude and orbit stability of the high-speed impact aircraft on the ground. If the attitude or orbit is abnormal, a handover instruction is sent to the high-speed impact aircraft; if the attitude and orbit of the high-speed impact aircraft are stable, the handover method ends.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the terminal guidance handover method for high-speed impact for asteroid defense according to any one of claims 1 to 8 are implemented.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the terminal guidance handover method for high-speed impact for asteroid defense according to any one of claims 1 to 8 are implemented.

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