Target state determination method and device, storage medium and electronic equipment

Abstract

The invention provides a target state determination method based on electrostatic interaction, a target state determination device based on electrostatic interaction, a computer readable storage medium and electronic equipment, and relates to the technical field of space observation. The target state determination method comprises the following steps: obtaining observation data obtained by observing a target by a vision measurement system, and constructing an observation equation of the target by using the observation data; constructing a kinetic model containing external disturbance force and electrostatic interaction of the target, and constructing a state equation of the target by using the kinetic model; and performing state estimation on the target by using the observation equation and the state equation of the target and based on an extended Kalman filtering algorithm. The accuracy of target state estimation can be improved.

Description

Background Art

[0002] With the continuous development of space technology, more and more spacecraft are sent into space. Based on the needs of scientific research, application, safety and other aspects, state observation of space targets including spacecraft is a necessary task in space technology.

[0003] At present, there is a widespread problem of insufficient accuracy in target state observation.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] The purpose of the present disclosure is to provide a target state determination method based on electrostatic interaction, a target state determination device based on electrostatic interaction, a computer-readable storage medium and an electronic device, thereby overcoming the problem of insufficient target state observation accuracy at least to a certain extent.

[0006] According to a first aspect of the present disclosure, a method for determining a target state based on electrostatic interaction is provided, comprising: acquiring observation data obtained by a visual measurement system observing a target, and constructing an observation equation of the target using the observation data; constructing a dynamic model of the target including external interference forces and electrostatic interactions, and constructing a state equation of the target using the dynamic model; and estimating the state of the target using the observation equation and state equation of the target based on an extended Kalman filter algorithm.

[0007] Optionally, the observation data includes a relative position vector between the center of mass of the target and the visual measurement system and a position and posture of the target relative to the service spacecraft; obtaining the position and posture of the target relative to the service spacecraft includes: obtaining point cloud data of the target through the visual measurement system; using the point cloud data of the target and determining the position and posture of the target relative to the service spacecraft based on a point cloud registration algorithm; wherein the visual measurement system includes a binocular camera and / or a lidar.

[0008] Optionally, constructing a dynamic model of the target including external interference forces and electrostatic interactions includes: solving electrostatic parameters of the target; determining the Maxwell tensor using the electrostatic parameters; constructing an electrostatic interaction model based on the Maxwell tensor; and constructing the dynamic model of the target using the electrostatic interaction model and external interference forces.

[0009] Optionally, the electrostatic parameters include a spatial electric field and an electric displacement vector at a current position of the target; wherein, solving the electrostatic parameters of the target includes: performing surface meshing on the geometric entities of the target and the service spacecraft; and solving the spatial electric field and the electric displacement vector at the current position of the target using the results of the surface meshing and based on a boundary element algorithm.

[0010] Optionally, the dynamic model includes a position vector equation of the target, a velocity equation of the target, a posture quaternion equation of the target, and an angular velocity equation of the target.

[0011] Optionally, using the observation equation and state equation of the target and based on the extended Kalman filter algorithm to estimate the state of the target includes: using the observation equation and state equation of the target and based on the extended Kalman filter algorithm to construct a prediction equation of the target at time k+1 relative to time k; updating the prediction equation to determine the state estimate value of the target at time k+1.

[0012] Optionally, the target state determination method further includes: after estimating the state of the target, calculating the electrostatic interaction of the target using the estimated state value of the target.

[0013] According to a second aspect of the present disclosure, a target state determination device based on electrostatic interaction is provided, including: an observation equation determination module, used to obtain observation data obtained by a visual measurement system observing a target, and construct an observation equation of the target using the observation data; a state equation determination module, used to construct a dynamic model of the target including external interference force and electrostatic interaction, and construct a state equation of the target using the dynamic model; a state determination module, used to estimate the state of the target using the observation equation and state equation of the target and based on an extended Kalman filter algorithm.

[0014] Optionally, the observation data includes a relative position vector between the center of mass of the target and the visual measurement system and the position and posture of the target relative to the service spacecraft. In this case, the process of the observation equation determination module obtaining the position and posture of the target relative to the service spacecraft is configured as follows: obtaining point cloud data of the target through the visual measurement system; using the point cloud data of the target and determining the position and posture of the target relative to the service spacecraft based on a point cloud registration algorithm; wherein the visual measurement system includes a binocular camera and / or a laser radar.

[0015] Optionally, the process of the state equation determination module constructing a dynamic model of the target including external disturbance forces and electrostatic interactions is configured as: solving the electrostatic parameters of the target; determining the Maxwell tensor using the electrostatic parameters; constructing an electrostatic interaction model based on the Maxwell tensor; and constructing the dynamic model of the target using the electrostatic interaction model and external disturbance forces.

[0016] Optionally, the electrostatic parameters include a spatial electric field and an electric displacement vector at the current position of the target. In this case, the state equation determination module is configured to solve the electrostatic parameters of the target by: performing surface meshing on the geometric entities of the target and the service spacecraft; and solving the spatial electric field and the electric displacement vector at the current position of the target based on the boundary element algorithm using the surface meshing result.

[0017] Optionally, the dynamic model includes a position vector equation of the target, a velocity equation of the target, a posture quaternion equation of the target, and an angular velocity equation of the target.

[0018] Optionally, the state determination module is configured to: utilize the observation equation and state equation of the target and construct a prediction equation of the target at time k+1 relative to time k based on the extended Kalman filter algorithm; and update the prediction equation to determine the state estimate of the target at time k+1.

[0019] Optionally, the state determination module is further configured to: after estimating the state of the target, calculate the electrostatic interaction of the target using the estimated state value of the target.

[0020] According to a third aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, any of the above-mentioned target state determination methods based on electrostatic interaction is implemented.

[0021] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; the processor is configured to implement any of the above-mentioned target state determination methods based on electrostatic interaction by executing the executable instructions.

[0022] In the technical solutions provided in some embodiments of the present disclosure, on the one hand, the present disclosure takes into account the influence of electrostatic interaction on the target state, and adds the constraint of electrostatic interaction when constructing the state equation, which greatly improves the accuracy of target state estimation; on the other hand, the present disclosure uses the extended Kalman filter algorithm to fuse the observation data and the state data based on the dynamic model, thereby effectively reducing the influence of environmental noise on the target state estimation, and further improving the accuracy of target state estimation. In addition, the application of the extended Kalman filter algorithm has high algorithm stability; on the other hand, the solution of the present disclosure does not involve hardware equipment such as force sensors, but models electrostatic interactions, which is low-cost, high-precision and safe.

[0023] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0025] Figure 1 A schematic diagram of a target state determination system based on electrostatic interaction according to an embodiment of the present disclosure is shown.

[0026] Figure 2 A schematic diagram of a coordinate system of a target state determination system based on electrostatic interaction according to an embodiment of the present disclosure is shown.

[0027] Figure 3 The flowchart of the target state determination method based on electrostatic interaction according to an exemplary embodiment of the present disclosure is schematically shown.

[0028] Figure 4 A schematic diagram showing surface meshing of target and service spacecraft according to an embodiment of the present disclosure is shown.

[0029] Figure 5 A block diagram of a target state determination device based on electrostatic interaction according to an exemplary embodiment of the present disclosure is schematically shown.

[0030] Figure 6 A block diagram of an electronic device according to an exemplary embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0031] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present disclosure will be more comprehensive and complete, and the concepts of the example embodiments are fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced while omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known technical solutions are not shown or described in detail to avoid obscuring various aspects of the present disclosure.

[0032] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0033] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the steps. For example, some steps may be decomposed, while some steps may be combined or partially combined, so the actual execution order may change according to the actual situation.

[0034] The derotation and dragging technology of space targets based on electrostatic interaction has been an important topic in space science and technology research in recent years, especially in the application of space debris reduction and orbit control of targets. During the execution of the mission, a certain amount of charge can be gathered on the surface of the service spacecraft and the service spacecraft, thereby generating an electrostatic field in space. Due to the uneven distribution of charges on the target surface, it can be affected by electrostatic force and electrostatic torque at the same time, so that the motion state of the target can be controlled. This technology provides a new method to finely control the orbit and rotation state of the target without physical contact, providing new possibilities and solutions for the execution of space missions.

[0035] However, a core challenge facing these technologies is how to accurately measure the effect of electrostatic interactions on the target's motion state. Therefore, it is necessary to design observation methods to observe the target's motion state.

[0036] In view of this, the embodiments of the present disclosure provide a new target state determination scheme to achieve accurate target state observation at least while considering electrostatic interactions.

[0037] Figure 1 FIG. 2 is a schematic diagram showing a target state determination system based on electrostatic interaction according to an embodiment of the present disclosure. Figure 1 The target state determination system based on electrostatic interaction according to the embodiment of the present disclosure may include a service spacecraft 11, a visual measurement system 12, and a target 13. In addition, the system may also include an operating space orbit 14.

[0038] Generally, the visual measurement system 12 may be deployed on the service spacecraft 11. Specifically, the visual measurement system 12 may include a binocular camera and / or a laser radar to obtain spatial point cloud data.

[0039] Target 13 is an object to be observed, that is, target 13 is an object to be estimated. In the space scene involved in the present disclosure, target 13 may include but is not limited to failed satellites, rocket thrusters and other space objects, and the present disclosure does not limit its type.

[0040] In the target state determination scheme of the disclosed embodiment, on the one hand, the service spacecraft 11 can obtain the observation data obtained by the visual measurement system 12 observing the target 13, and use the observation data to construct the observation equation of the target 13. On the other hand, the service spacecraft 11 can construct a dynamic model of the target 13 including external interference force and electrostatic interaction, and use the dynamic model to construct the state equation of the target 13.

[0041] Next, the service spacecraft 11 may estimate the operating state of the target 13 using the observation equation and the state equation of the target 13 based on the extended Kalman filter algorithm.

[0042] It should be understood that the service spacecraft 11 is equipped with a processing device, and the above process can be performed by the processing device in the service spacecraft 11. In the embodiment of the present disclosure, the processing device can also be referred to as an electronic device, a processing unit, a processing device, etc. In addition, the processing device that performs the above operations can also be configured in other spacecraft or equipment, and the present disclosure does not limit this.

[0043] Figure 2 FIG. 2 shows a schematic diagram of a coordinate system of a target state determination system based on electrostatic interaction according to an embodiment of the present disclosure. Figure 2 , respectively exemplarily showing the coordinate system C of the service spacecraft 11, the coordinate system T of the target 13, and the coordinate system L of the space orbit 14. The relative position vector of the space orbit 14 and the target 13 is r LT , the relative position vector between the space orbit 14 and the service spacecraft 11 is r LC , the relative position vector between the service spacecraft 11 and the target 13 is r CT In addition, the position of the target 13 relative to the service spacecraft 11 is q CT .

[0044] The target state determination method based on electrostatic interaction of the present disclosure is described below by taking an electronic device executing the target state determination scheme of the embodiment of the present disclosure as an example. In this case, the target state determination device described below can be configured in the electronic device.

[0045] Figure 3 Schematically shows a flow chart of a target state determination method based on electrostatic interaction according to an exemplary embodiment of the present disclosure. Figure 3 , the target state determination method based on electrostatic interaction may include the following steps:

[0046] S32. Obtain observation data obtained by the visual measurement system when observing the target, and use the observation data to construct an observation equation of the target.

[0047] In an exemplary embodiment of the present disclosure, the acquired observation data may include a relative position vector between the center of mass of the target and the visual measurement system and a position and posture of the target relative to the service spacecraft.

[0048] On the one hand, the visual measurement system senses the relative position of the target to determine the relative position vector r CT On the other hand, the binocular camera and / or laser radar included in the visual measurement system are used to obtain the point cloud data of the target, and the position and posture q of the target relative to the service spacecraft is determined based on the point cloud registration algorithm using the point cloud data of the target. CT The present disclosure does not limit the point cloud registration algorithm, for example, ICP, NDT and other algorithms can be used to achieve registration. The present disclosure can avoid setting up visual targets in the target by using point cloud matching.

[0049] Subsequently, the electronic device can use the observation data to construct the observation equation of the target. Specifically, the observation equation can be expressed as Formula 1:

[0050]

[0051] Here, θ represents the observation noise.

[0052] S34. Construct a dynamic model of the target including external interference forces and electrostatic interactions, and use the dynamic model to construct the state equation of the target.

[0053] First, the electronic device can solve the electrostatic parameters of the target. The electrostatic parameters mentioned in the embodiment of the present disclosure may include the spatial electric field E and the electric displacement vector D of the target in the current position.

[0054] Specifically, the electronics can perform surface meshing of the target and service spacecraft geometric entities. Figure 4 The surface mesh generation result of the service spacecraft is shown in result 41, and the surface mesh generation result of the target is shown in result 42. The disclosed embodiment does not limit the size of the mesh and the specific algorithm of the mesh generation.

[0055] After performing the surface meshing, the surface meshing result can be used to solve the spatial electric field E and electric displacement vector D of the target at the current position based on the boundary element algorithm. The present disclosure does not limit the specific process of the boundary element algorithm.

[0056] Next, the electronic device can use the electrostatic parameters to determine the Maxwell tensor. Specifically, the Maxwell tensor can be expressed by formula 2:

[0057]

[0058] Where n1 is the surface normal vector of the object to which the electrostatic interaction is applied, the object is the target, and T is the Maxwell tensor.

[0059] Then, the electronic device can construct an electrostatic interaction model based on the Maxwell tensor. Specifically, the electrostatic interaction model can be expressed as Formula 3:

[0060]

[0061] Among them, f e represents the electrostatic force, τ represents the electrostatic moment, represents the surface boundary of the object to which the electrostatic interaction is applied, r LT represents the position vector of the target, and r0 represents a point on the rotation axis of the target.

[0062] Subsequently, the electronic device can use the electrostatic interaction model and the external interference force to construct a dynamic model of the target. The dynamic model includes the position vector equation of the target, the velocity equation of the target, the attitude quaternion equation of the target, and the angular velocity equation of the target. Specifically, the dynamic model can be expressed as Formula 4:

[0063]

[0064] Among them, r LT is the target position vector, v LT is the speed of the target, q LT is the target’s attitude quaternion, ω T =[ω Tx ω Ty ω Tz ] T is the angular velocity of the target, A is the rotation matrix corresponding to the quaternion, d f is the interference force, d τ is the disturbance torque, m is the mass of the target, and I is the inertia tensor of the target. In addition, n in Formula 4 x 、n y 、n z And Ω(w) can be given by Equation 5 and Equation 6:

[0065]

[0066] Among them, i xx 、i yy 、i zz They represent the three components of the target's inertia tensor on the principal axes of inertia.

[0067] Thus, the state variable of the target can be determined, which is expressed as formula 7:

[0068]

[0069] Furthermore, the state equation of the target can be obtained. In the embodiment of the present disclosure, the state equation of the target and the observation equation recorded in the above formula 1 are combined into formula 8:

[0070]

[0071] Among them, E f，τ (x) = [f e T , τ T ] T represents electrostatic interaction, ∈ represents the environmental disturbance vector, and θ represents the observation noise.

[0072] S36. Use the observation equation and state equation of the target and estimate the state of the target based on the extended Kalman filter algorithm.

[0073] Considering the existence of various environmental disturbances in space, the above model equations all contain random disturbance terms. The disclosed embodiment can use the Extended Kalman Filter (EKF) algorithm to fuse dynamic prediction data and visual observation data to reduce the impact of environmental noise on state estimation, so as to obtain a high-precision estimate of the target state.

[0074] Specifically, the observation equation and state equation of the target can be used to construct a prediction equation of the target at time k+1 relative to time k based on the extended Kalman filter algorithm, and then the prediction equation is updated to determine the state estimate of the target at time k+1.

[0075] First, the corresponding filter can be constructed according to the extended Kalman filter algorithm, and its prediction equation is shown in Formula 9:

[0076]

[0077] Among them, Q represents the covariance matrix of environmental noise, and P represents the covariance of the state.

[0078] Next, the update equation is shown in Equation 10:

[0079]

[0080] Where R represents the covariance matrix of the observation noise, 1 13 Representing the 13-dimensional identity matrix, the Jacobian matrix can be expressed as formula 11:

[0081]

[0082] In addition, given the electrostatic interaction E f，τ (x) is related to the state x of the target, so when determining the estimated state value of the target Afterwards, the state estimation value can be used to calculate the electrostatic interaction of the target. Specifically, after obtaining the state estimation value Afterwards, the electrostatic interaction of the target can be calculated by combining the above formulas 3, 4, 7, etc.

[0083] It should be noted that although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0084] Furthermore, this exemplary embodiment also provides a target state determination device based on electrostatic interaction.

[0085] Figure 5 FIG. 1 schematically shows a block diagram of a target state determination device based on electrostatic interaction according to an exemplary embodiment of the present disclosure. Figure 5 According to an exemplary embodiment of the present disclosure, the target state determination device 5 based on electrostatic interaction may include an observation equation determination module 51 , a state equation determination module 53 and a state determination module 55 .

[0086] Specifically, the observation equation determination module 51 can be used to obtain observation data obtained by the visual measurement system when observing the target, and use the observation data to construct the observation equation of the target; the state equation determination module 53 can be used to construct a dynamic model of the target including external interference forces and electrostatic interactions, and use the dynamic model to construct the state equation of the target; the state determination module 55 can be used to use the observation equation and state equation of the target and perform state estimation on the target based on the extended Kalman filter algorithm.

[0087] According to an exemplary embodiment of the present disclosure, the observation data includes the relative position vector between the center of mass of the target and the visual measurement system and the position and posture of the target relative to the service spacecraft. In this case, the process of the observation equation determination module 51 obtaining the position and posture of the target relative to the service spacecraft can be configured as follows: obtaining the point cloud data of the target through the visual measurement system; using the point cloud data of the target and determining the position and posture of the target relative to the service spacecraft based on the point cloud registration algorithm; wherein the visual measurement system includes a binocular camera and / or a laser radar.

[0088] According to an exemplary embodiment of the present disclosure, the process of the state equation determination module 53 constructing a dynamic model of the target including external disturbance forces and electrostatic interactions can be configured as: solving the electrostatic parameters of the target; determining the Maxwell tensor using the electrostatic parameters; constructing an electrostatic interaction model based on the Maxwell tensor; and constructing the dynamic model of the target using the electrostatic interaction model and external disturbance forces.

[0089] According to an exemplary embodiment of the present disclosure, the electrostatic parameters include the space electric field and electric displacement vector of the target at the current position. In this case, the process of solving the electrostatic parameters of the target by the state equation determination module 53 can be configured as follows: performing surface meshing on the geometric entities of the target and the service spacecraft; using the surface meshing results and solving the space electric field and electric displacement vector of the target at the current position based on the boundary element algorithm.

[0090] According to an exemplary embodiment of the present disclosure, the dynamics model includes a position vector equation of the target, a velocity equation of the target, a posture quaternion equation of the target, and an angular velocity equation of the target.

[0091] According to an exemplary embodiment of the present disclosure, the state determination module 55 can be configured to: utilize the observation equation and state equation of the target and construct a prediction equation of the target at time k+1 relative to time k based on the extended Kalman filter algorithm; update the prediction equation to determine the state estimate of the target at time k+1.

[0092] According to an exemplary embodiment of the present disclosure, the state determination module 55 may be further configured to: after estimating the state of the target, calculate the electrostatic interaction of the target using the estimated state value of the target.

[0093] Since the functional modules of the target state determination device based on electrostatic interaction in the embodiment of the present disclosure are the same as those in the above method implementation, they will not be described in detail here.

[0094] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present disclosure described in the above "Exemplary Method" section of the present specification.

[0095] The program product for implementing the above method according to the embodiment of the present disclosure can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0096] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical disk, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0097] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0098] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0099] Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0100] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

[0101] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0102] Refer to the following Figure 6 The electronic device 600 according to this embodiment of the present disclosure is described. Figure 6 The electronic device 600 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0103] like Figure 6 As shown, the electronic device 600 is in the form of a general computing device. The components of the electronic device 600 may include but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different system components (including the storage unit 620 and the processing unit 610), and a display unit 640.

[0104] The storage unit stores a program code, which can be executed by the processing unit 610, so that the processing unit 610 performs the steps according to various exemplary embodiments of the present disclosure described in the above "Exemplary Method" section of this specification. For example, the processing unit 610 can perform various steps of the target state determination method based on electrostatic interaction of the embodiment of the present disclosure.

[0105] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0106] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0107] Bus 630 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0108] The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 600, and / or communicate with any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 650. Furthermore, the electronic device 600 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 660. As shown, the network adapter 660 communicates with other modules of the electronic device 600 via a bus 630. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0109] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0110] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0111] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0112] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing what is disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims.

[0113] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for determining a target state based on electrostatic interaction, characterized in that: include: Acquire observation data obtained by a visual measurement system observing a target, and construct an observation equation of the target using the observation data; Constructing a dynamic model of the target including external interference force and electrostatic interaction, and constructing a state equation of the target using the dynamic model; The state of the target is estimated by using the observation equation and the state equation of the target based on an extended Kalman filter algorithm.

2. The target state determination method according to claim 1, characterized in that: The observation data includes a relative position vector between the center of mass of the target and the visual measurement system and a position and posture of the target relative to the service spacecraft; Acquiring the position and posture of the target relative to the service spacecraft includes: Acquiring point cloud data of the target through the visual measurement system; Determine the position and posture of the target relative to the service spacecraft using the point cloud data of the target and based on a point cloud registration algorithm; Wherein, the visual measurement system includes a binocular camera and / or a laser radar.

3. The target state determination method according to claim 1, characterized in that: The dynamic model including external disturbance force and electrostatic interaction for the target is constructed as follows: solving electrostatic parameters of the target; Determine the Maxwell tensor using electrostatic parameters; constructing an electrostatic interaction model based on the Maxwell tensor; The electrostatic interaction model and external disturbance force are used to construct a dynamic model of the target.

4. The target state determination method according to claim 3, characterized in that: The electrostatic parameters include a spatial electric field and an electric displacement vector at a current position of the target; wherein solving the electrostatic parameters of the target includes: Performing surface meshing on geometric entities of the target and service spacecraft; The spatial electric field and electric displacement vector of the target at the current position are solved by using the surface mesh generation result and based on the boundary element algorithm.

5. The target state determination method according to claim 1 or 3, characterized in that: The dynamic model includes a position vector equation of the target, a velocity equation of the target, a posture quaternion equation of the target, and an angular velocity equation of the target.

6. The target state determination method according to claim 1, characterized in that: Using the observation equation and the state equation of the target and estimating the state of the target based on an extended Kalman filter algorithm includes: Using the observation equation and the state equation of the target and based on an extended Kalman filter algorithm, a prediction equation of the target at time k+1 relative to time k is constructed; The prediction equation is updated to determine the estimated state value of the target at the k+1 time.

7. The target state determination method according to claim 1 or 6, characterized in that: The target state determination method further includes: After estimating the state of the target, the electrostatic interaction of the target is calculated using the estimated state value of the target.

8. A target state determination device based on electrostatic interaction, characterized in that: include: Observation An equation determination module is used to obtain observation data obtained by the visual measurement system observing the target, and construct an observation equation of the target using the observation data; A state equation determination module, used to construct a dynamic model of the target including external interference force and electrostatic interaction, and to construct a state equation of the target using the dynamic model; A state determination module is used to use the observation equation and the state equation of the target and perform state estimation on the target based on an extended Kalman filter algorithm.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the target state determination method based on electrostatic interaction according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to implement the target state determination method based on electrostatic interaction according to any one of claims 1 to 7 by executing the executable instructions.

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