Spacecraft control method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of spaceflight, in particular to a spacecraft control method and device, electronic equipment and a storage medium, and aims to reduce parameter deviation of a spacecraft arriving at a shift change point. The method comprises the following steps: for each control pulse except the last pulse, on the basis of six preset orbital intersection shift point orbits, obtaining a control quantity set of the current control pulse by jointly solving the control quantity set of each control pulse, and executing the current control pulse; and when it is determined that the shift change point parameters do not belong to the corresponding deviation range after the last pulse is executed based on the initial control quantity set, the initial control quantity set is adjusted based on the shift change point parameters and the corresponding deviation ranges thereof to obtain a target control quantity set, and the last pulse is executed based on the target control quantity set. According to the invention, the control quantity of the last pulse is adjusted for multiple times, so that the deviation of the parameters of each shift point is within the corresponding deviation range when the spacecraft arrives at the shift point.

Description

Background Art

[0002] In the field of aerospace technology, the switching point between ground remote guidance and short-range autonomous control for missions such as spacecraft rendezvous and docking is called the ground-to-space handover point. In actual missions, it is necessary to control the spacecraft to reach the handover point as accurately as possible to complete the ground-to-space handover. However, due to the influence of orbit determination and control errors, the spacecraft cannot strictly reach the handover point, so various parameters of the handover point are allowed to have certain deviations. If the deviation of a parameter exceeds the given range when the spacecraft arrives at the handover point, it may cause the mission to fail.

[0003] In the process of controlling the spacecraft to enter the target orbit for rendezvous and docking, in the relevant technology, multi-pulse joint control is generally used to control the spacecraft to reach the handover point, and differential correction and other methods are used to accurately solve the control quantity.

[0004] However, with the execution of orbital control, the last two or one pulse cannot target all six orbits, which may cause a larger deviation of a certain parameter at the handover point or even exceed the given range, resulting in mission failure. Summary of the invention

[0005] Embodiments of the present application provide a spacecraft control method, device, electronic device, and storage medium for reducing parameter deviations when a spacecraft arrives at a handover point.

[0006] An embodiment of the present application provides a spacecraft control method, including:

[0007] After the spacecraft is controlled to enter the orbit around the celestial body, for each control pulse except the last pulse, based on the preset orbital six-element number of the orbital intersection and handover point, the control quantity set of each of the current control pulse and the subsequent control pulse is jointly solved, and the current control pulse is executed based on the obtained control quantity set of the current control pulse;

[0008] For the last pulse, based on the number of the six tracks, a control quantity set of the last pulse is solved to obtain an initial control quantity set;

[0009] When it is determined that after the last pulse is executed based on the initial control amount set, there is a handover point parameter that does not belong to the corresponding deviation range, the adjustment operation is performed cyclically until it is determined that after the last pulse is executed based on the obtained target control amount set, each handover point parameter belongs to the corresponding deviation range. In one adjustment operation: based on each reference handover point parameter determined within the deviation range corresponding to each handover point parameter, the initial control amount set is adjusted to obtain the target control amount set;

[0010] The last pulse is executed based on the target control amount set.

[0011] Optionally, the handover point parameter includes a first handover point parameter and a second handover point parameter, the first handover point parameter belongs to a corresponding deviation range, and the second handover point parameter does not belong to the corresponding deviation range;

[0012] After determining the last pulse, based on the initial control amount set, after the handover point parameter does not belong to the corresponding deviation range, before cyclically executing the adjustment operation, the method further includes:

[0013] Under a first condition, the initial control amount set is adjusted to obtain a minimum parameter value of the second shift handover point parameter, wherein the first condition is that all first shift handover point parameters belong to a corresponding deviation range;

[0014] It is determined that the minimum parameter value does not fall within the deviation range corresponding to the second handover point parameter.

[0015] Optionally, the handover point parameter includes a first handover point parameter, and the first handover point parameter belongs to a corresponding deviation range;

[0016] The adjusting the initial control amount set based on each reference handover point parameter determined within the deviation range corresponding to each handover point parameter to obtain the target control amount set includes:

[0017] For each first handover point parameter, based on the deviation range corresponding to the first handover point parameter, determine a reference handover point parameter corresponding to the first handover point parameter, wherein the reference handover point parameter belongs to the deviation range corresponding to the first handover point parameter;

[0018] Based on the parameters of each reference handover point, the initial control amount set is adjusted to obtain a target control amount set.

[0019] Optionally, the handover point parameter further includes a second handover point parameter, and the second handover point parameter does not belong to the corresponding deviation range;

[0020] Determining that each handover point parameter belongs to a corresponding deviation range after the last pulse is executed based on the obtained target control amount set includes:

[0021] After determining that the last pulse is executed based on the obtained target control amount set, when the spacecraft arrives at the handover point, the second handover point parameter belongs to the corresponding deviation range.

[0022] Optionally, the six track numbers based on the preset track intersection and handover points, and the joint solution of the control quantity sets of the current control pulse and the subsequent control pulses, include:

[0023] When the sum of the number of control quantities included in the control quantity set of the current control pulse and the number of control quantities included in the control quantity set of the subsequent control pulse is not less than 6, the control quantity sets of the current control pulse and each associated pulse are jointly solved based on the number of 6 tracks and the track determination error and control error of the previous control pulse of the current control pulse, and the associated pulses are two control pulses after the current control pulse.

[0024] Optionally, the six track numbers based on the preset track intersection and handover points, and the joint solution of the control quantity sets of the current control pulse and the subsequent control pulses, include:

[0025] When the sum of the number of control quantities included in the control quantity set of the current control pulse and the number of control quantities included in the control quantity set of the subsequent control pulse is less than 6, the parameters of each intermediate handover point are determined based on the six orbital elements, and the parameters of each intermediate handover point include: pericentric height, inclination, ascending node right ascension, pericentric argument and true anomaly;

[0026] Based on the parameters of each intermediate handover point and the track determination error and control error of a previous control pulse of the current control pulse, the control quantity sets of the current control pulse and the subsequent control pulses are jointly solved.

[0027] An embodiment of the present application provides a spacecraft control device, comprising:

[0028] A first execution unit is used for, after the spacecraft is controlled to enter the orbit around the celestial body, for each control pulse except the last pulse, based on the preset orbital six numbers of orbital intersection and handover points, jointly solving the control quantity sets of the current control pulse and the subsequent control pulses, and executing the current control pulse based on the obtained control quantity set of the current control pulse;

[0029] A solving unit, configured to solve a control quantity set of the last pulse based on the number of the six tracks for the last pulse, to obtain an initial control quantity set;

[0030] an adjusting unit, for determining that after the last pulse is executed based on the initial control amount set, if there is a handover point parameter that does not belong to the corresponding deviation range, cyclically performing an adjustment operation until it is determined that after the last pulse is executed based on the obtained target control amount set, each handover point parameter belongs to the corresponding deviation range, and in one adjustment operation: based on each reference handover point parameter determined within the deviation range corresponding to each handover point parameter, adjusting the initial control amount set to obtain the target control amount set;

[0031] The second execution unit is used to execute the last pulse based on the target control amount set.

[0032] Optionally, the handover point parameter includes a first handover point parameter and a second handover point parameter, the first handover point parameter belongs to a corresponding deviation range, and the second handover point parameter does not belong to the corresponding deviation range;

[0033] The adjustment unit is also used for:

[0034] Under a first condition, the initial control amount set is adjusted to obtain a minimum parameter value of the second shift handover point parameter, wherein the first condition is that all first shift handover point parameters belong to a corresponding deviation range;

[0035] It is determined that the minimum parameter value does not fall within the deviation range corresponding to the second handover point parameter.

[0036] Optionally, the handover point parameter includes a first handover point parameter, and the first handover point parameter belongs to a corresponding deviation range;

[0037] The adjustment unit is specifically used for:

[0038] For each first handover point parameter, based on the deviation range corresponding to the first handover point parameter, determine a reference handover point parameter corresponding to the first handover point parameter, wherein the reference handover point parameter belongs to the deviation range corresponding to the first handover point parameter;

[0039] Based on the parameters of each reference handover point, the initial control amount set is adjusted to obtain a target control amount set.

[0040] Optionally, the handover point parameter further includes a second handover point parameter, and the second handover point parameter does not belong to the corresponding deviation range;

[0041] The adjustment unit is specifically used for:

[0042] After determining that the last pulse is executed based on the obtained target control amount set, when the spacecraft arrives at the handover point, the second handover point parameter belongs to the corresponding deviation range.

[0043] Optionally, the first execution unit is specifically used to:

[0044] When the sum of the number of control quantities included in the control quantity set of the current control pulse and the number of control quantities included in the control quantity set of the subsequent control pulse is not less than 6, the control quantity sets of the current control pulse and each associated pulse are jointly solved based on the number of 6 tracks and the track determination error and control error of the previous control pulse of the current control pulse, and the associated pulses are two control pulses after the current control pulse.

[0045] Optionally, the first execution unit is specifically used to:

[0046] When the sum of the number of control quantities included in the control quantity set of the current control pulse and the number of control quantities included in the control quantity set of the subsequent control pulse is less than 6, the parameters of each intermediate handover point are determined based on the six orbital elements, and the parameters of each intermediate handover point include: pericentric height, inclination, ascending node right ascension, pericentric argument and true anomaly;

[0047] Based on the parameters of each intermediate handover point and the track determination error and control error of a previous control pulse of the current control pulse, the control quantity sets of the current control pulse and the subsequent control pulses are jointly solved.

[0048] An electronic device provided in an embodiment of the present application includes a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of any one of the above-mentioned spacecraft control methods.

[0049] An embodiment of the present application provides a computer-readable storage medium, which includes a computer program. When the computer program is run on an electronic device, the computer program is used to enable the electronic device to execute the steps of any one of the above-mentioned spacecraft control methods.

[0050] An embodiment of the present application provides a computer program product, which includes a computer program, and the computer program is stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device performs the steps of any one of the above-mentioned spacecraft control methods.

[0051] The beneficial effects of this application are as follows:

[0052] The embodiments of the present application provide a spacecraft control method, device, electronic device and storage medium. First, after controlling the spacecraft to enter an orbit around a celestial body, based on the preset orbital intersection and handover point orbit 6 roots, the control quantity sets of the current control pulse and the subsequent control pulses are jointly solved, and the current control pulse is executed based on the control quantity set of the current control pulse. Finally, after determining that the last pulse is executed based on the initial control quantity set, if there are handover point parameters that do not belong to the corresponding deviation range, the initial control quantity set is adjusted, and the last pulse is executed based on the obtained target control quantity set. Based on the above method, the control quantity set is adjusted multiple times before the last pulse is executed, so as to ensure that the parameters of each handover point when the spacecraft arrives at the handover point are within the corresponding deviation range.

[0053] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0055] Figure 1 This is a flow chart of an implementation of a spacecraft control method in an embodiment of the present application;

[0056] Figure 2 A schematic diagram of the structure of a spacecraft control device in an embodiment of the present application;

[0057] Figure 3 A schematic diagram of a hardware structure of an electronic device to which an embodiment of the present application is applied;

[0058] Figure 4 The present invention is a schematic diagram of the hardware structure of another electronic device to which the embodiments of the present application are applied. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the technical solution of the present application, rather than all of the embodiments. Based on the embodiments recorded in the application documents, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the technical solution of the present application.

[0060] The following is an introduction to some concepts involved in the embodiments of the present application.

[0061] Spacecraft: also known as space vehicle or spacecraft. It includes various types of aircraft that operate in space according to the laws of celestial mechanics and perform specific tasks such as exploration, development, and utilization of space and celestial bodies. Spacecraft basically operate within the solar system. In the embodiments of this application, the example of a spacecraft flying around the moon for rendezvous and docking is mainly used for explanation.

[0062] Six orbital elements: parameters used to describe the properties of a spacecraft's orbit, such as its shape, position, and motion. Taking a spacecraft orbiting the moon as an example, the six orbital elements include the semi-major axis, eccentricity, inclination, right ascension of the ascending node, amplitude of perigee, and true anomaly.

[0063] Handover point parameters: refers to the various orbital parameters when the spacecraft reaches the switching point between ground long-range guidance and short-range autonomous control. Taking the spacecraft flying around the moon as an example, the handover point parameters mainly include: perigee altitude, aphelion altitude, inclination, right ascension of ascending node and latitude argument. The latitude argument is also called phase. The handover point parameters can be calculated according to the six orbital elements of the spacecraft. For example, the perigee altitude and aphelion altitude can be calculated according to the semi-major axis and eccentricity, the phase can be calculated according to the perigee argument and true anomaly, and the latitude argument or phase can be calculated according to the perigee argument and true anomaly.

[0064] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application may be combined with each other if there is no conflict.

[0065] In the embodiment of the present application, taking the spacecraft flying around the moon as an example, when the spacecraft reaches the perigee of the Earth-Moon transfer orbit, a first pulse is executed to control the spacecraft to enter the lunar orbit;

[0066] The semi-major axis of the lunar orbit is a preset value. The spacecraft is in the Earth-Moon transfer orbit. When it first reaches the perigee, it executes the first pulse to adjust the semi-major axis of the orbit to the preset target. The specific calculation steps are as follows:

[0067] (1) According to the initial position and velocity of the spacecraft, determine the time when the spacecraft reaches the perigee T Rp Specifically, the moon center distance R is calculated based on the spacecraft position vector L Before and after the perigee, the distance from the center of the moon decreases monotonically and then increases. Therefore, the time when the distance from the center of the moon is the minimum can be obtained by using the binary method, that is, the time when the spacecraft reaches the perigee T Rp .

[0068] 2) The execution direction of the first pulse of the spacecraft is tangential, which is opposite to the speed direction. By decelerating, the semi-major axis of the orbit is reduced to reach the predetermined target value (i.e., the preset value). Suppose the spacecraft reaches the perigee T Rp The perigee height is Rp, the semi-major axis is A1, and the target semi-major axis is A2. Then the first pulse velocity increment Δv t1 The calculation formula is:

[0069]

[0070] Further, after controlling the spacecraft to enter the orbit around the moon, refer to Figure 1 As shown, it is an implementation flow chart of a spacecraft control method provided in an embodiment of the present application. The specific implementation flow of the method includes the following steps S11-S14:

[0071] S11: After the spacecraft is controlled to enter the orbit around the celestial body, for each control pulse except the last pulse, based on the preset orbital six numbers of orbital intersection and handover points, the control quantity sets of the current control pulse and the subsequent control pulses are jointly solved, and the current control pulse is executed based on the obtained control quantity set of the current control pulse;

[0072] Among them, the spacecraft flies around a celestial body, and the celestial body can be the moon, the sun, Mars, Venus, Jupiter, etc., which is not specifically limited here. This application is mainly explained by taking the spacecraft flying around the moon as an example. For each control pulse except the last pulse, the six roots of the nominal handover point orbit (i.e., the six roots of the preset orbital intersection handover point orbit) are aimed at for joint control. The control amount set of each control pulse includes at least any control amount of the pulse time, the tangential velocity increment, the normal velocity increment, and the radial velocity increment.

[0073] In the embodiment of the present application, multi-pulse joint control is adopted to accurately control the spacecraft to reach the handover point. Taking five-pulse joint control as an example, the second, third, and fourth pulses are called control pulses, and the fifth pulse is called the last pulse.

[0074] The second pulse is executed near the apogee of the lunar orbit to correct the orbital plane deviation and take into account the correction of the orbital perigee height and perigee angle. The third pulse is executed at the next perigee to adjust the orbital phase. The fourth pulse is executed at the perigee after an interval of 1 to 2 circles to correct the apogee height.

[0075] Optionally, step S11 can be implemented in the following two ways:

[0076] Method 1: When the sum of the number of control quantities included in the control quantity set of the current control pulse and the number of control quantities included in the control quantity set of the subsequent control pulse is not less than 6, the control quantity sets of the current control pulse and each associated pulse are jointly solved based on the number of 6 orbits and the orbit determination error and control error of the previous control pulse of the current control pulse.

[0077] Specifically, each associated pulse is two control pulses following the current control pulse.

[0078] The second pulse is an omnidirectional pulse. The control quantity set includes pulse time, tangential velocity increment, normal velocity increment and radial velocity increment, four control quantities, namely [Δt2Δv t2 Δv n2 Δv r2 ], the third and fourth pulses are tangential pulses, and the control quantity set of the third pulse includes the tangential velocity increment Δv t3 The control quantity set of the fourth pulse includes the tangential velocity increment Δv t4Therefore, the sum of the control amount of the second pulse and the control amount of the third and fourth pulses is 6. When determining the control amount of the second pulse, the second, third and fourth pulses are jointly planned to jointly target the 6 tracks of the handover point, that is, for the second pulse, the third and fourth pulses are associated pulses.

[0079] For example, at the time T2+Δt2, the spacecraft applies [Δv t2 Δv n2 Δv r2 ], let the third pulse correction amount be Δv t3 , that is, when the spacecraft reaches the next perigee, Δv is applied t3 The speed increment is , and the fourth pulse correction amount is Δv t4 , that is, the spacecraft reaches the perigee again after 1 to 2 revolutions, and applies Δv t4 The spacecraft arrives at the handover point at time T e When the orbital elements are exactly the same as the target orbital elements of the handover point: the semi-major axis A e , eccentricity E e 、Inclination I e , right ascension of ascending node Ω e 、perilunar argument ω e and true close angle f e , expressed as:

[0080]

[0081] Perform a first-order linear expansion on the left side of the above equation:

[0082]

[0083] After rearranging the above formula, we can get

[0084]

[0085] Further arrangement, that is:

[0086]

[0087] In the above formula, the left side of the equal sign is six approximate control corrections (control quantities), the first term on the right side of the equal sign is the inverse matrix of the partial derivative matrix of the six target quantities to the six control quantities, and the second term on the right side is the difference between the actual target quantity and the expected target quantity. Since the high-precision dynamic model of the spacecraft cannot write an analytical partial derivative matrix, the partial derivative matrix can be approximated by the finite difference method. The specific calculation process is shown below.

[0088] (1) Calculate the initial target volume deviation:

[0089] (A,E,I,Ω,ω,f)=g(Δt2,Δvt2 ,Δv n2 ,Δv r2 ,Δv t3 ,Δv t4 )

[0090] (2) Taking the control quantity Δt2 as an example, a very small disturbance ε (for example, ε = 1s) is applied to it, and the target shooting parameters after the disturbance are calculated, and the obtained result is:

[0091] (A′,E′,I′,Ω′,ω′,f′)=g(Δt2+ε,Δv t2 ,Δv n2 ,Δv r2 ,Δv t3 ,Δv t4 )

[0092] (3) Calculate the partial derivative column vectors of the six shooting parameters with respect to the disturbance Δt2:

[0093]

[0094] Similarly, the complete partial derivative matrix can be obtained by applying the perturbation ε to the remaining control quantities. Repeat the iteration several times until the deviation between the actual orbital elements and the target orbital elements is less than the specified convergence threshold, and the control quantities of the second, third, and fourth pulses are obtained.

[0095] After the spacecraft executes the second pulse, due to the influence of orbit determination and control errors, the control quantity set of the third and fourth pulses calculated above cannot strictly reach the handover point, and needs to be re-planned in combination with the fifth pulse. The third pulse is executed at the perigee to adjust the orbit phase. The fourth pulse is executed at the perigee with an interval of 1 to 2 circles to correct the apogee height. The fifth pulse is a comprehensive correction pulse, that is, an omnidirectional pulse. The control quantity set of the fifth pulse includes four control quantities: pulse time, tangential velocity increment, normal velocity increment, and radial velocity increment. It is executed near the apogee to correct the orbital plane deviation and take into account the correction of the orbital perigee height and perigee angle. The fifth pulse time T5 can be set as the apogee in the initial state. The third, fourth, and fifth pulses are jointly planned to jointly aim at the 6 orbits of the handover point, that is, when the third pulse is the current control pulse, the fourth and fifth pulses are associated pulses.

[0096] Assume the third pulse correction amount is Δv t3 , that is, when the spacecraft reaches the perigee, Δv is applied t3 The speed increment is , and the fourth pulse correction amount is Δv t4 , that is, the spacecraft reaches the perigee again after 1 to 2 revolutions, and applies Δv t4 The speed increment is , and the fifth pulse correction amount is [Δt5Δv t5 Δv n5 Δvr5 ], then at the time T5+Δt5, the spacecraft applies [Δv t5 Δv n5 Δv r5 ], then the spacecraft arrives at the handover point at time T e When the orbital elements are exactly the same as the target orbital elements of the handover point: the semi-major axis A e , eccentricity E e 、Inclination I e , right ascension of ascending node Ω e 、perilunar argument ω e and true close angle f e , which can be expressed as:

[0097]

[0098] The control amount is expanded in the first order linearly, the partial derivative matrix is ​​solved by numerical method, and the control amount is calculated iteratively according to the target amount deviation until the deviation between the actual orbital element and the target orbital element is less than the specified convergence threshold, and the control amount of the third, fourth and fifth pulses is obtained. The specific calculation method refers to the calculation of the control amount of the second, third and fourth pulses, which will not be repeated here.

[0099] Method 2: When the sum of the number of control quantities included in the control quantity set of the current control pulse and the number of control quantities included in the control quantity set of the subsequent control pulse is less than 6, the parameters of each intermediate handover point are determined based on the number of 6 tracks; based on the parameters of each intermediate handover point and the orbit determination error and control error of the previous control pulse of the current control pulse, the control quantity sets of the current control pulse and the subsequent control pulse are jointly solved.

[0100] Specifically, after the spacecraft executes the third pulse, due to the influence of orbit determination and control errors, the control quantity set of the fourth and fifth pulses calculated above cannot strictly reach the handover point, and the fourth and fifth pulses need to be re-planned. The fourth and fifth pulses have a total of 5 control quantities, which is less than 6. Therefore, the parameters of each intermediate handover point are determined based on the 6 elements of the orbit. The two pulses are jointly planned to aim at the intermediate handover point parameters: pericentric height, inclination, ascending node right ascension, pericentric argument and true anomaly; when the spacecraft flies around the moon, the intermediate handover point parameters are: pericentric height, inclination, ascending node right ascension, pericentric argument and true anomaly.

[0101] Assume the fourth pulse correction amount is Δv t4 , that is, when the spacecraft reaches the perigee, Δv is applied t4 The speed increment is , and the fifth pulse correction amount is [Δt5Δv t5 Δv n5 Δv r5 ], then at the time T5+Δt5, the spacecraft applies [Δv t5 Δvn5 Δv r5 ], then the spacecraft arrives at the handover point at time T e When the handover point is reached, the perigee height Rp of the target orbit is reached. e 、Inclination I e , right ascension of ascending node Ω e 、perilunar argument ω e and true close angle f e , which can be expressed as:

[0102]

[0103] Similarly, the control quantity is expanded in the first order linearly, the partial derivative matrix is ​​solved by numerical method, and the control quantity is iteratively calculated according to the target amount deviation until the terminal parameter deviation is less than the specified convergence threshold. The specific calculation method refers to the above embodiment and will not be repeated here.

[0104] S12: for the last pulse, based on the number of six orbits, solve the control quantity set of the last pulse to obtain the initial control quantity set;

[0105] Specifically, after the spacecraft executes the fourth pulse, due to the influence of orbit determination and control errors, the fifth pulse needs to be recalculated. The control quantity set of the fifth pulse includes 4 control quantities, aiming at the perigee height, inclination, right ascension of the ascending node, and latitude angle of the handover point orbit. Suppose the correction quantity of the fifth pulse is [Δt5Δv t5 Δv n5 Δv r5 ], then at the time T5+Δt5, the spacecraft applies [Δv t5 Δv n5 Δv r5 ], then the spacecraft arrives at the handover point at time T e When the handover point is reached, the perigee height Rp of the target orbit is reached. e 、Inclination I e , right ascension of ascending node Ω e , latitude angle U e , which can be expressed as:

[0106]

[0107] Similarly, the control amount is expanded in the first order linearly, the partial derivative matrix is ​​solved by numerical method, and the control amount is iteratively calculated according to the target amount deviation until the terminal parameter deviation is less than the specified convergence threshold, and the initial control amount set of the fifth pulse is obtained. The specific calculation method refers to the above embodiment and will not be repeated here.

[0108] S13: When it is determined that after the last pulse is executed based on the initial control amount set, there is a handover point parameter that does not belong to the corresponding deviation range, the adjustment operation is performed cyclically until it is determined that after the last pulse is executed based on the obtained target control amount set, each handover point parameter belongs to the corresponding deviation range. In one adjustment operation: based on each reference handover point parameter determined within the deviation range corresponding to each handover point parameter, the initial control amount set is adjusted to obtain the target control amount set;

[0109] Since the calculation of the initial control quantity set targets the perigee height Rp e 、Inclination I e , right ascension of ascending node Ω e , latitude angle U e Therefore, it is only necessary to determine whether the apogee height of the handover point parameter belongs to the corresponding deviation range when the spacecraft arrives at the handover point after executing the fifth pulse. In addition, the deviation range corresponding to each handover point parameter can be set according to needs and is not specifically limited here.

[0110] Assume that the deviation range corresponding to the handover point parameter is: the height of the perigee Rp e ±ΔRp e 、Apogee height Ra e ±ΔRa e 、Inclination I e ±ΔI e , right ascension of ascending node Ω e ±ΔΩ e , latitude angle U e ±ΔU e Taking the perigee height of the handover point parameter as an example, the nominal handover point parameter is 1000m, the deviation range is 900m-1100m, and the actual perigee height after execution based on the initial control quantity set is 1200m, which does not belong to the corresponding deviation range.

[0111] According to the initial control quantity set of the fifth pulse, after the fifth pulse is executed, when the spacecraft arrives at the handover point, the deviation between the parameters of each handover point and the nominal handover point parameters is [ΔRpΔRaΔIΔΩΔU]:

[0112]

[0113] Since the fifth pulse is aimed at [Rp e I e Ω e U e ], so only ΔRa is non-zero in the above formula, if |ΔRa|≤ΔRa e, the current control satisfies that the parameters of each handover point belong to the corresponding deviation range, and the calculation ends; if not, it is determined that the apogee height does not belong to the corresponding deviation range, the initial control quantity set is adjusted, and the target control quantity set is obtained. After the fifth pulse is executed based on the target control quantity, each handover point parameter belongs to the corresponding deviation range.

[0114] In one adjustment operation, the reference handover point parameters are selected from the deviation range corresponding to the handover point parameters. For example, if the deviation range corresponding to the perigee height is 900m-1100m, 1050m can be selected as the reference handover point parameter. The fifth pulse is aimed at each reference handover point parameter to solve and obtain the target control quantity set.

[0115] Optionally, in step S13, after determining the last pulse, based on the initial control quantity set, if there is a handover point parameter that does not belong to the corresponding deviation range, before cyclically executing the adjustment operation, the following steps may be performed:

[0116] Under the first condition, the initial control quantity set is adjusted to obtain the minimum parameter value of the second handover point parameter; and it is determined that the minimum parameter value does not belong to the deviation range corresponding to the second handover point parameter.

[0117] Among them, the handover point parameters include the first handover point parameters and the second handover point parameters. The first handover point parameters belong to the corresponding deviation range, and the second handover point parameters do not belong to the corresponding deviation range. Since the perigee height, inclination, right ascension of ascending node, and latitude argument are targeted in the process of calculating the initial control quantity set, the perigee height, inclination, right ascension of ascending node, and latitude argument will all belong to the corresponding deviation range, that is, the perigee height, inclination, right ascension of ascending node, and latitude argument are all the first handover point parameters, and the apogee height is the second handover point parameter. The first condition is that all the first handover point parameters belong to the corresponding deviation range.

[0118] Specifically, the calculated initial control quantity set is used as the initial value to optimize the start-up time (pulse time), tangential, normal and radial velocity components [Δt5Δv t5 Δv n5 Δv r5 ], so that the apogee height Ra (the second handover point parameter) reaches the minimum value, and at the same time makes the perigee height Rp, orbit inclination I, ascending node right ascension Ω, latitude argument U and other handover point parameters fall within the corresponding deviation range:

[0119] min Ra(Δt5,Δv t5 ,Δv n5 ,Δv r5 )

[0120]

[0121] Since the handover point parameters Rp, I, Ω, and U satisfy the inequality constraints, the optimization result Ra is calculated based on the apogee height. min , determine whether it satisfies:

[0122] |Ra min -Ra e |≤ΔRa e

[0123] If the conditions are met, the optimized control quantity is executed, and the parameters of each handover point belong to the corresponding deviation range, and the calculation is completed. The optimized control quantity is used as the target control quantity set of the fifth pulse, and there is no need to circulate the adjustment operation again.

[0124] Optionally, step S13 may be implemented as follows:

[0125] For each first handover point parameter, based on the deviation range corresponding to the first handover point parameter, the reference handover point parameter corresponding to the first handover point parameter is determined, and the reference handover point parameter belongs to the deviation range corresponding to the first handover point parameter; based on each reference handover point parameter, the initial control quantity set is adjusted to obtain the target control quantity set.

[0126] Specifically, the first handover point parameter perigee height Rp′ e , orbital inclination I′ e , right ascension of ascending node Ω′ e , latitude argument U′ e To optimize the variables, the value range satisfies the deviation range corresponding to the given handover point parameters. Aiming at the optimized handover point parameters, solve the fifth pulse start-up time, tangential, normal and radial velocity components to minimize the handover point apogee height Ra:

[0127] min Ra(Rp′ e ,I′ e ,Ω′ e ,U′ e )

[0128]

[0129] Get a set of reference handover point parameters including the perigee height Rp′ e , orbital inclination I′ e , right ascension of ascending node Ω′ e , latitude argument U′ e Finally, the calculation method of the apogee height Ra is as follows.

[0130] 1) For each first handover point parameter, take a reference handover point parameter within the corresponding deviation range, and calculate the perigee height Rp′ according to the reference handover point parameter. e , orbital inclination I′ e , right ascension of ascending node Ω′e , latitude argument U′ e , solve the fifth pulse correction value as [Δt′5,Δv′ t5 ,Δv′ n5 ,Δv′ r5 ], which can be expressed as:

[0131]

[0132] The solution method refers to the above embodiment and will not be described in detail here.

[0133] 2) According to the solved fifth pulse control quantity [Δt′5,Δv′ t5 ,Δv′ n5 ,Δv′ r5 ], calculate the apogee height Ra′:

[0134] Ra′=Ra(Δt′5,Δv′ t5 ,Δv′ n5 ,Δv′ r5 )

[0135] A set of reference handover point parameters [Rp′ e ,I′ e ,Ω′ e ,U′ e ] The corresponding apogee height Ra′ is returned to the optimization algorithm to ensure that the optimization algorithm can continue searching until the minimum apogee height Ra is found. min Since the handover point parameters Rp, I, Ω, and U are all within the corresponding deviation range, the optimization result Ra is calculated based on the apogee height. min , determine whether |Ra is satisfied min -Ra e ≤ΔRa e |, if satisfied, the optimized control parameters are executed, and the parameters of the handover point meet the corresponding deviation range, and the calculation ends.

[0136] Based on the above method, an optimization planning method for bounded handover point deviation of lunar orbit rendezvous remote guidance is proposed. Considering the influence of orbit determination and control errors, a five-pulse lunar orbit rendezvous remote guidance strategy is designed. Starting from the Earth-Moon transfer orbit, the spacecraft executes the first pulse when it first reaches the perigee to achieve lunar capture; the second, third, and fourth pulses are jointly controlled to jointly target the six orbital elements at the handover point; due to the influence of orbit determination and control errors, after executing the second pulse, continuing to execute the third and fourth pulses calculated previously cannot strictly reach the handover point, so the third, fourth, and fifth pulses are jointly controlled to jointly target the six orbital elements at the handover point; similarly, the fourth and fifth pulses are jointly controlled. At this time, there are only five control quantities, targeting the five parameters of perigee height, inclination, right ascension of ascending node, amplitude of perigee angle, and true anomaly angle at the handover point. ; Finally, the fifth pulse is calculated separately, and the four control quantities are aimed at the four parameters of perigee height, inclination, right ascension of ascending node, and latitude amplitude at the handover point; at this time, if the aphelion height exceeds the deviation range, local optimization is performed with the fifth pulse control quantity as the initial value, so that the aphelion height reaches the minimum value; if the aphelion height still exceeds the deviation range, the perigee height, orbital inclination, right ascension of ascending node, and latitude amplitude are globally optimized within the deviation range corresponding to the handover point parameters, and the fifth pulse control quantity is re-targeted to solve the problem, so that the aphelion height of the handover point is the minimum, ensuring that all deviations of the final handover point are within the corresponding deviation range. The spacecraft control method in the embodiment of the present application can be used for remote guidance bounded handover point deviation control with different orbit determination errors, control errors, and different handover point parameter boundaries, and is not specifically limited here.

[0137] S14: Execute the last pulse based on the target control amount set.

[0138] In an embodiment of the present application, first, after the spacecraft is controlled to enter the orbit of circumlunar flight, based on the preset orbital intersection and handover point orbit 6 roots, the control quantity sets of the current control pulse and the subsequent control pulses are jointly solved, and the current control pulse is executed based on the control quantity set determined for the current control pulse. Finally, after the last pulse is determined to be executed based on the initial control quantity set, if there are handover point parameters that do not belong to the corresponding deviation range, the initial control quantity set is adjusted, and the last pulse is executed based on the obtained target control quantity set. Based on the above method, the control quantity set is adjusted multiple times before the last pulse is executed, so as to ensure that the parameters of each handover point when the spacecraft arrives at the handover point are within the corresponding deviation range.

[0139] In order to verify the effectiveness of the spacecraft control method in the embodiment of the present application, two embodiments are given in combination with the specific implementation methods to achieve the handover point parameter deviation under the conditions of considering orbit determination and control errors. The local optimization algorithm and the global optimization algorithm are used to make the deviations of various parameters of the handover point meet the corresponding deviation range.

[0140] The initial orbit elements of the tracker and target are shown in Tables 1 and 2, where the target epoch is 2029-05-19 11:18:04 and the tracker epoch is 2029-05-21 01:00:00. The state design of the remote navigation handover point is shown in Table 3.

[0141] Target orbit number (unit) Numeric Semi-major axis (km) 1937.356 Eccentricity 0.010850158 Orbital inclination (°) 149.503 Ascending node right ascension (°) 161.908 Perilunar angle (°) 296.931 True anomaly (°) 303.138

[0142] Table 1

[0143] Tracker track number (unit) Numeric Semi-major axis (km) -3668.284 Eccentricity 1.533748324 Orbital inclination (°) 147.379 Ascending node right ascension (°) 162.457 Perilunar angle (°) 20.726 True anomaly (°) -95.876

[0144] Table 2

[0145] Shift handover point status (unit) Nominal value Deviation range Peri-lunar height (km) 250 ±5.4 Apogee height (km) 400 ±6.8 Orbital inclination (°) Consistent with the target ±0.1 Ascending node right ascension (°) Consistent with the target ±0.2 Phase difference (°) 16.2 ±2.5

[0146] Table 3

[0147] The control error of each pulse of the tracker is designed to be 0.05+0.001Δv. The orbit determination errors of the tracker and the target are shown in Table 4.

[0148] Error term (unit) Numeric Location (km) 10.0 Speed ​​(m / s) 8.0

[0149] Table 4

[0150] Example 1

[0151] According to the above state design and calculation according to the proposed steps, the control quantities of the first, second, third, fourth pulses and the initial control quantity set of the fifth pulse of Example 1 are shown in Table 5 below.

[0152] Calculation steps pulse Pulse timing (BJT) Speed ​​increment (m / s) Step 1 First pulse 2029-05-21 02:26:05.0216 469.271 Step 2 Second pulse 2029-05-21 06:46:36.3868 14.850 Step 3 The third pulse 2029-05-21 14:26:51.3588 314.983 Step 4 The fourth pulse 2029-05-21 20:35:44.3310 120.931 Step 5 The Fifth Pulse 2029-05-22 04:37:10.0759 6.669

[0153] Table 5

[0154] After the initial control quantity set of the fifth pulse calculated in Table 5 arrives at the handover point, the apogee deviation is -0.74 km, which is greater than the threshold value. Therefore, the fifth pulse is locally optimized, and the calculation results are shown in Table 6 below.

[0155] Calculation steps Pulse timing (BJT) Speed ​​increment (m / s) Step 5 2029-05-22 04:37:10.0759 6.6690 Step 6 2029-05-22 07:06:04.1184 6.6567

[0156] Table 6

[0157] The deviations of the remote control handover point calculated in steps 5 and 6 are shown in Table 7. It can be seen that after local optimization in step 6, the deviations of various parameters of the handover point meet the corresponding deviation range.

[0158] Handover point deviation (unit) Step 5 Step 6 Peri-lunar height (km) -0.0097 2.420546 Apogee height (km) -7.3668 -5.168215 Orbital inclination (°) -0.0000 -0.028337 Ascending node right ascension (°) -0.0005 0.178357 Phase difference (°) 0.0000 1.483723

[0159] Table 7

[0160] Example 2

[0161] According to the above state design, the calculation is carried out according to the proposed steps. The results of steps 1 to 5 of Example 2 are shown in Table 8 below.

[0162] Calculation steps pulse Pulse timing (BJT) Speed ​​increment (m / s) Step 1 First pulse 2029-05-21 02:26:07.9925 465.705 Step 2 Second pulse 2029-05-21 06:39:40.4198 15.118 Step 3 The third pulse 2029-05-21 14:47:05.6970 352.900 Step 4 The fourth pulse 2029-05-21 20:28:35.6663 82.825 Step 5 The Fifth Pulse 2029-05-22 04:43:17.2026 3.978

[0163] Table 8

[0164] After arriving at the handover point according to the calculation results of step 5, the apogee deviation is 15.6km, which is greater than the threshold value. Therefore, step 6 is executed to perform local optimization on the fifth pulse. After arriving at the handover point according to the calculation results of step 6, the apogee deviation is 15.2km, which is still greater than the threshold value. Therefore, step 7 is executed, and the calculation results are as follows

[0165] As shown in Table 9.

[0166] Calculation steps Pulse timing (BJT) Speed ​​increment (m / s) Step 5 2029-05-22 04:43:17.2026 3.978 Step 6 2029-05-22 04:39:51.3232 3.991 Step 7 2029-05-22 05:04:29.5397 14.104

[0167] Table 9

[0168] The deviations of the remote control handover points calculated in steps 5, 6 and 7 are shown in Table 10. It can be seen that after the global optimization in step 7, the deviations of various parameters of the handover points all meet the corresponding deviation ranges.

[0169] Handover point deviation (unit) Step 5 Step 6 Step 7 Peri-lunar height (km) -0.0050 7.3411 -1.655612 Apogee height (km) 15.6315 15.1991 0.582287 Orbital inclination (°) -0.0000 0.0262 0.060872 Ascending node right ascension (°) 0.0001 -0.2025 -0.114321 Phase difference (°) 0.0008 -1.1659 -2.158526

[0170] Table 10

[0171] Based on the same inventive concept, the present application also provides a spacecraft control device. Figure 2 As shown, it is a schematic diagram of the structure of the spacecraft control device 200, which may include:

[0172] The first execution unit 201 is used for, after the spacecraft is controlled to enter the orbit around the celestial body, for each control pulse except the last pulse, based on the preset orbital six numbers of orbital intersection and handover points, jointly solving the control quantity sets of the current control pulse and the subsequent control pulses, and executing the current control pulse based on the obtained control quantity set of the current control pulse;

[0173] A solving unit 202 is used to solve the control amount set of the last pulse based on the number of six orbits to obtain an initial control amount set;

[0174] The adjustment unit 203 is used to determine that after the last pulse is executed based on the initial control amount set, if there is a handover point parameter that does not belong to the corresponding deviation range, the adjustment operation is cyclically performed until it is determined that after the last pulse is executed based on the obtained target control amount set, each handover point parameter belongs to the corresponding deviation range. In one adjustment operation: based on each reference handover point parameter determined within the deviation range corresponding to each handover point parameter, the initial control amount set is adjusted to obtain the target control amount set;

[0175] The second execution unit 204 is used to execute the last pulse based on the target control amount set.

[0176] Optionally, the handover point parameter includes a first handover point parameter and a second handover point parameter, the first handover point parameter belongs to a corresponding deviation range, and the second handover point parameter does not belong to the corresponding deviation range;

[0177] The adjustment unit 203 is further used for:

[0178] Under the first condition, the initial control quantity set is adjusted to obtain the minimum parameter value of the second handover point parameter, and the first condition is that all the first handover point parameters belong to the corresponding deviation range;

[0179] It is determined that the minimum parameter value does not fall within the deviation range corresponding to the second handover point parameter.

[0180] Optionally, the handover point parameter includes a first handover point parameter, and the first handover point parameter belongs to a corresponding deviation range;

[0181] The adjustment unit 203 is specifically used for:

[0182] For each first shift handover point parameter, based on the deviation range corresponding to the first shift handover point parameter, determine a reference shift handover point parameter corresponding to the first shift handover point parameter, where the reference shift handover point parameter belongs to the deviation range corresponding to the first shift handover point parameter;

[0183] Based on the parameters of each reference handover point, the initial control quantity set is adjusted to obtain the target control quantity set.

[0184] Optionally, the handover point parameter also includes a second handover point parameter, and the second handover point parameter does not belong to the corresponding deviation range;

[0185] The adjustment unit 203 is specifically used for:

[0186] It is determined that after the last pulse is executed based on the obtained target control quantity set, when the spacecraft arrives at the handover point, the second handover point parameters belong to the corresponding deviation range.

[0187] Optionally, the first execution unit 201 is specifically configured to:

[0188] When the sum of the number of control quantities included in the control quantity set of the current control pulse and the number of control quantities included in the control quantity set of the subsequent control pulse is not less than 6, the control quantity sets of the current control pulse and each associated pulse are jointly solved based on the number of 6 orbits and the orbit determination error and control error of the previous control pulse of the current control pulse, and each associated pulse is the two control pulses after the current control pulse.

[0189] Optionally, the first execution unit 201 is specifically configured to:

[0190] When the sum of the number of control quantities included in the control quantity set of the current control pulse and the number of control quantities included in the control quantity set of the subsequent control pulse is less than 6, the parameters of each intermediate handover point are determined based on the six orbital elements. The parameters of each intermediate handover point include: pericentric height, inclination, ascending node right ascension, pericentric argument and true anomaly;

[0191] Based on the parameters of each intermediate handover point and the orbit determination error and control error of the previous control pulse of the current control pulse, the control quantity sets of the current control pulse and the subsequent control pulses are jointly solved.

[0192] For the convenience of description, the above parts are divided into modules (or units) according to their functions and described separately. Of course, when implementing this application, the functions of each module (or unit) can be implemented in the same or multiple software or hardware.

[0193] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0194] Those skilled in the art will appreciate that various aspects of the present application may be implemented as a system, method or program product. Therefore, various aspects of the present application may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to as "circuit", "module" or "system" herein.

[0195] Based on the same inventive concept as the above method embodiment, an electronic device is also provided in the embodiment of the present application. In one embodiment, the electronic device may be a server. In this embodiment, the structure of the electronic device may be as follows: Figure 3As shown, it includes a memory 301 , a communication module 303 and one or more processors 302 .

[0196] The memory 301 is used to store computer programs executed by the processor 302. The memory 301 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and programs required for running the instant messaging function, etc.; the data storage area may store various instant messaging information and operation instruction sets, etc.

[0197] The memory 301 may be a volatile memory, such as a random-access memory (RAM); the memory 301 may also be a non-volatile memory, such as a read-only memory, a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); or the memory 301 may be any other medium that can be used to carry or store a desired computer program in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 301 may be a combination of the above memories.

[0198] The processor 302 may include one or more central processing units (CPU) or a digital processing unit, etc. The processor 302 is used to implement the above-mentioned spacecraft control method when calling the computer program stored in the memory 301 .

[0199] The communication module 303 is used to communicate with terminal devices and other servers.

[0200] The specific connection medium between the memory 301, the communication module 303 and the processor 302 is not limited in the embodiment of the present application. Figure 3 In the embodiment, the memory 301 and the processor 302 are connected via a bus 304. The bus 304 is Figure 3 The connections between the other components are only for illustration and are not intended to be limiting. The bus 304 can be divided into an address bus, a data bus, a control bus, etc. For ease of description, Figure 3 The diagram shows that only one thick line is used, but this does not mean that there is only one bus or only one type of bus.

[0201] The memory 301 stores a computer storage medium, and the computer storage medium stores computer executable instructions, and the computer executable instructions are used to implement the spacecraft control method of the embodiment of the present application. The processor 302 is used to execute the above-mentioned spacecraft control method, such as Figure 1 shown.

[0202] In another embodiment, the electronic device may also be other electronic devices. In this embodiment, the structure of the electronic device may be as follows: Figure 4 As shown, it includes: a communication component 410, a memory 420, a display unit 430, a camera 440, a sensor 450, an audio circuit 460, a Bluetooth module 470, a processor 480 and other components.

[0203] The communication component 410 is used to communicate with the server. In some embodiments, a wireless fidelity (WiFi) module may be included. The WiFi module belongs to a short-range wireless transmission technology. The electronic device can help the user to send and receive information through the WiFi module.

[0204] The memory 420 can be used to store software programs and data. The processor 480 executes various functions and data processing of the terminal device by running the software programs or data stored in the memory 420. The memory 420 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. The memory 420 stores an operating system that enables the terminal device to run. In the present application, the memory 420 can store an operating system and various application programs, and can also store a computer program for executing the spacecraft control method of the embodiment of the present application.

[0205] The display unit 430 can also be used to display information input by the user or information provided to the user and a graphical user interface (GUI) of various menus of the terminal device. Specifically, the display unit 430 may include a display screen 432 disposed on the front of the terminal device. The display screen 432 may be configured in the form of a liquid crystal display, a light emitting diode, etc. The display unit 430 may be used to display the spacecraft control user interface in the embodiment of the present application, etc.

[0206] The display unit 430 can also be used to receive input digital or character information and generate signal input related to user settings and function control of the terminal device. Specifically, the display unit 430 may include a touch screen 431 arranged on the front of the terminal device, which can collect user touch operations on or near it, such as clicking a button, dragging a scroll box, etc.

[0207] The touch screen 431 may be covered on the display screen 432, or the touch screen 431 and the display screen 432 may be integrated to realize the input and output functions of the terminal device, and the integrated touch screen may be referred to as a touch display screen. In the present application, the display unit 430 may display the application and the corresponding operation steps.

[0208] Camera 440 can be used to capture static images, and users can post comments on images taken by camera 440 through the application. Camera 440 can be one or more. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then passes the electrical signal to the processor 480 for conversion into a digital image signal.

[0209] The terminal device may further include at least one sensor 450, such as an acceleration sensor 451, a distance sensor 452, a fingerprint sensor 453, and a temperature sensor 454. The terminal device may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, a light sensor, and a motion sensor.

[0210] The audio circuit 460, the speaker 461, and the microphone 462 can provide an audio interface between the user and the terminal device. The audio circuit 460 can transmit the electrical signal converted from the received audio data to the speaker 461, which is converted into a sound signal for output. The terminal device can also be equipped with a volume button for adjusting the volume of the sound signal. On the other hand, the microphone 462 converts the collected sound signal into an electrical signal, which is received by the audio circuit 460 and converted into audio data, and then the audio data is output to the communication component 410 to be sent to, for example, another terminal device, or the audio data is output to the memory 420 for further processing.

[0211] The Bluetooth module 470 is used to exchange information with other Bluetooth devices having Bluetooth modules through the Bluetooth protocol. For example, the terminal device can establish a Bluetooth connection with a wearable electronic device (such as a smart watch) that also has a Bluetooth module through the Bluetooth module 470 to exchange data.

[0212] The processor 480 is the control center of the terminal device. It uses various interfaces and lines to connect various parts of the entire terminal. It executes various functions of the terminal device and processes data by running or executing software programs stored in the memory 420 and calling data stored in the memory 420. In some embodiments, the processor 480 may include one or more processing units; the processor 480 may also integrate an application processor and a baseband processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the baseband processor mainly processes wireless communications. It is understandable that the above-mentioned baseband processor may not be integrated into the processor 480. In the present application, the processor 480 can run the operating system, application programs, user interface display and touch response, as well as the spacecraft control method of the embodiment of the present application. In addition, the processor 480 is coupled to the display unit 430.

[0213] In some possible implementations, various aspects of the spacecraft control method provided in the present application may also be implemented in the form of a program product, which includes a computer program. When the program product is run on an electronic device, the computer program is used to enable the electronic device to execute the steps of the spacecraft control method according to various exemplary embodiments of the present application described above in this specification. For example, the electronic device may execute the following steps: Figure 1 Follow the steps shown in .

[0214] 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 of readable storage media (a non-exhaustive list) 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 fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0215] The program product of the embodiment of the present application may adopt a portable compact disk read-only memory (CD-ROM) and include a computer program, and can be run on an electronic device. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium containing or storing a program, which can be used by or in combination with a command execution system, apparatus, or device.

[0216] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, wherein a readable computer program 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 foregoing. A readable signal medium 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 a command execution system, apparatus, or device.

[0217] The computer program embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0218] Computer programs for performing the operations of the present application 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 computer program may be executed entirely on the user electronic device, partially on the user device, as a separate software package, partially on the user electronic device and partially on a remote electronic device, or entirely on a remote electronic device or server. In the case of a remote electronic device, the remote electronic device may be connected to the user electronic device via any type of network including a local area network (LAN) or a wide area network (WAN), or may be connected to an external electronic device (e.g., via the Internet using an Internet service provider).

[0219] It should be noted that, although several units or subunits of the device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided into multiple units to be embodied.

[0220] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations 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.

[0221] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt 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.) that contain a computer-usable computer program.

[0222] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program commands. These computer program commands 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 generate a machine, so that the commands executed by the processor of the computer or other programmable data processing device generate commands 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.

[0223] These computer program commands 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 commands stored in the computer readable memory produce an article of manufacture comprising a command device, the command device implementing the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0224] These computer program commands can also be loaded onto a computer or other programmable data processing device so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the commands executed on the computer or other programmable device provide the instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0225] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional 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 falling within the scope of the present application.

[0226] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A spacecraft control method, characterized in that: The method comprises: After the spacecraft is controlled to enter the orbit around the celestial body, for each control pulse except the last pulse, based on the preset orbital six-element number of the orbital intersection and handover point, the control quantity set of each of the current control pulse and the subsequent control pulse is jointly solved, and the current control pulse is executed based on the obtained control quantity set of the current control pulse; For the last pulse, based on the number of the six tracks, a control quantity set of the last pulse is solved to obtain an initial control quantity set; When it is determined that after the last pulse is executed based on the initial control amount set, there is a handover point parameter that does not belong to the corresponding deviation range, the adjustment operation is performed cyclically until it is determined that after the last pulse is executed based on the obtained target control amount set, each handover point parameter belongs to the corresponding deviation range. In one adjustment operation: based on each reference handover point parameter determined within the deviation range corresponding to each handover point parameter, the initial control amount set is adjusted to obtain the target control amount set; The last pulse is executed based on the target control amount set.

2. The method according to claim 1, characterized in that The handover point parameter includes a first handover point parameter and a second handover point parameter, the first handover point parameter belongs to a corresponding deviation range, and the second handover point parameter does not belong to the corresponding deviation range; After determining the last pulse, based on the initial control amount set, after the handover point parameter does not belong to the corresponding deviation range, before cyclically executing the adjustment operation, the method further includes: Under a first condition, the initial control amount set is adjusted to obtain a minimum parameter value of the second shift handover point parameter, wherein the first condition is that all first shift handover point parameters belong to a corresponding deviation range; It is determined that the minimum parameter value does not fall within the deviation range corresponding to the second handover point parameter.

3. The method according to claim 1, characterized in that The handover point parameter includes a first handover point parameter, and the first handover point parameter belongs to a corresponding deviation range; The adjusting the initial control amount set based on each reference handover point parameter determined within the deviation range corresponding to each handover point parameter to obtain the target control amount set includes: For each first handover point parameter, based on the deviation range corresponding to the first handover point parameter, determine a reference handover point parameter corresponding to the first handover point parameter, wherein the reference handover point parameter belongs to the deviation range corresponding to the first handover point parameter; Based on the parameters of each reference handover point, the initial control amount set is adjusted to obtain a target control amount set.

4. The method according to claim 3, characterized in that The handover point parameter also includes a second handover point parameter, and the second handover point parameter does not belong to the corresponding deviation range; Determining that each handover point parameter belongs to a corresponding deviation range after the last pulse is executed based on the obtained target control amount set includes: After determining that the last pulse is executed based on the obtained target control amount set, when the spacecraft arrives at the handover point, the second handover point parameter belongs to the corresponding deviation range.

5. The method according to any one of claims 1 to 4, characterized in that: The method of jointly solving the control quantity sets of the current control pulse and the subsequent control pulses based on the preset track intersection and handover points includes: When the sum of the number of control quantities included in the control quantity set of the current control pulse and the number of control quantities included in the control quantity set of the subsequent control pulse is not less than 6, the control quantity sets of the current control pulse and each associated pulse are jointly solved based on the number of 6 tracks and the track determination error and control error of the previous control pulse of the current control pulse, and the associated pulses are two control pulses after the current control pulse.

6. The method according to any one of claims 1 to 4, characterized in that: The method of jointly solving the control quantity sets of the current control pulse and the subsequent control pulses based on the preset track intersection and handover points includes: When the sum of the number of control quantities included in the control quantity set of the current control pulse and the number of control quantities included in the control quantity set of the subsequent control pulse is less than 6, the parameters of each intermediate handover point are determined based on the six orbital elements, and the parameters of each intermediate handover point include: pericentric height, inclination, ascending node right ascension, pericentric argument and true anomaly; Based on the parameters of each intermediate handover point and the track determination error and control error of a previous control pulse of the current control pulse, the control quantity sets of the current control pulse and the subsequent control pulses are jointly solved.

7. A spacecraft control device, characterized in that: include: A first execution unit is used for, after the spacecraft is controlled to enter the orbit around the celestial body, for each control pulse except the last pulse, based on the preset orbital six numbers of orbital intersection and handover points, jointly solving the control quantity sets of the current control pulse and the subsequent control pulses, and executing the current control pulse based on the obtained control quantity set of the current control pulse; A solving unit, configured to solve a control quantity set of the last pulse based on the number of the six tracks for the last pulse, to obtain an initial control quantity set; an adjusting unit, for determining that after the last pulse is executed based on the initial control amount set, if there is a handover point parameter that does not belong to the corresponding deviation range, cyclically performing an adjustment operation until it is determined that after the last pulse is executed based on the obtained target control amount set, each handover point parameter belongs to the corresponding deviation range, and in one adjustment operation: based on each reference handover point parameter determined within the deviation range corresponding to each handover point parameter, adjusting the initial control amount set to obtain the target control amount set; The second execution unit is used to execute the last pulse based on the target control amount set.

8. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of any one of the methods of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: It includes a computer program. When the computer program is run on an electronic device, the computer program is used to enable the electronic device to execute the steps of any method described in claims 1 to 6.

10. A computer program product, characterized in that The method comprises a computer program stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device executes the steps of any one of the methods described in claims 1 to 6.

Images