Spacecraft forced fly-around control method and device with avoidance capability

Abstract

The invention relates to the technical field of spacecraft guidance control, in particular to a spacecraft forced fly-around control method and device with avoidance capacity. The method comprises the following steps: acquiring fly-around control parameters, determining a forced fly-around speed vector according to the fly-around control parameters, taking the forced fly-around speed vector as an initial speed vector in an IFDS planning algorithm, resetting parameters of the IFDS planning algorithm, and inputting positions and speeds of a spacecraft and orbit threat in a fly-around target orbit system into the IFDS planning algorithm. And obtaining a security avoidance velocity vector, determining an orbit control action according to the security avoidance velocity vector, and executing the orbit control action. By means of the configuration mode, it can be ensured that the spacecraft effectively avoids various orbit threats in the fly-around process, and after successful avoidance, the spacecraft can recover to the state close to the original fly-around orbit at a high speed.

Description

Technical Field

[0001] The present invention relates to the technical field of spacecraft guidance and control, and in particular to a method and device for controlling a spacecraft forced fly-around with an avoidance capability. Background Art

[0002] Forced flyby control is one of the key technologies for on-orbit servicing of spacecraft. With the increasing frequency of human space activities, a large amount of space debris is generated, posing a serious threat to the safety of on-orbit servicing spacecraft. Therefore, on-orbit servicing spacecraft in the process of forced flyby must have the ability to autonomously avoid orbital threats. However, most of the existing forced flyby control methods do not consider the coupling relationship between avoidance maneuvers and orbiting maneuvers during design, making it difficult to achieve the autonomous control effect of both avoiding during the flyby and recovering to a position close to the flyby orbit as soon as possible after avoiding. It is urgent to carry out research on forced flyby control methods for spacecraft with avoidance capabilities, so that the spacecraft can autonomously plan safe flyby control instructions based on the current relative state with orbital threats.

[0003] Based on this, there is an urgent need for a spacecraft forced flyby control method and device with avoidance capability to solve the technical problem of how to achieve avoidance during the flyby and restore to a close and flyby orbit as soon as possible after avoidance. Summary of the invention

[0004] In order to solve the technical problem of how to achieve both evasion during the flyby and recovery to a close orbit and the flyby orbit as soon as possible after evasion, an embodiment of the present invention provides a spacecraft forced flyby control method and device with evasion capability.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling a forced fly-around of a spacecraft with an avoidance capability, comprising:

[0006] Step 100: Acquire the control parameters of the circling flight, wherein the control parameters of the circling flight include the circling flight radius and the relative circling flight inclination angle;

[0007] Step 102: constructing a LGVF planning algorithm based on the fly-by control parameters, and inputting the position of the spacecraft in the fly-by target orbit system into the LGVF planning algorithm to obtain a forced fly-by velocity vector;

[0008] Step 104: using the forced fly-by velocity vector as the initial velocity vector in the IFDS planning algorithm, and resetting the parameters of the IFDS planning algorithm, inputting the position and velocity of the spacecraft and the orbital threat in the fly-by target orbital system into the IFDS planning algorithm to obtain a safe avoidance velocity vector; wherein the IFDS planning algorithm is constructed by the position velocity of the current orbital threat and the outer envelope parameters of the orbital threat to be avoided;

[0009] Step 106: Determine a plurality of safe forced flight-around path points based on the safe avoidance velocity vector;

[0010] Step 108: Determine whether the transfer process between every two of the safe forced flight path points has passed the safety check. If so, determine the orbit control action based on the multiple safe forced flight path points, and execute the orbit control action. After a preset time, re-execute step 100. If not, re-execute step 104.

[0011] In a second aspect, an embodiment of the present invention further provides a spacecraft forced fly-around control device with avoidance capability, comprising:

[0012] An acquisition module is used to acquire a fly-around control parameter; wherein the fly-around control parameter includes a fly-around radius and a relative fly-around inclination angle;

[0013] A first data processing module is used to construct a LGVF planning algorithm based on the flyby control parameters, and input the position of the spacecraft in the flyby target orbit system into the LGVF planning algorithm to obtain a forced flyby velocity vector;

[0014] The second data processing module is used to use the forced fly-by velocity vector as the initial velocity vector in the IFDS planning algorithm, and after resetting the parameters of the IFDS planning algorithm, input the position and velocity of the spacecraft and the orbital threat in the fly-by target orbital system into the IFDS planning algorithm to obtain a safe avoidance velocity vector; wherein the IFDS planning algorithm is constructed by the position velocity of the current orbital threat and the outer envelope parameters of the orbital threat to be avoided;

[0015] A third data processing module is used to determine a plurality of safe forced flight-around path points based on the safe avoidance speed vector;

[0016] The fourth data processing module is used to determine whether the transfer process between every two of the safe forced flyaround path points has passed the safety check. If so, the orbit control action is determined according to the multiple safe forced flyaround path points, and the orbit control action is executed. After a preset time, the step of "obtaining flyaround control parameters" is re-executed. If not, the step of "using the forced flyaround velocity vector as the initial velocity vector in the IFDS planning algorithm, and resetting the parameters of the IFDS planning algorithm, and then inputting the position and velocity of the spacecraft and the orbital threat in the flyaround target orbit system into the IFDS planning algorithm to obtain a safe avoidance velocity vector" is re-executed.

[0017] In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of the present invention is implemented.

[0018] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method described in any embodiment of the present invention.

[0019] The embodiment of the present invention provides a forced flyby control method and device for a spacecraft with avoidance capability. In a complex situation of aerospace orbit control, first, a flyby control parameter is obtained, and a LGVF planning algorithm is constructed according to the flyby control parameter. The position of the spacecraft in the flyby target orbit system is input into the LGVF planning algorithm to obtain a forced flyby velocity vector. The forced flyby velocity vector is used as the initial velocity vector in the IFDS planning algorithm. After resetting the parameters of the IFDS planning algorithm, the position and velocity of the spacecraft and the orbital threat in the flyby target orbit system are input into the IFDS planning algorithm to obtain a safe avoidance velocity vector. According to the safe avoidance velocity vector, a plurality of safe forced flyby path points are determined, and it is judged whether the transfer process between every two safe forced flyby path points has passed the safety check. If so, an orbit control action is determined according to the plurality of safe forced flyby path points, and the orbit control action is executed. After a preset time, step 100 is re-executed. If not, step 104 is re-executed. Through the above configuration, the present invention can not only ensure that the spacecraft can effectively avoid various orbital threats during the flyby process, but also can recover to a state close to the original flyby orbit at a relatively fast speed after successful avoidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 This is a flow chart of a method for controlling a forced fly-around of a spacecraft with avoidance capability provided by an embodiment of the present invention;

[0022] Figure 2 is a hardware architecture diagram of an electronic device provided by an embodiment of the present invention;

[0023] Figure 3 This is a structural diagram of a spacecraft forced fly-around control device with avoidance capability provided by an embodiment of the present invention;

[0024] Figure 4 It is a schematic diagram of the influence of a combination of different reaction coefficients and directional coefficients on an evasive maneuver provided by an embodiment of the present invention;

[0025] Figure 5 It is a simulation result of a planned path point and a forced circumnavigation trajectory under a condition of no threat and no target maneuvering provided by an embodiment of the present invention;

[0026] Figure 6 It is a simulation result of a planned path point and a forced circumnavigation trajectory under a non-threatening and target maneuvering condition provided by an embodiment of the present invention;

[0027] Figure 7 The embodiment of the present invention provides a simulation result of a planned path point and a forced circumnavigation trajectory under threatening and non-maneuvering target conditions. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] Please refer to Figure 1 The embodiment of the present invention provides a method for controlling a forced fly-around of a spacecraft with an avoidance capability, the method comprising:

[0030] Step 100: Acquire the control parameters of the circling flight, wherein the control parameters of the circling flight include the circling flight radius and the relative circling flight inclination angle;

[0031] Step 102: constructing a LGVF planning algorithm based on the fly-by control parameters, and inputting the position of the spacecraft in the fly-by target orbit system into the LGVF planning algorithm to obtain a forced fly-by velocity vector;

[0032] Step 104: using the forced fly-by velocity vector as the initial velocity vector in the IFDS planning algorithm and resetting the parameters of the IFDS planning algorithm, inputting the positions and velocities of the spacecraft and the orbital threat in the fly-by target orbital system into the IFDS planning algorithm to obtain a safe avoidance velocity vector; wherein the IFDS planning algorithm is constructed by the position velocity of the current orbital threat and the outer envelope parameters of the orbital threat to be avoided;

[0033] Step 106: Determine a plurality of safe forced flight-around path points based on the safe avoidance velocity vector;

[0034] Step 108: Determine whether the transfer process between every two safe forced fly-around path points has passed the safety check. If so, determine the orbit control action based on multiple safe forced fly-around path points, and execute the orbit control action. After a preset time, re-execute step 100. If not, re-execute step 104.

[0035] In the embodiment of the present invention, in the complex situation of aerospace orbit control, first, the fly-by control parameters are obtained, and the LGVF planning algorithm is constructed according to the fly-by control parameters, and the position of the spacecraft in the fly-by target orbit system is input into the LGVF planning algorithm to obtain a forced fly-by velocity vector, and the forced fly-by velocity vector is used as the initial velocity vector in the IFDS planning algorithm, and after resetting the parameters of the IFDS planning algorithm, the position and velocity of the spacecraft and the orbital threat in the fly-by target orbit system are input into the IFDS planning algorithm to obtain a safe avoidance velocity vector, and according to the safe avoidance velocity vector, a plurality of safe forced fly-by path points are determined, and it is determined whether the transfer process between each two safe forced fly-by path points has passed the safety check, and if so, the orbit control action is determined according to the plurality of safe forced fly-by path points, and the orbit control action is executed, and after a preset time, step 100 is re-executed, and if not, step 104 is re-executed. Through the above configuration, the present invention can not only ensure that the spacecraft effectively avoids multiple orbital threats during the fly-by process, but also recover to a state close to the original fly-by orbit at a relatively fast speed after successful avoidance.

[0036] In one embodiment of the present invention, the outer envelope parameters of the avoided orbital threat include the center position of the threat outer envelope, the semi-major axis length of the threat outer envelope on the X axis, the semi-major axis length of the threat outer envelope on the Y axis, the semi-major axis length of the threat outer envelope on the Z axis, the shape control parameters of the outer envelope on the X axis, the shape control parameters of the outer envelope on the Y axis, the shape control parameters of the outer envelope on the Z axis, and the corresponding X-axis angle, Y-axis angle and Z-axis angle between the envelope reference coordinate system and the target VVLH coordinate system.

[0037] In one embodiment of the present invention, the relationship between the outer envelope parameters of the avoided orbital threat is determined by the following formula:

[0038]

[0039] In the formula, subscript k is the threat number, X D =[x D ,y D ,z D ] Tis the center position of the threat outer envelope, A is the semi-major axis length of the threat outer envelope on the X axis, B is the semi-major axis length of the threat outer envelope on the Y axis, C is the semi-major axis length of the threat outer envelope on the Z axis, q is the shape control parameter of the outer envelope on the X axis, p is the shape control parameter of the outer envelope on the Y axis, r is the shape control parameter of the outer envelope on the Z axis, is the rotation matrix from the envelope reference coordinate system to the target VVLH coordinate system, φ1, φ2, φ3 are the corresponding X-axis angle, Y-axis angle and Z-axis angle between the envelope reference coordinate system and the target VVLH coordinate system, X = [x, y, z] T is the position of the spacecraft. Different combinations of A, B, C and p, q, r can represent different shapes of threat envelopes.

[0040] The following table shows the threat envelope shapes represented by different combinations of A, B, C and p, q, r.

[0041] Parameters Outer envelope shape p=1,q=1,r=1,A=B=C Sphere p=1,q=1,r=1,(A≠B)∪(A≠C)∪(B≠C) Ellipsoid p=1,q=1,r>1,A=B cylinder p>1,q>1,r>1 cube

[0042] Described below Figure 1 How the various steps are performed.

[0043] For step 100:

[0044] In one embodiment of the present invention, the flyby control parameters can be obtained through information sent from the ground control center of the spacecraft, wherein the flyby radius in the flyby control parameters is greater than zero, and the relative flyby inclination angle includes the flyby inclination angle relative to the X-axis and the flyby inclination angle relative to the Z-axis, and the two angles cannot be set to ±90° to avoid singularity problems.

[0045] Regarding step 102:

[0046] In one embodiment of the present invention, the LGVF planning algorithm is constructed by the following formula:

[0047]

[0048] In the formula, R T is the orbiting radius, i Tx is the relative fly-by inclination angle relative to the X axis, i Tz V is the relative fly-by inclination angle relative to the Z axis, d is the forced fly-around velocity vector, R x The rotation matrix along the X axis, R z is the rotation matrix along the Z axis, n is the adjustable out-of-plane trajectory convergence parameter of the flyby orbit, and V0 is the forced flyby nominal velocity amplitude.

[0049] In the embodiment of the present invention, n>0 is an adjustable parameter for the convergence of the trajectory outside the orbital plane. The larger its value is, the faster the orbital trajectory can converge from the outside of the orbital plane to the orbital plane. V0 is the nominal velocity amplitude of the forced orbital flight. Its value should be different when the spacecraft is in the "in-plane orbital flight" stage (represented by Stage=2) and the "out-of-plane transfer" stage (represented by Stage=1). The "in-plane orbital flight" stage refers to the stage after the spacecraft enters the orbital plane, and the "out-of-plane transfer" stage refers to the stage when the spacecraft transfers from the outside of the orbital plane to the orbital plane. The following formula gives a setting scheme for V0:

[0050]

[0051] Among them, T FA is the expected in-plane fly-around period; v0>0 represents the nominal velocity amplitude of the “out-of-plane transfer” stage, which should be a relatively small value. The switching logic of the “in-plane fly-around” and “out-of-plane transfer” stages is shown in the following table:

[0052]

[0053] Among them, ε>0 is a settable stage switching distance threshold. When the inclination angle is set to be small, the value can also be set to be small. The subscript last represents the previous beat.

[0054] On this basis, V d By integrating, we can get the forced fly-around path point sequence under the no-avoidance condition. The fly-around trajectory formed by this path point sequence rotates along the XOZ plane of the fly-around target orbit system, which is more fuel-efficient than counterclockwise rotation. If a clockwise fly-around trajectory needs to be generated, the forced fly-around velocity vector can be calculated using the following formula.

[0055]

[0056] Regarding step 104:

[0057] In one embodiment of the present invention, the IFDS planning algorithm is constructed by the following formula:

[0058]

[0059]

[0060] t′ k =[cosθ k sinθ k 0] T ,θ k ∈[0,2π]

[0061] Where V is the initial velocity vector, M k(ΔX k ) is the disturbance matrix of the kth threat, is the sum disturbance matrix of all threats, w k (ΔX k ) is the weight coefficient, I3 is the third-order unit attraction matrix, ρ k and σ k are the normal and tangential repulsion coefficients, θ k is the tangential direction coefficient, v k (ΔX k )and are the threat reference velocity vector and its vector sum, u is the safety avoidance velocity vector, is the position velocity of the current orbital threat.

[0062] In the embodiment of the present invention, V is the velocity vector of the spacecraft, which is called the initial velocity vector; M k (ΔX k )and are the disturbance matrix of the kth threat and the sum disturbance matrix of all threats, which are used to produce a repulsive effect and drive the spacecraft to avoid the threat by correcting the spacecraft velocity vector V; w k (ΔX k ) is the weight coefficient, which is determined by the relative distance between the spacecraft and the threat envelope surface (i.e., the longer the distance, the smaller the weight and the corresponding repulsion effect); I3 is the third-order unit attraction matrix, which produces the attraction effect that makes the spacecraft move toward the target point or maintain its original motion state; ρ k and σ k are the normal and tangential repulsion coefficients, respectively, used to determine the timing of the evasive maneuver, θ k is the tangential directional coefficient, which is used to determine the direction of the evasive maneuver. The effects of different combinations of reaction coefficients and directional coefficients on the evasive maneuver are as follows: Figure 4 As shown; v k (ΔX k )and are the threat reference velocity vector and its vector sum respectively. When the threat is far away from the spacecraft, the interference effect will disappear rapidly in the form of exponential decay, so that v k (ΔX k )→0 and avoid unnecessary maneuvers.

[0063] In one embodiment of the present invention, the velocity vector V output by the LGVF planning algorithm is d As the initial velocity vector V in the IFDS planning algorithm, and reset the IFDS algorithm parameter ρ k ,σ k ,θ k , thereby generating a velocity vector u that can both complete the forced fly-around and safely avoid the fly-around process.

[0064] Regarding step 106:

[0065] In one embodiment of the present invention, step 106 may specifically include:

[0066] Integrate the safety avoidance velocity vector to obtain a sequence of candidate path points;

[0067] The candidate path point sequence is screened according to preset rules to obtain multiple safe forced detour path points, and a transfer period between every two safe forced detour path points is set.

[0068] In the embodiment of the present invention, the generated velocity vector u is integrated with a certain sampling step length ΔT to obtain a sequence of candidate path points. On this basis, the candidate path points are screened according to preset rules to obtain safe forced detour path points, and the transfer period T between every two safe forced detour path points is set. Trans .

[0069] First, set the sampling step length ΔT. After integrating to obtain the path point sequence, count the total number of path points M in the two stages of “out-of-plane transfer” and “in-plane detour”. Enter and M FA , and number them from 1. Because the path points are too dense, they need to be screened. The rules are as follows:

[0070] Set the number of orbit control pulses N in the two stages of "out-of-plane transfer" and "in-plane flyby" Enter and N FA , where N FA Can be set to the number of forced detour segments, then the path point number j selected in the two stages i (i=Enter, FA) is shown in the following formula:

[0071]

[0072] M′ Enter =M Enter -mod(M Enter ,N Enter )

[0073]

[0074] On this basis, determine the transfer period T between each path point Trans , the following formula gives a setting scheme:

[0075]

[0076] Among them, T Enter is the expected total out-of-plane transfer period.

[0077] Regarding step 108:

[0078] In one embodiment of the present invention, the spacecraft control period is used as the deduction step length to calculate the envelope function of each threat during the CW transfer process. If the envelope function of each threat is never less than or equal to a preset value throughout the process, it is determined that the safety check has been passed; if the envelope function of each threat is ever less than or equal to a preset value throughout the process, it is determined that the safety check has not been passed.

[0079] In the embodiment of the present invention, the spacecraft control period is used as the deduction step length to calculate the envelope function Γ for each threat during the CW transfer process. k (ΔX k ), if Γ does not appear in the whole process k (ΔX k )≤1, it is considered to have passed the safety check.

[0080] like Figure 5-7 As shown, in one embodiment of the present invention, Figure 5 Scenario 1: No threat and target is not maneuvering, the circling angle is set to: i Tx =30° and i Tz =30°. Figure 6 Scenario 2: No threat and target maneuvering, the fly-around angle is set to: i Tx =30° and i Tz =30°. In this scenario, set: the target applies a velocity increment ΔV = [1,0,0] at the initial moment T m / s. Figure 7 Scenario 3: There are multiple threats and the target is not maneuvering. The inclination angle is set to: i Tx =0° and i Tz =0°. There are two threats in this scenario, and the threat positions can ensure that the two sides will inevitably intersect when the spacecraft does not evade the threats. The simulation results are as follows: the simulation results of the planned path points and forced circumnavigation trajectories under the condition of no threats and no maneuvering of the target (scenario 1); the simulation results of the planned path points and forced circumnavigation trajectories under the condition of no threats and maneuvering of the target (scenario 2); the simulation results of the planned path points and forced circumnavigation trajectories under the condition of multiple threats and no maneuvering of the target (scenario 3). It can be seen from the results that the method of the present invention can form a three-dimensional forced circumnavigation trajectory in which the XOZ plane is rotated along the X and Z axes at a certain relative inclination angle, so that the spacecraft can safely realize the forced circumnavigation of the target under the condition that there are multiple threats near the target. When the threat approaches the spacecraft, the spacecraft will first perform an evasive maneuver, and then gradually converge to the set circumnavigation orbit after being out of danger.

[0081] The advantages of the present invention over the prior art are that the maneuvering instructions generated by the method of the present invention can take into account both the threat avoidance and the fly-around mission requirements. On the one hand, it can form a three-dimensional forced fly-around trajectory with a certain relative inclination angle, and on the other hand, it can enable the spacecraft to safely achieve follow-up tracking and forced fly-around of the target under the condition that there are multiple dynamic threats of different shapes near the target. In addition, the present invention does not have a complex numerical calculation process, and the pulse orbit control characteristics of the spacecraft are fully considered in the design, which is convenient for engineering application.

[0082] like Figure 2 , Figure 3 As shown, an embodiment of the present invention provides a spacecraft forced fly-around control device with avoidance capability. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 2 As shown, a hardware architecture diagram of an electronic device in which a spacecraft forced fly-around control device with avoidance capability provided by an embodiment of the present invention is located, except Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 3 As shown, as a device in a logical sense, the CPU of the electronic device in which it is located reads the corresponding computer program in the non-volatile memory into the internal memory and runs it.

[0083] like Figure 3 As shown, this embodiment provides a spacecraft forced fly-around control device with avoidance capability, the device comprising:

[0084] The acquisition module 300 is used to acquire the control parameters of the circling flight, wherein the control parameters of the circling flight include the circling flight radius and the relative circling flight inclination angle;

[0085] A first data processing module 302 is used to construct a LGVF planning algorithm based on the fly-by control parameters, and input the position of the spacecraft in the fly-by target orbit system into the LGVF planning algorithm to obtain a forced fly-by velocity vector;

[0086] The second data processing module 304 is used to use the forced fly-by velocity vector as the initial velocity vector in the IFDS planning algorithm, and after resetting the parameters of the IFDS planning algorithm, input the position and velocity of the spacecraft and the orbital threat in the fly-by target orbital system into the IFDS planning algorithm to obtain a safe avoidance velocity vector; wherein the IFDS planning algorithm is constructed by the position velocity of the current orbital threat and the outer envelope parameters of the orbital threat to be avoided;

[0087] A third data processing module 306 is used to determine a plurality of safe forced flight-around path points based on the safe avoidance speed vector;

[0088] The fourth data processing module 308 is used to determine whether the transfer process between every two of the safe forced flyby path points has passed the safety check. If so, determine the orbit control action according to the multiple safe forced flyby path points, and execute the orbit control action. After a preset time, re-execute the step of "obtaining flyby control parameters". If not, re-execute the step of "using the forced flyby velocity vector as the initial velocity vector in the IFDS planning algorithm, and re-setting the parameters of the IFDS planning algorithm, and then inputting the position and velocity of the spacecraft and the orbital threat in the flyby target orbit system into the IFDS planning algorithm to obtain a safe avoidance velocity vector; wherein the IFDS planning algorithm is constructed by the position velocity of the current orbital threat and the outer envelope parameters of the orbital threat to be avoided;".

[0089] In an embodiment of the present invention, the acquisition module 300 can be used to execute step 100 in the above method embodiment, the first data processing module 302 can be used to execute step 102 in the above method embodiment, the second data processing module 304 can be used to execute step 104 in the above method embodiment, the third data processing module 306 can be used to execute step 106 in the above method embodiment, and the fourth data processing module 308 can be used to execute step 108 in the above method embodiment.

[0090] In one embodiment of the present invention, the outer envelope parameters of the avoided orbital threat include the center position of the threat outer envelope, the semi-major axis length of the threat outer envelope on the X axis, the semi-major axis length of the threat outer envelope on the Y axis, the semi-major axis length of the threat outer envelope on the Z axis, the shape control parameters of the outer envelope on the X axis, the shape control parameters of the outer envelope on the Y axis, the shape control parameters of the outer envelope on the Z axis, and the corresponding X-axis angle, Y-axis angle and Z-axis angle between the envelope reference coordinate system and the target VVLH coordinate system.

[0091] In one embodiment of the present invention, the relationship between the outer envelope parameters of the avoided orbital threat is determined by the following formula:

[0092]

[0093] In the formula, subscript k is the threat number, X D =[x D ,y D ,z D ] Tis the center position of the threat outer envelope, A is the semi-major axis length of the threat outer envelope on the X axis, B is the semi-major axis length of the threat outer envelope on the Y axis, C is the semi-major axis length of the threat outer envelope on the Z axis, q is the shape control parameter of the outer envelope on the X axis, p is the shape control parameter of the outer envelope on the Y axis, r is the shape control parameter of the outer envelope on the Z axis, is the rotation matrix from the envelope reference coordinate system to the target VVLH coordinate system, φ1, φ2, φ3 are the corresponding X-axis angle, Y-axis angle and Z-axis angle between the envelope reference coordinate system and the target VVLH coordinate system, X = [x, y, z] T is the position of the spacecraft.

[0094] In one embodiment of the present invention, the LGVF planning algorithm is constructed by the following formula:

[0095]

[0096] In the formula, R T is the orbiting radius, i Tx is the relative X-axis fly-by inclination angle in the relative fly-by inclination angle, i Tz V is the relative Z-axis fly-by inclination angle in the relative fly-by inclination angle, d is the forced fly-around velocity vector, R x The rotation matrix along the X axis, R z is the rotation matrix along the Z axis, n is the adjustable out-of-plane trajectory convergence parameter of the flyby orbit, and V0 is the forced flyby nominal velocity amplitude.

[0097] In one embodiment of the present invention, the IFDS planning algorithm is constructed by the following formula:

[0098]

[0099]

[0100] t′ k =[cosθ k sinθ k 0] T ,θ k ∈[0,2π]

[0101] Where V is the initial velocity vector, M k (ΔX k ) is the disturbance matrix of the kth threat, is the sum disturbance matrix of all threats, w k (ΔX k ) is the weight coefficient, I3 is the third-order unit attraction matrix, ρ k and σk are the normal and tangential repulsion coefficients, θ k is the tangential direction coefficient, v k (ΔX k )and are the threat reference speed vector and its vector sum respectively, u is the safety avoidance speed vector,

[0102] is the position velocity of the current orbital threat.

[0103] In one embodiment of the present invention, the third data processing module is used to perform the following operations:

[0104] Integrating the safety avoidance velocity vector to obtain a sequence of candidate path points;

[0105] The candidate path point sequence is screened according to preset rules to obtain the multiple safe forced detour path points, and a transfer period between every two safe forced detour path points is set.

[0106] In one embodiment of the present invention, the fourth data processing module is used to perform the following operations:

[0107] Taking the spacecraft control period as the deduction step, the envelope function of each threat in the CW transfer process is calculated. If the envelope function of each threat is not less than or equal to the preset value throughout the process, it is determined that the safety check has passed; if the envelope function of each threat is less than or equal to the preset value throughout the process, it is determined that the safety check has not passed.

[0108] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a spacecraft forced fly-around control device with avoidance capability. In other embodiments of the present invention, a spacecraft forced fly-around control device with avoidance capability may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0109] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0110] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a method for controlling a forced fly-around of a spacecraft with avoidance capability in any embodiment of the present invention is implemented.

[0111] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes a method for controlling a forced fly-around of a spacecraft with avoidance capability in any embodiment of the present invention.

[0112] Specifically, a system or device equipped with a storage medium can be provided, on which software program codes that implement the functions of any of the above-mentioned embodiments are stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program codes stored in the storage medium.

[0113] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0114] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0115] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0116] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0117] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0118] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A forced fly-around control method for a spacecraft with avoidance capability, characterized in that: include: Step 100: Acquire the control parameters of the circling flight, wherein the control parameters of the circling flight include the circling flight radius and the relative circling flight inclination angle; Step 102: constructing a LGVF planning algorithm based on the fly-by control parameters, and inputting the position of the spacecraft in the fly-by target orbit system into the LGVF planning algorithm to obtain a forced fly-by velocity vector; Step 104: using the forced fly-by velocity vector as the initial velocity vector in the IFDS planning algorithm, and resetting the parameters of the IFDS planning algorithm, inputting the position and velocity of the spacecraft and the orbital threat in the fly-by target orbital system into the IFDS planning algorithm to obtain a safe avoidance velocity vector; wherein the IFDS planning algorithm is constructed by the position velocity of the current orbital threat and the outer envelope parameters of the orbital threat to be avoided; Step 106: Determine a plurality of safe forced flight-around path points based on the safe avoidance speed vector; Step 108: Determine whether the transfer process between every two of the safe forced flight path points has passed the safety check. If so, determine the orbit control action based on the multiple safe forced flight path points, and execute the orbit control action. After a preset time, re-execute step 100. If not, re-execute step 104.

2. The method according to claim 1, characterized in that The outer envelope parameters of the avoided orbital threat include the center position of the threat outer envelope, the semi-major axis length of the threat outer envelope on the X axis, the semi-major axis length of the threat outer envelope on the Y axis, the semi-major axis length of the threat outer envelope on the Z axis, the shape control parameters of the outer envelope on the X axis, the shape control parameters of the outer envelope on the Y axis, the shape control parameters of the outer envelope on the Z axis, and the corresponding X-axis angle, Y-axis angle and Z-axis angle between the envelope reference coordinate system and the target VVLH coordinate system.

3. The method according to claim 2, characterized in that The relationship between the outer envelope parameters of the avoided orbital threat is determined by the following formula: In the formula, subscript k is the threat number, X D =[x D ,y D ,z D ] T is the center position of the threat outer envelope, A is the semi-major axis length of the threat outer envelope on the X axis, B is the semi-major axis length of the threat outer envelope on the Y axis, C is the semi-major axis length of the threat outer envelope on the Z axis, q is the shape control parameter of the outer envelope on the X axis, p is the shape control parameter of the outer envelope on the Y axis, r is the shape control parameter of the outer envelope on the Z axis, is the rotation matrix from the envelope reference coordinate system to the target VVLH coordinate system, φ1, φ2, φ3 are the corresponding X-axis angle, Y-axis angle and Z-axis angle between the envelope reference coordinate system and the target VVLH coordinate system, X = [x, y, z] T is the position of the spacecraft.

4. The method according to claim 3, characterized in that: The LGVF planning algorithm is constructed by the following formula: In the formula, R T is the orbiting radius, i Tx is the relative X-axis fly-by inclination angle in the relative fly-by inclination angle, i Tz V is the relative Z-axis fly-by inclination angle in the relative fly-by inclination angle, d is the forced fly-around velocity vector, R x The rotation matrix along the X axis, R z is the rotation matrix along the Z axis, n is the adjustable out-of-plane trajectory convergence parameter of the flyby orbit, and V0 is the forced flyby nominal velocity amplitude.

5. The method according to claim 4, characterized in that The IFDS planning algorithm is constructed by the following formula: t′ k =[cosθ k sinth k 0] T ,i k ∈[0,2π] Where V is the initial velocity vector, M k (ΔX k ) is the disturbance matrix of the kth threat, is the sum disturbance matrix of all threats, w k (ΔX k ) is the weight coefficient, I3 is the third-order unit attraction matrix, ρ k and σ k are the normal and tangential repulsion coefficients, θ k is the tangential direction coefficient, v k (ΔX k )and are the threat reference velocity vector and its vector sum respectively, u is the safety avoidance velocity vector, is the position velocity of the current orbital threat.

6. The method according to claim 5, characterized in that The step of determining a plurality of safe forced flight-around path points based on the safe avoidance speed vector comprises: Integrating the safety avoidance velocity vector to obtain a sequence of candidate path points; The candidate path point sequence is screened according to preset rules to obtain the multiple safe forced detour path points, and a transfer period between every two safe forced detour path points is set.

7. The method according to claim 6, characterized in that The determining whether the transfer process between each two of the safe forced detour path points passes the safety check includes: Taking the spacecraft control period as the deduction step, the envelope function of each threat in the CW transfer process is calculated. If the envelope function of each threat is not less than or equal to the preset value throughout the process, it is determined that the safety check has passed; if the envelope function of each threat is less than or equal to the preset value throughout the process, it is determined that the safety check has not passed.

8. A forced fly-around control device for a spacecraft with avoidance capability, characterized in that: include: An acquisition module is used to acquire a fly-around control parameter; wherein the fly-around control parameter includes a fly-around radius and a relative fly-around inclination angle; A first data processing module is used to construct a LGVF planning algorithm based on the flyby control parameters, and input the position of the spacecraft in the flyby target orbit system into the LGVF planning algorithm to obtain a forced flyby velocity vector; The second data processing module is used to use the forced fly-by velocity vector as the initial velocity vector in the IFDS planning algorithm, and after resetting the parameters of the IFDS planning algorithm, input the position and velocity of the spacecraft and the orbital threat in the fly-by target orbital system into the IFDS planning algorithm to obtain a safe avoidance velocity vector; wherein the IFDS planning algorithm is constructed by the position velocity of the current orbital threat and the outer envelope parameters of the orbital threat to be avoided; A third data processing module is used to determine a plurality of safe forced flight-around path points based on the safe avoidance speed vector; The fourth data processing module is used to determine whether the transfer process between every two of the safe forced fly-around path points has passed the safety check. If so, the orbit control action is determined according to the multiple safe forced fly-around path points, and the orbit control action is executed. After a preset time, the step of "obtaining the fly-around control parameters" is re-executed. If not, the step of "using the forced fly-around velocity vector as the initial velocity vector in the IFDS planning algorithm, and resetting the parameters of the IFDS planning algorithm, and then inputting the position and velocity of the spacecraft and the orbital threat in the fly-around target orbit system into the IFDS planning algorithm to obtain the safe avoidance velocity vector" is re-executed.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed in a computer, the computer is caused to execute the method according to any one of claims 1 to 7.

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